mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-10-15 16:53:41 +08:00
Compare commits
21 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 discountchubbs
|
f6e2fb1c33 | ||
|
James Vecellio-Grant
|
9bebe42f73 | ||
|
James Vecellio-Grant
|
f4996a0529 | ||
|
James Vecellio-Grant
|
0414843e2f | ||
|
James Vecellio-Grant
|
5acb9d2c8e | ||
|
discountchubbs
|
2bf8f88978 | ||
|
discountchubbs
|
e6e5b1c165 | ||
|
discountchubbs
|
b7d06aa440 | ||
|
discountchubbs
|
a9ccd8fedf | ||
|
discountchubbs
|
6220734b2d | ||
|
discountchubbs
|
f3f7296776 | ||
|
discountchubbs
|
9f3a2607ee | ||
|
discountchubbs
|
b4c3a19db1 | ||
|
discountchubbs
|
04098893d9 | ||
|
discountchubbs
|
bc064e892f | ||
|
discountchubbs
|
be51bc793d | ||
|
discountchubbs
|
f7c65f7d6a | ||
|
discountchubbs
|
bd27f3b54f | ||
|
discountchubbs
|
d7c1827134 | ||
|
discountchubbs
|
1344824746 | ||
|
discountchubbs
|
75b5926f4f |
+1
-1
@@ -3,7 +3,7 @@
|
||||
# to move existing files into LFS:
|
||||
# git add --renormalize .
|
||||
*.onnx filter=lfs diff=lfs merge=lfs -text
|
||||
openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
|
||||
openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
|
||||
openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
|
||||
*.svg filter=lfs diff=lfs merge=lfs -text
|
||||
*.png filter=lfs diff=lfs merge=lfs -text
|
||||
|
||||
@@ -47,6 +47,7 @@ jobs:
|
||||
if [ "${{ inputs.target }}" = "big" ]; then
|
||||
NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL; print(DEFAULT_BIG_MODEL)")
|
||||
HF_DEFAULTS_PATH="models/defaults/big"
|
||||
ONNX_PATH="openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl"
|
||||
elif [ "${{ inputs.target }}" = "dm" ]; then
|
||||
ONNX_PATH="openpilot/selfdrive/modeld/models/dmonitoring_model.onnx"
|
||||
HF_DEFAULTS_PATH="models/defaults/dm"
|
||||
@@ -116,20 +117,6 @@ jobs:
|
||||
${{ github.workspace }}/${{ env.SMALL_PKL }} \
|
||||
--device-input "*" --out-of-band --benchmark-runs 1
|
||||
|
||||
- name: Chunk small pkl
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 -c "
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
import os
|
||||
pkl = '${{ github.workspace }}/${{ env.SMALL_PKL }}'
|
||||
size = os.path.getsize(pkl)
|
||||
targets = get_chunk_targets(pkl, size)
|
||||
chunk_file(pkl, targets)
|
||||
print(f'Chunked into {len(targets)} files')
|
||||
"
|
||||
|
||||
- name: Prepare output
|
||||
env:
|
||||
MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
|
||||
@@ -141,8 +128,7 @@ jobs:
|
||||
PKL_BASE="driving_tinygrad.pkl"
|
||||
mkdir -p "$OUTPUT_DIR"
|
||||
|
||||
cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
|
||||
cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
|
||||
cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
|
||||
|
||||
ONNX_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.SMALL_ONNX }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)
|
||||
|
||||
@@ -221,19 +207,33 @@ jobs:
|
||||
raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
|
||||
"
|
||||
|
||||
- name: Chunk big pkl
|
||||
- name: Compile big warp
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 -c "
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
import os
|
||||
pkl = '${{ github.workspace }}/${{ env.BIG_PKL }}'
|
||||
size = os.path.getsize(pkl)
|
||||
targets = get_chunk_targets(pkl, size)
|
||||
chunk_file(pkl, targets)
|
||||
print(f'Chunked into {len(targets)} files')
|
||||
"
|
||||
export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
|
||||
|
||||
CHESTNUT_TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
|
||||
COMPILER="${{ github.workspace }}/tinygrad_repo/examples/openpilot"
|
||||
MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
|
||||
MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
|
||||
|
||||
for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
|
||||
CAM_W=$(echo $res | cut -d x -f1)
|
||||
CAM_H=$(echo $res | cut -d x -f2)
|
||||
STRIDE_INFO=$(python3 -c "
|
||||
import sys
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
s,y,u,sz = get_nv12_info(int(sys.argv[1]), int(sys.argv[2]))
|
||||
print(f'{s},{y},{u},{sz}')
|
||||
" $CAM_W $CAM_H)
|
||||
WARP_PKL="${MODELS_DIR}/big_driving_warp_${res}_tinygrad.pkl"
|
||||
env ${CHESTNUT_TG_FLAGS} python3 "${COMPILER}/compile_warp.py" \
|
||||
--frame ${CAM_W},${CAM_H},${STRIDE_INFO} \
|
||||
--warp-to ${MODEL_SIZE} \
|
||||
--layout yuv420 \
|
||||
--frames 2 \
|
||||
--output "${WARP_PKL}"
|
||||
done
|
||||
|
||||
- name: Prepare output
|
||||
env:
|
||||
@@ -246,10 +246,9 @@ jobs:
|
||||
PKL_BASE="big_driving_tinygrad.pkl"
|
||||
mkdir -p "$OUTPUT_DIR"
|
||||
|
||||
cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
|
||||
cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
|
||||
cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
|
||||
|
||||
PKL_LFS_SHA256=$(sha256sum "$MODELS_DIR/${PKL_BASE}" | cut -d' ' -f1)
|
||||
PKL_LFS_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.BIG_PKL }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)
|
||||
|
||||
python3 "${{ github.workspace }}/release/ci/model_generator.py" \
|
||||
--model-dir "$MODELS_DIR" \
|
||||
@@ -258,6 +257,8 @@ jobs:
|
||||
--upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
|
||||
--onnx-sha256 "$PKL_LFS_SHA256"
|
||||
|
||||
cp "$MODELS_DIR"/big_driving_warp_* "$OUTPUT_DIR/" || true
|
||||
|
||||
echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
|
||||
|
||||
- name: Upload big model artifact
|
||||
@@ -335,6 +336,8 @@ jobs:
|
||||
--hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
|
||||
--artifact-name "$ARTIFACT_NAME" \
|
||||
--model-dir output \
|
||||
--onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
|
||||
--onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
|
||||
--model-name "${{ needs.resolve.outputs.model_name }}" \
|
||||
--tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
|
||||
--run-number "${{ github.run_number }}"
|
||||
@@ -358,24 +361,14 @@ jobs:
|
||||
from datetime import datetime, UTC
|
||||
|
||||
dm_dir = Path('dm_output')
|
||||
manifest = list(dm_dir.glob('*.chunkmanifest'))
|
||||
assert manifest, 'No chunkmanifest found'
|
||||
pkl_name = manifest[0].name.removesuffix('.chunkmanifest')
|
||||
num_chunks = int(manifest[0].read_text().strip())
|
||||
|
||||
chunks = []
|
||||
for i in range(num_chunks):
|
||||
chunk = dm_dir / f'{pkl_name}.chunk{i+1:02d}of{num_chunks:02d}'
|
||||
chunks.append({
|
||||
'file_name': chunk.name,
|
||||
'sha256': hashlib.sha256(chunk.read_bytes()).hexdigest()
|
||||
})
|
||||
matches = sorted(dm_dir.glob('dmonitoring_*_tinygrad.pkl'))
|
||||
assert len(matches) == 1, f'expected one DM pkl in {dm_dir}, found {matches}'
|
||||
pkl_name = matches[0].name
|
||||
|
||||
digest = hashlib.sha256()
|
||||
for c in chunks:
|
||||
with open(dm_dir / c['file_name'], 'rb') as f:
|
||||
while block := f.read(1024*1024):
|
||||
digest.update(block)
|
||||
with open(dm_dir / pkl_name, 'rb') as f:
|
||||
while block := f.read(1024*1024):
|
||||
digest.update(block)
|
||||
|
||||
metadata = {
|
||||
'bundles': [{
|
||||
@@ -389,8 +382,7 @@ jobs:
|
||||
'type': 'chunked',
|
||||
'artifact': {
|
||||
'file_name': pkl_name,
|
||||
'download_uri': {'url': '', 'sha256': digest.hexdigest()},
|
||||
'chunks': chunks
|
||||
'download_uri': {'url': '', 'sha256': digest.hexdigest()}
|
||||
}
|
||||
}]
|
||||
}]
|
||||
@@ -453,20 +445,6 @@ jobs:
|
||||
${{ github.workspace }}/${{ env.DM_ONNX }} \
|
||||
${{ github.workspace }}/${{ env.DM_PKL }}
|
||||
|
||||
- name: Chunk DM pkl
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 -c "
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
import os
|
||||
pkl = '${{ github.workspace }}/${{ env.DM_PKL }}'
|
||||
size = os.path.getsize(pkl)
|
||||
targets = get_chunk_targets(pkl, size)
|
||||
chunk_file(pkl, targets)
|
||||
print(f'Chunked {pkl} into {len(targets)} chunks')
|
||||
"
|
||||
|
||||
- name: Compile DM warp
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
@@ -499,8 +477,7 @@ jobs:
|
||||
- name: Prepare DM output
|
||||
run: |
|
||||
mkdir -p dm_output
|
||||
cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
|
||||
cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
|
||||
cp ${{ github.workspace }}/${{ env.DM_PKL }} dm_output/
|
||||
cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/
|
||||
|
||||
- name: Upload DM artifact
|
||||
@@ -514,4 +491,3 @@ jobs:
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
|
||||
@@ -137,6 +137,7 @@ jobs:
|
||||
needs: build_model
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
actions: read
|
||||
id-token: write
|
||||
contents: write
|
||||
steps:
|
||||
@@ -179,18 +180,21 @@ jobs:
|
||||
echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Download and extract model artifact
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
path: output
|
||||
env:
|
||||
GH_TOKEN: ${{ github.token }}
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
id=$(gh api -X GET "repos/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID/artifacts" -f name="$ARTIFACT_NAME" --jq '.artifacts[0].id')
|
||||
url=$(curl -sf -o /dev/null -w '%{redirect_url}' -H "Authorization: Bearer $GH_TOKEN" "https://api.github.com/repos/$GITHUB_REPOSITORY/actions/artifacts/$id/zip")
|
||||
sudo apt-get install -y -qq aria2 > /dev/null
|
||||
aria2c -q -x16 -s16 -k8M --max-tries=5 --file-allocation=none -o model.zip "$url" && unzip -q model.zip -d output && rm model.zip
|
||||
|
||||
- name: Create models folder
|
||||
env:
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
|
||||
cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
|
||||
rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
|
||||
cp output/metadata.json "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
|
||||
|
||||
- name: Upload to Hugging Face
|
||||
env:
|
||||
|
||||
+14
-17
@@ -1,5 +1,5 @@
|
||||
name: Download HF model chunks
|
||||
description: Resolve and download model chunks from HuggingFace in parallel
|
||||
name: Download HF model
|
||||
description: Resolve and download models from HuggingFace in parallel
|
||||
|
||||
inputs:
|
||||
hf_repo:
|
||||
@@ -19,7 +19,7 @@ inputs:
|
||||
runs:
|
||||
using: composite
|
||||
steps:
|
||||
- name: Download model chunks
|
||||
- name: Download models
|
||||
shell: bash
|
||||
env:
|
||||
HF_REPO: ${{ inputs.hf_repo }}
|
||||
@@ -33,7 +33,7 @@ runs:
|
||||
resolve_chunks() {
|
||||
local HF_PATH="$1" ONNX_HASH="$2" CANONICAL="$3" DEST_DIR="$4"
|
||||
local JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_PATH}/default_models.json"
|
||||
local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
|
||||
local DEFAULTS BUNDLE ARTIFACT FILE_URL BASE_URL
|
||||
DEFAULTS=$(curl -fsSL "$JSON_URL")
|
||||
if [ -n "$TINYGRAD_REF" ]; then
|
||||
BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg tg "$TINYGRAD_REF" '
|
||||
@@ -51,26 +51,23 @@ runs:
|
||||
fi
|
||||
|
||||
ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
|
||||
BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
|
||||
NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
|
||||
FILE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url')
|
||||
BASE_URL=$(echo "$FILE_URL" | sed 's|/[^/]*$||')
|
||||
|
||||
mkdir -p "$DEST_DIR"
|
||||
while IFS= read -r CHUNK_NAME; do
|
||||
CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+' || true)
|
||||
if [ -z "$CHUNK_IDX" ]; then
|
||||
echo "::error::Failed to parse chunk index from: $CHUNK_NAME"
|
||||
return 1
|
||||
fi
|
||||
ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
|
||||
printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
|
||||
done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
|
||||
echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
|
||||
ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${FILE_URL}', safe=':/'))")
|
||||
printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}" >> "$DOWNLOAD_LIST"
|
||||
|
||||
if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
|
||||
for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
|
||||
ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
|
||||
printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
|
||||
done
|
||||
elif [ "$CANONICAL" = "big_driving_tinygrad.pkl" ]; then
|
||||
for warp in big_driving_warp_1928x1208_tinygrad.pkl big_driving_warp_1344x760_tinygrad.pkl; do
|
||||
ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
|
||||
printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
|
||||
done
|
||||
fi
|
||||
}
|
||||
|
||||
@@ -82,7 +79,7 @@ runs:
|
||||
done
|
||||
|
||||
TOTAL=$(wc -l < "$DOWNLOAD_LIST")
|
||||
echo "Downloading $TOTAL chunks with 8 parallel connections..."
|
||||
echo "Downloading $TOTAL files with 8 parallel connections..."
|
||||
xargs -P8 -d'\n' -I{} bash -c '
|
||||
URL="${1%% *}"
|
||||
DEST="${1#* }"
|
||||
@@ -149,7 +149,17 @@ jobs:
|
||||
git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
|
||||
rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
|
||||
else
|
||||
git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/big_*.pkl" -X ""
|
||||
sudo apt-get install -y -qq aria2 > /dev/null # Parallel ranges because gh is flaky
|
||||
LFS_URL=$(git config -f "$(git rev-parse --show-toplevel)/.lfsconfig" lfs.url)
|
||||
for f in selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/big_*.pkl; do
|
||||
grep -qs "^version https://git-lfs" "$f" || continue
|
||||
OID=$(awk -F'sha256:' '/^oid/{print $2}' "$f"); SIZE=$(awk '/^size/{print $2}' "$f")
|
||||
HREF=$(curl -fsSL --retry 3 -X POST -H "Accept: application/vnd.git-lfs+json" -H "Content-Type: application/vnd.git-lfs+json" "$LFS_URL/objects/batch" \
|
||||
-d "{\"operation\":\"download\",\"transfer\":[\"basic\"],\"objects\":[{\"oid\":\"$OID\",\"size\":$SIZE}]}" | jq -r '.objects[0].actions.download.href')
|
||||
aria2c -x 16 -s 16 -k 16M --max-tries=5 --retry-wait=5 --file-allocation=none --summary-interval=30 --allow-overwrite=true \
|
||||
-d "$(dirname "$f")" -o "$(basename "$f")" "$HREF"
|
||||
echo "$OID $f" | sha256sum -c -
|
||||
done
|
||||
find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
|
||||
fi
|
||||
fi
|
||||
@@ -162,6 +172,7 @@ jobs:
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
|
||||
compression-level: 0
|
||||
path: |
|
||||
${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
|
||||
${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.pkl
|
||||
@@ -224,11 +235,11 @@ jobs:
|
||||
MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
|
||||
CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
|
||||
|
||||
TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
|
||||
TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 OPENPILOT_HACKS=1"
|
||||
if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
|
||||
echo "CHESTNUT build"
|
||||
export CHESTNUT=1
|
||||
TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
|
||||
TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
|
||||
OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
|
||||
else
|
||||
echo "QCOM build"
|
||||
@@ -240,14 +251,15 @@ jobs:
|
||||
|
||||
if [ -f "${{ env.MODELS_DIR }}/new_arch.txt" ]; then
|
||||
echo "Detected new arch"
|
||||
DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*driving*.onnx" -print -quit)
|
||||
if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
|
||||
DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "big_*driving*.onnx" -print -quit)
|
||||
else
|
||||
DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*driving*.onnx" ! -name "big_*" -print -quit)
|
||||
fi
|
||||
if [ -n "$DOWNLOADED_ONNX" ]; then
|
||||
echo "Compiling ONNX: $DOWNLOADED_ONNX"
|
||||
env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
|
||||
"$DOWNLOADED_ONNX" "$OUTPUT_PKL" --device-input "*" --out-of-band --benchmark-runs 1
|
||||
|
||||
echo "Chunking pkl"
|
||||
python3 -c "from openpilot.common.file_chunker import chunk_file, get_chunk_targets; import os; p='$OUTPUT_PKL'; chunk_file(p, get_chunk_targets(p, os.path.getsize(p)))"
|
||||
"$DOWNLOADED_ONNX" "$OUTPUT_PKL" --device-input "*" --benchmark-runs 1
|
||||
else
|
||||
echo "Failed to find downloaded ONNX."
|
||||
exit 1
|
||||
@@ -317,8 +329,7 @@ jobs:
|
||||
# Copy the model files
|
||||
rsync -avm \
|
||||
--include='*.dlc' \
|
||||
--include='*.chunk*' \
|
||||
--include='*.chunkmanifest' \
|
||||
--include='/${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}driving_tinygrad.pkl' \
|
||||
--exclude='*' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
@@ -340,6 +351,7 @@ jobs:
|
||||
with:
|
||||
name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
|
||||
path: ${{ env.OUTPUT_DIR }}
|
||||
compression-level: 0
|
||||
|
||||
- name: Upload artifact name file
|
||||
uses: actions/upload-artifact@v4
|
||||
|
||||
@@ -503,8 +503,8 @@ jobs:
|
||||
mkdir -p ${{ env.OUTPUT_DIR }}
|
||||
tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
|
||||
|
||||
- name: Download model chunks from HF
|
||||
uses: ./.github/workflows/download-hf-model-chunks
|
||||
- name: Download models from HF
|
||||
uses: ./.github/workflows/download-hf-model
|
||||
with:
|
||||
hf_repo: sunnypilot/sunnypilot_models_v1
|
||||
dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
|
||||
@@ -573,8 +573,8 @@ jobs:
|
||||
mkdir -p ${{ env.OUTPUT_DIR }}
|
||||
tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
|
||||
|
||||
- name: Download model chunks from HF
|
||||
uses: ./.github/workflows/download-hf-model-chunks
|
||||
- name: Download models from HF
|
||||
uses: ./.github/workflows/download-hf-model
|
||||
with:
|
||||
hf_repo: sunnypilot/sunnypilot_models_v1
|
||||
dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
|
||||
|
||||
@@ -47,38 +47,22 @@ jobs:
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
- name: Download Model Chunks in Parallel
|
||||
- name: Download model
|
||||
env:
|
||||
HF_TOKEN: ${{ secrets.HF_TOKEN }}
|
||||
MODEL_URL: ${{ matrix.artifact.download_uri.url }}
|
||||
MODEL_FILE: ${{ matrix.artifact.file_name }}
|
||||
shell: bash
|
||||
run: |
|
||||
mkdir -p /tmp/model_chunks
|
||||
echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
|
||||
|
||||
BASE_URL="${{ matrix.artifact.download_uri.url }}"
|
||||
export BASE_DIR=$(dirname "$BASE_URL")
|
||||
|
||||
python3 -c '
|
||||
import json, os
|
||||
with open("chunks.json") as f:
|
||||
chunks = json.load(f)
|
||||
manifest_path = f"/tmp/model_chunks/${{ matrix.artifact.file_name }}.chunkmanifest"
|
||||
with open(manifest_path, "w") as f:
|
||||
f.write(str(len(chunks)))
|
||||
base_dir = os.environ["BASE_DIR"]
|
||||
hf_token = os.environ.get("HF_TOKEN", "")
|
||||
with open("/tmp/curl_config.txt", "w") as f:
|
||||
for c in chunks:
|
||||
fn = c["file_name"]
|
||||
f.write(f"url = \"{base_dir}/{fn}\"\noutput = \"/tmp/model_chunks/{fn}\"\n")
|
||||
if hf_token:
|
||||
f.write(f"header = \"Authorization: Bearer {hf_token}\"\n")
|
||||
'
|
||||
curl -Z --parallel-immediate --parallel-max 12 --retry 3 --retry-all-errors -s -S -f -L -K /tmp/curl_config.txt
|
||||
mkdir -p /tmp/models
|
||||
AUTH=()
|
||||
if [ -n "$HF_TOKEN" ]; then AUTH=(-H "Authorization: Bearer $HF_TOKEN"); fi
|
||||
curl --retry 3 --retry-all-errors -s -S -f -L "${AUTH[@]}" -o "/tmp/models/$MODEL_FILE" "$MODEL_URL"
|
||||
|
||||
- name: Run Model Compatibility Test
|
||||
env:
|
||||
MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
|
||||
MODEL_CHUNK_DIR: "/tmp/model_chunks"
|
||||
MODEL_DIR: "/tmp/models"
|
||||
run: |
|
||||
export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
|
||||
python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true
|
||||
|
||||
+1
-1
@@ -50,7 +50,7 @@ st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
|
||||
*.stats
|
||||
*.pkl
|
||||
*.pkl*
|
||||
!openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl
|
||||
!openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
|
||||
!openpilot/sunnypilot/modeld_v2/models/*.pkl
|
||||
config.json
|
||||
compile_commands.json
|
||||
|
||||
Vendored
+9
-51
@@ -161,14 +161,6 @@ def step(String name, String cmd, Map args = [:]) {
|
||||
return [name, cmd, args]
|
||||
}
|
||||
|
||||
def chestnutStage(String name = "chestnut") {
|
||||
deviceStage(name, "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
|
||||
step("build", "./openpilot/selfdrive/test/chestnut.sh"),
|
||||
step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
|
||||
step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
|
||||
])
|
||||
}
|
||||
|
||||
node {
|
||||
env.CI = "1"
|
||||
env.PYTHONWARNINGS = "error"
|
||||
@@ -179,36 +171,6 @@ node {
|
||||
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
|
||||
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
|
||||
|
||||
if (env.JOB_BASE_NAME == 'chestnut-stresstest') {
|
||||
sh 'git fetch --no-tags origin nightly-chestnut'
|
||||
env.GIT_COMMIT = sh(script: 'git show FETCH_HEAD:git_src_commit', returnStdout: true).trim()
|
||||
if (!(env.GIT_COMMIT ==~ /[0-9a-f]{40}/)) {
|
||||
error("invalid nightly-chestnut source commit")
|
||||
}
|
||||
def results = []
|
||||
try {
|
||||
timeout(time: 12, unit: 'HOURS') {
|
||||
for (int run = 1; run <= 100; run++) {
|
||||
results << "run ${run}: INCOMPLETE"
|
||||
try {
|
||||
chestnutStage("chestnut ${run}/100")
|
||||
results[run - 1] = "run ${run}: PASS"
|
||||
} catch (hudson.AbortException e) {
|
||||
results[run - 1] = "run ${run}: FAIL"
|
||||
echo e.toString()
|
||||
}
|
||||
}
|
||||
}
|
||||
} finally {
|
||||
writeFile file: 'chestnut_stress_report.txt', text: "commit: ${env.GIT_COMMIT}\ncompleted: ${results.count { !it.endsWith('INCOMPLETE') }}/100\n" + results.join('\n') + '\n'
|
||||
archiveArtifacts artifacts: 'chestnut_stress_report.txt'
|
||||
}
|
||||
if (results.any { !it.endsWith('PASS') }) {
|
||||
error("chestnut stress test failed")
|
||||
}
|
||||
return
|
||||
}
|
||||
|
||||
def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
|
||||
'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
|
||||
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
|
||||
@@ -242,18 +204,9 @@ node {
|
||||
}
|
||||
|
||||
if (env.BRANCH_NAME == '__nightly-chestnut') {
|
||||
parallel (
|
||||
'nightly-chestnut': {
|
||||
deviceStage("build nightly-chestnut", "mici-chestnut-ci", ["CHESTNUT=1"], [
|
||||
step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
|
||||
])
|
||||
},
|
||||
'nightly-chestnut-dev': {
|
||||
deviceStage("build nightly-chestnut-dev", "mici-chestnut-ci", ["CHESTNUT=1"], [
|
||||
step("build nightly-chestnut-dev", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut-dev $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
|
||||
])
|
||||
},
|
||||
)
|
||||
deviceStage("build nightly-chestnut", "mici-chestnut-ci", [], [
|
||||
step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
|
||||
])
|
||||
}
|
||||
|
||||
if (!env.BRANCH_NAME.matches(excludeRegex)) {
|
||||
@@ -308,7 +261,12 @@ node {
|
||||
])
|
||||
},
|
||||
'chestnut': {
|
||||
chestnutStage()
|
||||
deviceStage("chestnut", "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
|
||||
step("build", "./openpilot/selfdrive/test/chestnut.sh"),
|
||||
step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
|
||||
step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
|
||||
step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
|
||||
])
|
||||
},
|
||||
|
||||
)
|
||||
|
||||
+14
-1
@@ -20,7 +20,7 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
|
||||
|
||||
AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
|
||||
AddOption('--verbose', action='store_true', default=False, help='show full build commands')
|
||||
release = not os.path.exists(File('#.gitmodules').abspath) # file absent on release branch, see release_files.py
|
||||
release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
@@ -316,6 +316,8 @@ def count_scons_nodes(nodes):
|
||||
if node in seen:
|
||||
continue
|
||||
seen.add(node)
|
||||
if hasattr(node, 'has_builder') and node.has_builder():
|
||||
build_product_nodes.add(node)
|
||||
executor = node.get_executor()
|
||||
if executor is not None:
|
||||
stack += executor.get_all_prerequisites() + executor.get_all_children()
|
||||
@@ -324,6 +326,7 @@ def count_scons_nodes(nodes):
|
||||
|
||||
progress_interval = 5
|
||||
progress_count = 0
|
||||
build_product_nodes = set()
|
||||
progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
|
||||
|
||||
def progress_function(node):
|
||||
@@ -339,3 +342,13 @@ def progress_function(node):
|
||||
|
||||
Progress(progress_function, interval=progress_interval)
|
||||
AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
|
||||
|
||||
def check_build_product_size(target, source, env):
|
||||
limit = 50 * 1024 * 1024 # GitHub max size
|
||||
for t in target:
|
||||
if str(t).endswith('.pkl'): # chunked during release packaging
|
||||
continue
|
||||
if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
|
||||
raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
|
||||
if not GetOption('extras'):
|
||||
AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
|
||||
|
||||
+105
-112
@@ -4,11 +4,10 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 351 Supported Cars
|
||||
# 345 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ADX 2025-26|All|openpilot available[<sup>1,5</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=Acura ADX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
|
||||
|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -17,12 +16,12 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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 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>|||
|
||||
@@ -34,8 +33,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 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 Born 2021-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 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 Born 2021-23">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>|||
|
||||
@@ -87,7 +86,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</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 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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>1,5</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 2022-26|All|openpilot available[<sup>1,5</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 2022-26">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>1,5</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</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>1,5</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>1,5</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>|||
|
||||
@@ -112,9 +111,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Passport 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 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 Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Prelude 2026|All|openpilot available[<sup>1,5</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 Prelude 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-26|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera 2022|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 Azera 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2019|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=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2020|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 Azera Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
@@ -166,7 +163,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|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>|||
|
||||
|Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 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=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 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 EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 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 EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|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=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
@@ -201,7 +197,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|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|Sportage Plug-in 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 Plug-in 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 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>|||
|
||||
@@ -230,52 +225,51 @@ 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>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda[<sup>6</sup>](#footnotes)|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[<sup>6</sup>](#footnotes)|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-24|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 2019-24">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>7</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>7</sup>](#footnotes)|Leaf IC 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 IC 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>7</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>7</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>|||
|
||||
|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 2019-24">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>6</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>6</sup>](#footnotes)|Leaf IC 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 IC 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>6</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>6</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 available[<sup>1</sup>](#footnotes)|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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1S 2025|All|openpilot available[<sup>1</sup>](#footnotes)|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 available[<sup>1</sup>](#footnotes)|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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot available[<sup>1</sup>](#footnotes)|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>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>8</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 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>8</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 Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</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 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>8</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>8</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 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|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</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 Impreza 2017-19">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|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</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 Impreza 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|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</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 Legacy 2015-18">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|Legacy 2020-22|All[<sup>8</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 Legacy 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|Outback 2015-17|EyeSight Driver Assistance[<sup>8</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>8</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>8</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>8</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 XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</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 XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>18</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>18</sup>](#footnotes)|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
|
||||
|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW2.5) 2019">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>7</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 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>7</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 Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</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 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>7</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>7</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 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|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</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 Impreza 2017-19">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|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</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 Impreza 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|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</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 Legacy 2015-18">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|Legacy 2020-22|All[<sup>7</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 Legacy 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|Outback 2015-17|EyeSight Driver Assistance[<sup>7</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>7</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>7</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>7</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 XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</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 XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>17</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard 2019-20|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 Alphard 2019-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|Alphard Hybrid 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 Alphard Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 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 Avalon 2016">Buy Here</a></sub></details>|||
|
||||
@@ -288,8 +282,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</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 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</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>||
|
||||
|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>|||
|
||||
@@ -321,44 +315,44 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></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>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 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 ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 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 ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 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 ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 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 ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
|
||||
@@ -366,19 +360,18 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
|
||||
<sup>6</sup>Mazda vehicles <b>require</b> comma power installation. <br />
|
||||
<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>10</sup>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>12</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>13</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>17</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>18</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
|
||||
<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
|
||||
<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
+1
-1
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="19.9"
|
||||
export AGNOS_VERSION="19.7"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: a20dab9f45...b2acec1dc7
+13
-18
@@ -128,7 +128,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
personalityChanged @91;
|
||||
aeb @92;
|
||||
userBookmark @95;
|
||||
userBookmarkNotPaired @104;
|
||||
excessiveActuation @96;
|
||||
bigModelLoading @100;
|
||||
bigModelFailed @102;
|
||||
@@ -167,7 +166,12 @@ struct InitData {
|
||||
gitSrcCommit @23 :Text;
|
||||
gitSrcCommitDate @24 :Text;
|
||||
|
||||
androidProperties @16 :Map(Text, Text);
|
||||
|
||||
pandaInfo @8 :PandaInfo;
|
||||
|
||||
dirty @9 :Bool;
|
||||
passive @12 :Bool;
|
||||
params @17 :Map(Text, Data);
|
||||
|
||||
commands @19 :Map(Text, Data);
|
||||
@@ -185,17 +189,6 @@ struct InitData {
|
||||
mici @7; # comma four
|
||||
}
|
||||
|
||||
deprecated :group {
|
||||
gctx @1 :Text;
|
||||
androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
|
||||
androidSensors @6 :List(Deprecated.AndroidSensor);
|
||||
chffrAndroidExtra @7 :ChffrAndroidExtra;
|
||||
pandaInfo @8 :PandaInfo;
|
||||
passive @12 :Bool;
|
||||
iosBuildInfo @14 :Deprecated.IosBuildInfo;
|
||||
androidProperties @16 :Map(Text, Text);
|
||||
}
|
||||
|
||||
struct PandaInfo {
|
||||
hasPanda @0 :Bool;
|
||||
dongleId @1 :Text;
|
||||
@@ -206,6 +199,14 @@ struct InitData {
|
||||
struct ChffrAndroidExtra {
|
||||
allCameraCharacteristics @0 :Map(Text, Text);
|
||||
}
|
||||
|
||||
deprecated :group {
|
||||
gctx @1 :Text;
|
||||
androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
|
||||
androidSensors @6 :List(Deprecated.AndroidSensor);
|
||||
chffrAndroidExtra @7 :ChffrAndroidExtra;
|
||||
iosBuildInfo @14 :Deprecated.IosBuildInfo;
|
||||
}
|
||||
}
|
||||
|
||||
struct FrameData {
|
||||
@@ -571,9 +572,6 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
controlsAllowedLateral @38 :Bool;
|
||||
controlsAllowedLongitudinal @39 :Bool;
|
||||
|
||||
nmiReset @40 :Bool;
|
||||
hardfaultReset @41 :Bool;
|
||||
|
||||
enum FaultStatus {
|
||||
none @0;
|
||||
faultTemp @1;
|
||||
@@ -696,7 +694,6 @@ struct PeripheralState {
|
||||
|
||||
struct UsbState {
|
||||
devices @0 :List(Device);
|
||||
connected @1 :Bool;
|
||||
|
||||
struct Device {
|
||||
busnum @0 :UInt8;
|
||||
@@ -1240,7 +1237,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
shouldStop @37: Bool;
|
||||
allowThrottle @38: Bool;
|
||||
allowBrake @39: Bool;
|
||||
accelBoost @40 :Float32;
|
||||
|
||||
|
||||
solverExecutionTime @35 :Float32;
|
||||
@@ -2238,7 +2234,6 @@ struct DriverMonitoringState {
|
||||
pose @0: Bool;
|
||||
eye @1: Bool;
|
||||
phone @2: Bool;
|
||||
sleep @3: Bool;
|
||||
}
|
||||
|
||||
struct Pose {
|
||||
|
||||
Executable
+75
@@ -0,0 +1,75 @@
|
||||
#!/usr/bin/env python3
|
||||
import io
|
||||
import sys
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
CHUNK_SIZE = 45 * 1024 * 1024 # 45MB, under GitHub's 50MB limit
|
||||
|
||||
def get_chunk_name(name, idx, num_chunks):
|
||||
return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
|
||||
|
||||
def get_manifest_path(name):
|
||||
return f"{name}.chunkmanifest"
|
||||
|
||||
def _chunk_paths(path, num_chunks):
|
||||
return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
|
||||
|
||||
def get_chunk_targets(path, file_size):
|
||||
num_chunks = math.ceil(file_size / CHUNK_SIZE)
|
||||
return _chunk_paths(path, num_chunks)
|
||||
|
||||
def chunk_file(path, targets):
|
||||
manifest_path, *chunk_paths = targets
|
||||
actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
|
||||
assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
|
||||
Path(manifest_path).unlink(missing_ok=True)
|
||||
with open(path, 'rb') as f:
|
||||
for chunk_path in chunk_paths:
|
||||
with open(chunk_path, 'wb') as out:
|
||||
out.write(f.read(CHUNK_SIZE))
|
||||
Path(manifest_path).write_text(str(len(chunk_paths)))
|
||||
os.remove(path)
|
||||
|
||||
class ChunkStream(io.RawIOBase):
|
||||
def __init__(self, paths):
|
||||
self._paths = iter(paths)
|
||||
self._f = None
|
||||
|
||||
def readable(self):
|
||||
return True
|
||||
|
||||
def readinto(self, b):
|
||||
n = 0
|
||||
view = memoryview(b)
|
||||
while n < len(b):
|
||||
if self._f is None:
|
||||
p = next(self._paths, None)
|
||||
if p is None:
|
||||
break
|
||||
self._f = open(p, 'rb')
|
||||
count = self._f.readinto(view[n:])
|
||||
if not count:
|
||||
self._f.close()
|
||||
self._f = None
|
||||
continue
|
||||
n += count
|
||||
return n
|
||||
|
||||
def open_file_chunked(path):
|
||||
manifest_path = get_manifest_path(path)
|
||||
if os.path.isfile(path):
|
||||
paths = [path]
|
||||
elif os.path.isfile(manifest_path):
|
||||
num_chunks = int(Path(manifest_path).read_text().strip())
|
||||
paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
|
||||
else:
|
||||
raise FileNotFoundError(path)
|
||||
return io.BufferedReader(ChunkStream(paths))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
path = sys.argv[1]
|
||||
chunk_paths = get_chunk_targets(path, os.path.getsize(path))
|
||||
chunk_file(path, chunk_paths)
|
||||
@@ -56,28 +56,28 @@
|
||||
},
|
||||
{
|
||||
"name": "boot",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615.img.xz",
|
||||
"hash": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
|
||||
"hash_raw": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
|
||||
"size": 46962688,
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
|
||||
"hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
|
||||
"hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
|
||||
"size": 46897152,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "3ef4769bb1cc73bfc31f96f073b46af42dcc0bad4ab2dde32d11929745d0cd28"
|
||||
"ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img.xz",
|
||||
"hash": "9aebca09b9d142718e71efbfe44b723010eec6e70067c043c63186067291739d",
|
||||
"hash_raw": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
|
||||
"hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
|
||||
"hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
|
||||
"size": 4718592000,
|
||||
"sparse": true,
|
||||
"full_check": false,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "270b76c5c5568828e3883390b83ea445425a104dd42119d68f06093ce6b6fcef",
|
||||
"ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
|
||||
"alt": {
|
||||
"hash": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img",
|
||||
"hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
|
||||
"url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
|
||||
"size": 4718592000
|
||||
}
|
||||
}
|
||||
|
||||
@@ -9,22 +9,25 @@ from openpilot.common.realtime import Ratekeeper
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
|
||||
|
||||
def read_power():
|
||||
def read_power(panda=None):
|
||||
if panda is not None and panda.get_type() == panda.HW_TYPE_CUATRO:
|
||||
health = panda.health()
|
||||
return health['voltage'] * health['current'] / 1e6
|
||||
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
|
||||
return int(f.read()) / 1e6
|
||||
|
||||
def sample_power(seconds=5) -> list[float]:
|
||||
def sample_power(seconds=5, panda=None) -> list[float]:
|
||||
rate = 123
|
||||
rk = Ratekeeper(rate, print_delay_threshold=None)
|
||||
|
||||
pwrs = []
|
||||
for _ in range(rate*seconds):
|
||||
pwrs.append(read_power())
|
||||
pwrs.append(read_power(panda))
|
||||
rk.keep_time()
|
||||
return pwrs
|
||||
|
||||
def get_power(seconds=5):
|
||||
pwrs = sample_power(seconds)
|
||||
def get_power(seconds=5, panda=None):
|
||||
pwrs = sample_power(seconds, panda)
|
||||
return np.mean(pwrs)
|
||||
|
||||
def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:f92c0a9b41613e063b6a1cd086729f5555d9df6482249e171ed1e276272cad7d
|
||||
size 24709520
|
||||
oid sha256:6a7adb302d378dda7b1788a841b89e4f905c872550a70a76650dcde977b4ece0
|
||||
size 24709209
|
||||
|
||||
@@ -36,10 +36,6 @@ def read_int(path: Path, base: int = 10) -> int:
|
||||
return 0
|
||||
|
||||
|
||||
def cable_connected() -> bool:
|
||||
return read_int(TYPEC_CC_ORIENTATION_PATH) != 0
|
||||
|
||||
|
||||
def usb_devices() -> list[Path]:
|
||||
try:
|
||||
devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
|
||||
@@ -95,4 +91,3 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
|
||||
chestnut_present = True
|
||||
|
||||
device_state.chestnutPresent = chestnut_present
|
||||
device_state.usbState.connected = cable_connected()
|
||||
|
||||
@@ -40,7 +40,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
|
||||
{"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
|
||||
{"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
|
||||
{"ExperimentalMode", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"ForcePowerDown", {PERSISTENT, BOOL}},
|
||||
{"GitBranch", {PERSISTENT, STRING}},
|
||||
@@ -92,17 +93,16 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutModelError", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
|
||||
{"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_Pairing", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
@@ -111,8 +111,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"PairingEmail", {PERSISTENT, STRING}},
|
||||
{"PairingProvider", {PERSISTENT, STRING}},
|
||||
{"PrimeType", {PERSISTENT, INT}},
|
||||
{"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
|
||||
{"RecordFront", {PERSISTENT | BACKUP, BOOL}},
|
||||
|
||||
@@ -13,8 +13,8 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
|
||||
RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
|
||||
TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
|
||||
MASTER_SP_BRANCHES = ['master']
|
||||
RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly', 'nightly-chestnut']
|
||||
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev', 'nightly-chestnut-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
|
||||
RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly']
|
||||
TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
|
||||
|
||||
CHESTNUT_BRANCHES = {
|
||||
"staging": "staging-chestnut",
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:e0936a3d890a3ad68ffe021e4905b9b9e59ffc2ae19ee9c703daa3e7c92e7c78
|
||||
size 1793
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:57c7ba72642b0350ee764c924586fa66ff94915be4aba1813797e67eb4b74376
|
||||
size 33215
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:71dc069bd3dc5b11ba8e1b52eb3a1025ee0ad8c82834f94b4b2269ec0d401920
|
||||
size 237
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:73a6fe02cf19105c0051a6664a424c1bf2ede364c6cf3791f235c86ffa203f39
|
||||
size 10348
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:4f500f118dca3eedbd86fc6cc943ad8be67fe5d4f7b474d5b452cd757ad805c3
|
||||
size 282
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:8a49996f0ce069a048abe94ba9424de655dcff53745676ab35e045204af88a3c
|
||||
size 12103
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:8542374779f1908dc52c8a126bc041efea4c4d605afdd34e3bf8e520a7e78bf2
|
||||
size 320
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:21e656b387c1a7e8de54d3e1b1c246f442cffe3c5e0924273d6d6d897c00b568
|
||||
size 13868
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:92431d37a844206570d73d48f39dd8d934539a89668fe8d5f4cccae38f7b301b
|
||||
size 11530
|
||||
oid sha256:fd91685bf656e828648acf035a4737acb2c4709e8514cf0aa0a10fa470a9bb60
|
||||
size 11580
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:3efe7d12ae82e0f5a1bd773129cf1eafe3c8c36ff5cba43a6c95f295706062b5
|
||||
size 19724
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:dfb645e59636687d61d20283bae65b68ddda6f7b2d4fda01a6e613a842e3b41f
|
||||
size 823
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:df07383a6ddfe8cd7eeb2f22271cbd13068327ca0978873f8d10368860562e40
|
||||
size 111083
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:f7518f3409e2ff8f7e99fb7f0c06afa8bdf0b0a506147b5cf9d4931b820a1a75
|
||||
size 1107
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:8a18e3de5f455b4089a824da8d5d78d5d532ef71facb05cc75c178b24d5beeb7
|
||||
size 920
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:710e74b526adb5bbac15cd8915a828dd673dd8ce15b2fd694c64c182eef6f56f
|
||||
size 13744
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:25db08a9038b5faa3b200ef5625cb216d7f4b31ea3d49fb0395f9b726bfaf8e6
|
||||
size 13135
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:547f466cc59d29647f3bf131d8444d7f22b63b186bcea55ceb8109c68ca74fe8
|
||||
size 2345
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:55050096cd98e7f4ea3e843d927c18815e458dfbd5e7d100b503db92075d061b
|
||||
size 2373
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:f9c439ed89bc0357e86c005d5dbb6f1ad2b8d72cdc0890e3201d842d8c3928f1
|
||||
size 2443
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:7aeccd3e0d8517f74eb34f7d73632c0b29b0ad5df5b9686c0f509bb6b136561e
|
||||
size 1728
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:6c4699e3a456a0df2bbfac7ab1eb8972fc8bd970296133fd322e214c61884407
|
||||
size 52374
|
||||
@@ -1,39 +0,0 @@
|
||||
import numpy as np
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
|
||||
ACCEL_BOOST_MAX = 0.2
|
||||
ACCEL_BOOST_RATE = 0.025
|
||||
ACCEL_BOOST_PER_OVERRIDE = 0.05
|
||||
ACCEL_BOOST_MIN_SPEED = 10 * CV.MPH_TO_MS
|
||||
|
||||
|
||||
class AccelBoost:
|
||||
def __init__(self):
|
||||
self.total_boost = 0.0
|
||||
self.boost_this_override = 0.0
|
||||
self.boost_eligible = False
|
||||
|
||||
def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
|
||||
enabled = sm['selfdriveState'].enabled
|
||||
gas_pressed = sm['carState'].gasPressed
|
||||
v_ego = sm['carState'].vEgo
|
||||
speed_scale = np.interp(v_ego, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
|
||||
boost_scale = speed_scale * np.interp(output_a_target_e2e, [-1.0, -0.5, 5.0], [0.0, 1.0, 1.0], right=0.0)
|
||||
model_limited = (sm['selfdriveState'].experimentalMode and
|
||||
output_a_target_e2e + self.total_boost * boost_scale < min(output_a_target_mpc, a_cruise) - 0.1)
|
||||
|
||||
if not enabled or not gas_pressed:
|
||||
self.boost_this_override = 0.0
|
||||
# Latch eligibility before the override changes the lead plan.
|
||||
self.boost_eligible = enabled and model_limited
|
||||
|
||||
if not enabled:
|
||||
self.total_boost = 0.0
|
||||
elif gas_pressed and self.boost_eligible:
|
||||
increase = min(ACCEL_BOOST_RATE * DT_MDL * speed_scale,
|
||||
ACCEL_BOOST_PER_OVERRIDE - self.boost_this_override, ACCEL_BOOST_MAX - self.total_boost)
|
||||
self.total_boost += increase
|
||||
self.boost_this_override += increase
|
||||
|
||||
return output_a_target_e2e + self.total_boost * boost_scale
|
||||
@@ -1,13 +1,11 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from collections import deque
|
||||
|
||||
from openpilot.cereal import log
|
||||
from openpilot.common.pid import PIDController
|
||||
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
|
||||
|
||||
LAT_ACCEL_SATURATION_THRESHOLD = 0.5 # m/s^2
|
||||
CURVATURE_SATURATION_THRESHOLD = 1e-3 # 1/m
|
||||
|
||||
|
||||
class LatControlCurvature(LatControl):
|
||||
@@ -22,8 +20,6 @@ class LatControlCurvature(LatControl):
|
||||
else:
|
||||
self.pid = None
|
||||
self.kf = 1.
|
||||
self.desired_curvature_buffer_len = int(1. / self.dt)
|
||||
self.desired_curvature_buffer = deque([0.] * self.desired_curvature_buffer_len, maxlen=self.desired_curvature_buffer_len)
|
||||
|
||||
def reset(self):
|
||||
super().reset()
|
||||
@@ -34,9 +30,6 @@ class LatControlCurvature(LatControl):
|
||||
curvature_log = log.ControlsState.LateralCurvatureState.new_message()
|
||||
actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
|
||||
error = desired_curvature - actual_curvature
|
||||
self.desired_curvature_buffer.append(desired_curvature)
|
||||
delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.desired_curvature_buffer_len))
|
||||
expected_curvature = self.desired_curvature_buffer[-delay_frames]
|
||||
|
||||
if not active:
|
||||
output_curvature = 0.0
|
||||
@@ -60,6 +53,6 @@ class LatControlCurvature(LatControl):
|
||||
curvature_log.actualCurvature = float(actual_curvature)
|
||||
curvature_log.desiredCurvature = float(desired_curvature)
|
||||
curvature_log.output = float(output_curvature)
|
||||
curvature_log.saturated = bool(self._check_saturation(abs(expected_curvature - actual_curvature) * CS.vEgo ** 2 > LAT_ACCEL_SATURATION_THRESHOLD, CS,
|
||||
curvature_log.saturated = bool(self._check_saturation(abs(error) > CURVATURE_SATURATION_THRESHOLD, CS,
|
||||
False, curvature_limited))
|
||||
return 0.0, float(output_curvature), curvature_log
|
||||
|
||||
@@ -8,7 +8,6 @@ from openpilot.common.constants import CV
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
|
||||
@@ -64,7 +63,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
self.fcw = False
|
||||
self.dt = dt
|
||||
self.allow_throttle = True
|
||||
self.accel_boost = AccelBoost()
|
||||
|
||||
self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
|
||||
self.a_cruise = init_a
|
||||
@@ -147,8 +145,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
accel_coast, self.allow_throttle)
|
||||
cruise_should_stop = should_stop(v_ego, self.a_cruise)
|
||||
|
||||
output_a_target_e2e = self.accel_boost.update(sm, output_a_target_e2e, output_a_target_mpc, self.a_cruise)
|
||||
|
||||
candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
|
||||
(self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)]
|
||||
if is_e2e:
|
||||
@@ -179,7 +175,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
longitudinalPlan.fcw = self.fcw
|
||||
|
||||
longitudinalPlan.aTarget = float(self.output_a_target)
|
||||
longitudinalPlan.accelBoost = float(self.accel_boost.total_boost)
|
||||
longitudinalPlan.shouldStop = bool(self.output_should_stop)
|
||||
longitudinalPlan.allowBrake = True
|
||||
longitudinalPlan.allowThrottle = bool(self.allow_throttle)
|
||||
|
||||
@@ -8,14 +8,12 @@ from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.nissan.values import CAR as NISSAN
|
||||
from opendbc.car.gm.values import CAR as GM
|
||||
from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
|
||||
from opendbc.car.vehicle_model import VehicleModel
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.car.helpers import convert_to_capnp
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
|
||||
from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
|
||||
from openpilot.selfdrive.locationd.helpers import Pose
|
||||
from openpilot.common.mock.generators import generate_deviceMotion
|
||||
from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
|
||||
@@ -24,8 +22,7 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
|
||||
class TestLatControl(OpenpilotTestCase):
|
||||
|
||||
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
|
||||
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque),
|
||||
(VOLKSWAGEN.VOLKSWAGEN_ID4_MK2, LatControlCurvature)])
|
||||
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
|
||||
def test_saturation(self, car_name, controller):
|
||||
CarInterface = interfaces[car_name]
|
||||
CP = CarInterface.get_non_essential_params(car_name)
|
||||
|
||||
@@ -40,7 +40,7 @@ class PoseKalman(KalmanFilter):
|
||||
initial_P = np.diag([0.01**2, 0.01**2, 0.01**2,
|
||||
10**2, 10**2, 10**2,
|
||||
1**2, 1**2, 1**2,
|
||||
0.1**2, 0.1**2, 0.1**2,
|
||||
1**2, 1**2, 1**2,
|
||||
100**2, 100**2, 100**2,
|
||||
0.01**2, 0.01**2, 0.01**2])
|
||||
|
||||
|
||||
@@ -1,20 +1,14 @@
|
||||
import ctypes.util
|
||||
import glob
|
||||
import os
|
||||
import time
|
||||
from SCons.Script import Action, Value
|
||||
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.helpers import chestnut_present
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
|
||||
|
||||
Import('env', 'arch')
|
||||
|
||||
# TODO: add GCC support to tinygrad?
|
||||
# tinygrad's CPU:LLVM backend requires libLLVM, skip the build on PC if it's not available
|
||||
if arch not in ('comma_arm64', 'Darwin') and ctypes.util.find_library('LLVM') is None:
|
||||
print("\033[93mmodeld: LLVM not found, skipping tinygrad model compilation. Install LLVM to compile models.\033[0m")
|
||||
Return()
|
||||
|
||||
lenv = env.Clone()
|
||||
lenv.PrependENVPath('PYTHONPATH', Dir('#tinygrad_repo').abspath)
|
||||
|
||||
@@ -30,13 +24,33 @@ else:
|
||||
# JIT=2 disables graph batching, which produces incorrect outputs after buffers change.
|
||||
tg_flags = 'DEV=METAL JIT=2' if arch == 'Darwin' else 'DEV=CPU:LLVM'
|
||||
|
||||
CHESTNUT = chestnut_present()
|
||||
if CHESTNUT:
|
||||
chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32'
|
||||
# the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
|
||||
chestnut_lock = File("models/.chestnut.lock").abspath
|
||||
|
||||
# tinygrad calls brew which needs a $HOME in the env
|
||||
mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
|
||||
|
||||
warp_deps = [File("#openpilot/system/camerad/cameras/nv12_info.py")]
|
||||
compiler = Dir('#tinygrad_repo/examples/openpilot').abspath
|
||||
# build on all cores
|
||||
taskset = 'taskset -c 0-7 ' if arch == 'comma_arm64' else ''
|
||||
# CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
|
||||
taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
|
||||
|
||||
def chestnut_action(command):
|
||||
def do_compile(target, source, env):
|
||||
from openpilot.system.hardware.chestnut.flash import link_up
|
||||
# chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
|
||||
for _ in range(10):
|
||||
if link_up():
|
||||
break
|
||||
time.sleep(1)
|
||||
else:
|
||||
print("Chestnut not ready, skipping warp build")
|
||||
return
|
||||
return env.Execute(command)
|
||||
return Action(do_compile, " [CHESTNUT] $TARGET")
|
||||
|
||||
def compile_model(onnx_path, pkl_path):
|
||||
onnx_path, target_pkl_path = File(onnx_path).abspath, File(pkl_path).abspath
|
||||
@@ -52,14 +66,19 @@ compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygra
|
||||
compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
|
||||
|
||||
model_w, model_h = MEDMODEL_INPUT_SIZE
|
||||
for cam_w, cam_h in camera_configs:
|
||||
warp_pkl_path = File(f"models/driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
|
||||
stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
|
||||
cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
|
||||
f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
|
||||
f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
|
||||
f'--output {warp_pkl_path}')
|
||||
lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
|
||||
for chestnut in [False, True] if CHESTNUT else [False]:
|
||||
file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
|
||||
for cam_w, cam_h in camera_configs:
|
||||
warp_pkl_path = File(f"models/{file_prefix}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
|
||||
stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
|
||||
cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
|
||||
f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
|
||||
f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
|
||||
f'--output {warp_pkl_path}')
|
||||
action = chestnut_action(cmd) if chestnut else cmd
|
||||
node = lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], action)
|
||||
if chestnut:
|
||||
lenv.SideEffect(chestnut_lock, node)
|
||||
|
||||
dm_w, dm_h = DM_INPUT_SIZE
|
||||
for cam_w, cam_h in camera_configs:
|
||||
|
||||
@@ -16,6 +16,7 @@ from openpilot.common.realtime import config_realtime_process
|
||||
from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
|
||||
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
from openpilot.common.file_chunker import open_file_chunked
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
|
||||
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
@@ -27,7 +28,7 @@ class ModelState:
|
||||
output: np.ndarray
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int):
|
||||
jits = load_oob(MODEL_PKL_PATH)
|
||||
jits = load_oob(open_file_chunked(MODEL_PKL_PATH))
|
||||
self.DEV = jits['input_specs']['input_img'][2]
|
||||
self.input_shapes = jits['metadata']['input_shapes']
|
||||
self.output_slices = pickle.loads(base64.b64decode(jits['metadata']['metadata']['output_slices']))
|
||||
|
||||
@@ -1,7 +1,10 @@
|
||||
import io
|
||||
import pickle
|
||||
import struct
|
||||
import sys
|
||||
import time
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.common.file_chunker import get_manifest_path
|
||||
from openpilot.common.hardware import AGNOS
|
||||
from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
|
||||
|
||||
@@ -12,12 +15,14 @@ def modeld_pkl_path(chestnut: bool):
|
||||
prefix = 'big_' if chestnut else ''
|
||||
return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
|
||||
|
||||
def load_oob(path, chestnut=False):
|
||||
from tinygrad import Context
|
||||
def load_oob(f, chestnut=False):
|
||||
import numpy as np
|
||||
from tinygrad import Context, Tensor
|
||||
device = 'USB+AMD:LLVM' if chestnut else 'QCOM' if AGNOS else 'METAL' if sys.platform == 'darwin' else 'CPU:LLVM'
|
||||
with Context(DEV=device):
|
||||
from tinygrad_repo.examples.openpilot.helpers import load_pickle
|
||||
return load_pickle(path, out_of_band=True)
|
||||
opcodes = f.read(struct.unpack('<q', f.read(8))[0])
|
||||
buffers = Tensor(np.frombuffer(f.read(), np.uint8)).realize().uop.buffer
|
||||
return type("_Unpickler", (pickle.Unpickler,), {"persistent_load": lambda self, pid: buffers.view(*pid)})(io.BytesIO(opcodes)).load()
|
||||
|
||||
def chestnut_present() -> bool:
|
||||
for d in USB_DEVICES_PATH.glob("*"):
|
||||
@@ -30,15 +35,7 @@ def chestnut_present() -> bool:
|
||||
pass
|
||||
return False
|
||||
|
||||
def wait_for_chestnut(timeout: float = 10.) -> None:
|
||||
# the cable is detected before chestnut enumerates
|
||||
st = time.monotonic()
|
||||
while not chestnut_present():
|
||||
if time.monotonic() - st > timeout:
|
||||
raise TimeoutError("chestnut did not enumerate")
|
||||
time.sleep(0.1)
|
||||
|
||||
def chestnut_compiled() -> bool:
|
||||
path = modeld_pkl_path(chestnut=True)
|
||||
return path.is_file() and all(
|
||||
return (path.is_file() or Path(get_manifest_path(path)).is_file()) and all(
|
||||
(MODELS_DIR / f'big_driving_warp_{size}_tinygrad.pkl').is_file() for size in ('1344x760', '1928x1208'))
|
||||
|
||||
@@ -2,14 +2,11 @@
|
||||
from collections.abc import Callable
|
||||
import base64
|
||||
import ctypes
|
||||
import gc
|
||||
from functools import cached_property
|
||||
import os
|
||||
os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
|
||||
os.environ.setdefault('AM_POWER_LIMIT', '100')
|
||||
from tinygrad.device import Buffer, Device
|
||||
from tinygrad.dtype import DType, dtypes
|
||||
from tinygrad.engine.realize import lower_and_compile
|
||||
from tinygrad.tensor import Tensor
|
||||
from tinygrad.helpers import round_up
|
||||
from tinygrad.uop.ops import UOp
|
||||
@@ -28,7 +25,6 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.hardware.usb import cable_connected
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import config_realtime_process, DT_MDL
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
@@ -38,8 +34,9 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
|
||||
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
|
||||
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
|
||||
from openpilot.common.file_chunker import open_file_chunked
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob, wait_for_chestnut
|
||||
from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
@@ -80,12 +77,6 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
|
||||
shouldStop=bool(stop))
|
||||
|
||||
|
||||
def drop_chestnut() -> None:
|
||||
if "AMD" in Device._opened_devices:
|
||||
for d in Device._opened_devices:
|
||||
Device[d].pending.pop(Device["AMD"], None)
|
||||
|
||||
|
||||
class ChestnutGpuState:
|
||||
# GPU metrics require modeld's GPU context
|
||||
def __init__(self, pm: PubMaster, big: bool):
|
||||
@@ -143,8 +134,8 @@ class FrameMeta:
|
||||
|
||||
|
||||
def input_view(buffer: Buffer, shape: tuple[int, ...], dtype: DType, offset: int) -> Tensor:
|
||||
view = buffer.view(math.prod(shape), dtype, offset).ensure_allocated()
|
||||
return Tensor(UOp.from_buffer(view)).reshape(shape)
|
||||
view = buffer.view(math.prod(shape) * dtype.itemsize, offset).ensure_allocated()
|
||||
return Tensor(UOp.from_buffer(view, dtype)).reshape(shape)
|
||||
|
||||
|
||||
class ModelState(ModelStateBase):
|
||||
@@ -152,7 +143,7 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
|
||||
ModelStateBase.__init__(self)
|
||||
jits = load_oob(modeld_pkl_path(chestnut), chestnut)
|
||||
jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)), chestnut)
|
||||
self.model_device = jits['input_specs']['new_img'][2]
|
||||
self.input_shapes = {name: (shape, np.dtype(dtype)) for name, (shape, dtype, _) in jits['input_specs'].items()}
|
||||
self.state_pairs = {name: f'next_{name}' for name in self.input_shapes if f'next_{name}' in jits['metadata']['output_shapes']}
|
||||
@@ -167,9 +158,7 @@ class ModelState(ModelStateBase):
|
||||
self.pack_inputs()
|
||||
with open(MODELS_DIR / f'{"big_" if chestnut else ""}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl', 'rb') as f:
|
||||
self.run_warp = pickle.load(f)['run']
|
||||
self.run_warp.captured._linear = lower_and_compile(self.run_warp.captured._linear)
|
||||
self.run_model = jits['run']
|
||||
self.run_model.captured._linear = lower_and_compile(self.run_model.captured._linear)
|
||||
self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in jits['output_specs'].items()}
|
||||
for name, next_name in self.state_pairs.items():
|
||||
state = self.input_queues[name]
|
||||
@@ -239,7 +228,7 @@ class ModelState(ModelStateBase):
|
||||
def main(demo=False):
|
||||
cloudlog.warning("modeld init")
|
||||
|
||||
CHESTNUT = chestnut_compiled() and (chestnut_present() or cable_connected())
|
||||
CHESTNUT = chestnut_present() and chestnut_compiled()
|
||||
if CHESTNUT:
|
||||
from tinygrad.runtime.ops_amd import AMDDevice
|
||||
AMDDevice.wait_timeout_ms = 3000
|
||||
@@ -247,7 +236,7 @@ def main(demo=False):
|
||||
params.put_bool("ChestnutLoading", CHESTNUT)
|
||||
params.remove("ChestnutActive")
|
||||
|
||||
gc.disable()
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
# visionipc clients
|
||||
while True:
|
||||
@@ -280,7 +269,6 @@ def main(demo=False):
|
||||
def load_big():
|
||||
nonlocal big_model
|
||||
try:
|
||||
wait_for_chestnut()
|
||||
m = ModelState(vipc_client_main.width, vipc_client_main.height, True)
|
||||
m.warmup()
|
||||
big_model = m
|
||||
@@ -291,8 +279,6 @@ def main(demo=False):
|
||||
loader.join(BIG_MODEL_TIMEOUT)
|
||||
model = big_model
|
||||
params.put_bool("ChestnutActive", model is not None)
|
||||
if model is None:
|
||||
drop_chestnut()
|
||||
|
||||
small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
|
||||
if model is None:
|
||||
@@ -301,8 +287,6 @@ def main(demo=False):
|
||||
params.put_bool("ChestnutLoading", False)
|
||||
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
|
||||
|
||||
config_realtime_process(7, 54)
|
||||
|
||||
# messaging
|
||||
pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutGpuState"] if CHESTNUT else [])
|
||||
pm = PubMaster(pub_socks)
|
||||
@@ -424,11 +408,10 @@ def main(demo=False):
|
||||
run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutGpuState'].frequency) == 0)
|
||||
model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
|
||||
except Exception:
|
||||
if not model.chestnut:
|
||||
if not params.get_bool("ChestnutActive"):
|
||||
raise
|
||||
# fallback to small model
|
||||
cloudlog.exception("big model failed, fall back to small")
|
||||
drop_chestnut()
|
||||
params.put_bool("ChestnutActive", False)
|
||||
assert small_model is not None
|
||||
model = small_model
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:cc75858d5e007b725b6264e194da4321d7874a212dc631b8f40a215dfd172cd2
|
||||
size 799992286
|
||||
oid sha256:76cc0a9bc3af7a318889483dcbe126337f8d338f5abcbe664a8988c9b18b6639
|
||||
size 776634338
|
||||
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:e80410f65706472e72150cfdcb0087595782e8aa366149286672511a6224ef54
|
||||
size 864120
|
||||
@@ -1,3 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:54dff4bc4a64a8615823bb4906429a9db30f4b9fca9b8a56e9c84100227608bb
|
||||
size 863864
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:dee5a294e8afaacc9295ac5d100e00733ecac278e79264b96331e40a3ede1b04
|
||||
size 7844499
|
||||
oid sha256:dd299afabe7a3e0d04cbe2bd97fdb0c93bba8ad6d3cc3663a0e0ededaf243ac2
|
||||
size 7497335
|
||||
|
||||
@@ -51,7 +51,6 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._SG_THRESHOLD = 0.9
|
||||
self._BLINK_THRESHOLD = 0.865
|
||||
self._PHONE_THRESH = 0.5
|
||||
self._SLEEP_THRESH = 0.75
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
|
||||
self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
|
||||
@@ -139,7 +138,6 @@ class DriverMonitoring:
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.blink = DriverBlink()
|
||||
self.phone_prob = 0.
|
||||
self.sleep_prob = 0.
|
||||
|
||||
self.alert_level = AlertLevel.none
|
||||
self.always_on = always_on
|
||||
@@ -242,7 +240,6 @@ class DriverMonitoring:
|
||||
self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
|
||||
self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
|
||||
self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
|
||||
self.distracted_types['sleep'] = bool(self.sleep_prob > self.settings._SLEEP_THRESH)
|
||||
|
||||
def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, lowspeed, demo_mode=False, steering_angle_deg=0.):
|
||||
rhd_pred = driver_state.wheelOnRightProb
|
||||
@@ -280,7 +277,6 @@ class DriverMonitoring:
|
||||
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
|
||||
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
|
||||
self.phone_prob = driver_data.phoneProb
|
||||
self.sleep_prob = driver_data.sleepProb
|
||||
|
||||
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
|
||||
@@ -410,7 +406,6 @@ class DriverMonitoring:
|
||||
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.distractedTypes.sleep = self.distracted_types['sleep']
|
||||
dm.visionPolicyState.faceDetected = self.face_detected
|
||||
dm.visionPolicyState.pose.pitch = self.pose.pitch
|
||||
dm.visionPolicyState.pose.yaw = self.pose.yaw
|
||||
|
||||
@@ -28,7 +28,6 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
|
||||
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
|
||||
# TODO: test both separately when e2e is used
|
||||
ds.leftDriverData.phoneProb = 0.
|
||||
ds.leftDriverData.sleepProb = 0.
|
||||
return ds
|
||||
|
||||
|
||||
|
||||
@@ -139,8 +139,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
|
||||
ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f);
|
||||
ps.setFanPower(health.fan_power);
|
||||
ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U);
|
||||
ps.setNmiReset((health.flags_pkt & HEALTH_FLAG_NMI_RESET) != 0U);
|
||||
ps.setHardfaultReset((health.flags_pkt & HEALTH_FLAG_HARDFAULT_RESET) != 0U);
|
||||
ps.setSpiErrorCount(health.spi_error_count_pkt);
|
||||
ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
|
||||
ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
|
||||
|
||||
@@ -29,6 +29,12 @@ enum SpiError {
|
||||
|
||||
const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
|
||||
const std::string SPI_DEVICE = "/dev/spidev0.0";
|
||||
// TODO: fix SPI turnaround synchronization at the protocol level.
|
||||
static uint64_t spi_last_bus_activity_ns = 0; // protected by hw_lock
|
||||
|
||||
static void wait_for_spi_turnaround(uint64_t start_ns) {
|
||||
while ((nanos_since_boot() - start_ns) < 400000) {}
|
||||
}
|
||||
|
||||
class LockEx {
|
||||
public:
|
||||
@@ -319,6 +325,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
assert(tx_len < SPI_BUF_SIZE);
|
||||
assert(max_rx_len < SPI_BUF_SIZE);
|
||||
|
||||
wait_for_spi_turnaround(spi_last_bus_activity_ns);
|
||||
|
||||
xfer_count++;
|
||||
header = {
|
||||
.sync = SPI_SYNC,
|
||||
@@ -347,6 +355,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
if (ret < 0) {
|
||||
goto fail;
|
||||
}
|
||||
wait_for_spi_turnaround(nanos_since_boot());
|
||||
|
||||
// Send data
|
||||
if (tx_data != NULL) {
|
||||
@@ -389,6 +398,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
|
||||
memcpy(rx_data, rx_buf + 3, rx_data_len);
|
||||
}
|
||||
|
||||
spi_last_bus_activity_ns = nanos_since_boot();
|
||||
return rx_data_len;
|
||||
|
||||
fail:
|
||||
@@ -403,6 +413,7 @@ fail:
|
||||
}
|
||||
}
|
||||
|
||||
spi_last_bus_activity_ns = nanos_since_boot();
|
||||
if (ret >= 0) ret = -1;
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -21,10 +21,6 @@
|
||||
"text": "Chestnut detected! Switch to the %1 branch to use chestnut-class models.",
|
||||
"severity": -1
|
||||
},
|
||||
"Offroad_ChestnutModelError": {
|
||||
"text": "Chestnut model error. Restart the car to retry.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutNotDetected": {
|
||||
"text": "Chestnut not detected. Check USB and 12V connections.",
|
||||
"severity": 0
|
||||
@@ -37,6 +33,10 @@
|
||||
"text": "%1",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUncompiled": {
|
||||
"text": "Chestnut model not compiled. Keep ignition on and reboot the comma.",
|
||||
"severity": 0
|
||||
},
|
||||
"Offroad_ChestnutUpdateFailed": {
|
||||
"text": "Chestnut update failed. Check the USB cable.",
|
||||
"severity": 0
|
||||
@@ -74,10 +74,5 @@
|
||||
"text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
|
||||
"severity": 1,
|
||||
"_comment": "Set extra field to the current branch name."
|
||||
},
|
||||
"Offroad_Pairing": {
|
||||
"text": "Finish setup. Pair your device with comma connect to view recent drives and bookmarked routes.",
|
||||
"severity": -2,
|
||||
"icon": "icons_mici/settings/device/green_settings.png"
|
||||
}
|
||||
}
|
||||
|
||||
@@ -833,10 +833,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
EventName.userBookmark: {
|
||||
ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
|
||||
},
|
||||
|
||||
EventName.userBookmarkNotPaired: {
|
||||
ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", "pair to connect\nto view", duration=1.5),
|
||||
},
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -236,9 +236,7 @@ class SelfdriveD(CruiseHelper):
|
||||
|
||||
# Check for user bookmark press
|
||||
if self.sm.updated['userBookmark']:
|
||||
prime_type = self.params.get("PrimeType")
|
||||
paired = prime_type is not None and int(prime_type) >= 0
|
||||
self.events.add(EventName.userBookmark if paired else EventName.userBookmarkNotPaired)
|
||||
self.events.add(EventName.userBookmark)
|
||||
|
||||
# Don't add any more events while in dashcam mode
|
||||
if self.CP.passive:
|
||||
|
||||
@@ -80,7 +80,6 @@ def generate_report(proposed, master, tmp, commit):
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.leftDriverData.sleepProb), "leftDriverData.sleepProb"),
|
||||
(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
|
||||
], "driverStateV2")
|
||||
|
||||
|
||||
@@ -36,7 +36,7 @@ source_segments = [
|
||||
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021
|
||||
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1
|
||||
("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"), # RIVIAN.RIVIAN_R1_GEN1
|
||||
("TESLA", "aebd8f1d4ea16066|000002d8--5850d3ea5c--2"), # TESLA.TESLA_MODEL_Y
|
||||
("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"), # TESLA.TESLA_MODEL_Y
|
||||
|
||||
# Enable when port is tested and dashcamOnly is no longer set
|
||||
#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
|
||||
@@ -60,7 +60,7 @@ segments = [
|
||||
("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
|
||||
("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
|
||||
("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
|
||||
("TESLA", "aebd8f1d4ea16066|000002d8--5850d3ea5c--2"),
|
||||
("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),
|
||||
]
|
||||
|
||||
# dashcamOnly makes don't need to be tested until a full port is done
|
||||
@@ -74,19 +74,11 @@ EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
|
||||
|
||||
def run_test_process(data):
|
||||
segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
|
||||
ref_error = None
|
||||
try:
|
||||
ref_log_msgs = list(LogReader(ref_log_path))
|
||||
except Exception:
|
||||
# New routes have no ref yet, still replay and publish new refs.
|
||||
ref_log_msgs = []
|
||||
ref_error = f"Failed to load reference {ref_log_path}:\n{traceback.format_exc()}"
|
||||
ref_log_msgs = list(LogReader(ref_log_path))
|
||||
lr = LogReader.from_bytes(lr_dat)
|
||||
res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
|
||||
# save logs so we can update refs
|
||||
save_log(cur_log_fn, log_msgs)
|
||||
if ref_error is not None:
|
||||
return (segment, cfg.proc_name, ref_error, ref_error)
|
||||
try:
|
||||
diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
|
||||
except Exception:
|
||||
|
||||
@@ -5,6 +5,8 @@ import time
|
||||
import unittest
|
||||
import numpy as np
|
||||
from dataclasses import dataclass
|
||||
from panda import Panda
|
||||
from openpilot.common.hardware import HARDWARE
|
||||
from openpilot.common.test import OpenpilotTestCase
|
||||
from openpilot.common.utils import tabulate
|
||||
|
||||
@@ -14,11 +16,14 @@ from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.mock import mock_messages
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.hardware.comma.power_monitor import get_power
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_present
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.system.manager.manager import manager_cleanup
|
||||
|
||||
SAMPLE_TIME = 2 # seconds to sample power
|
||||
MAX_WARMUP_TIME = 30 # seconds to wait for SAMPLE_TIME consecutive valid samples
|
||||
MICI = HARDWARE.get_device_type() == "mici"
|
||||
CHESTNUT = chestnut_present()
|
||||
|
||||
@dataclass
|
||||
class Proc:
|
||||
@@ -33,9 +38,10 @@ class Proc:
|
||||
return '+'.join(self.procs)
|
||||
|
||||
|
||||
# MICI readings exclude the separately powered Chestnut GPU.
|
||||
PROCS = [
|
||||
Proc(['camerad'], 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
|
||||
Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
|
||||
Proc(['camerad'], 0.85 if MICI else 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
|
||||
Proc(['modeld'], 0.45 if MICI and CHESTNUT else 1.5, atol=0.2, msgs=['modelV2']),
|
||||
Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
|
||||
Proc(['encoderd'], 0.23, msgs=[]),
|
||||
]
|
||||
@@ -46,6 +52,13 @@ class TestPowerDraw(OpenpilotTestCase):
|
||||
|
||||
def setup_method(self):
|
||||
Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
|
||||
self.panda = None
|
||||
if MICI:
|
||||
HARDWARE.reset_internal_panda()
|
||||
self.addCleanup(HARDWARE.reset_internal_panda)
|
||||
Panda.wait_for_panda(None, 30)
|
||||
self.panda = Panda(cli=False)
|
||||
self.addCleanup(self.panda.close)
|
||||
|
||||
def teardown_method(self):
|
||||
manager_cleanup()
|
||||
@@ -78,7 +91,7 @@ class TestPowerDraw(OpenpilotTestCase):
|
||||
start_time = time.monotonic()
|
||||
|
||||
while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
|
||||
power = get_power(1)
|
||||
power = get_power(1, self.panda)
|
||||
iteration_msg_counts = {}
|
||||
for msg,sock in socks.items():
|
||||
iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
|
||||
@@ -97,7 +110,7 @@ class TestPowerDraw(OpenpilotTestCase):
|
||||
|
||||
@mock_messages(['deviceMotion'])
|
||||
def test_camera_procs(self, subtests):
|
||||
baseline = get_power()
|
||||
baseline = get_power(panda=self.panda)
|
||||
|
||||
prev = baseline
|
||||
used = {}
|
||||
|
||||
@@ -3,8 +3,10 @@ from openpilot.common.params import Params, UnknownKeyName
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr, tr_noop
|
||||
from openpilot.system.ui.widgets import DialogResult
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
@@ -214,11 +216,32 @@ class TogglesLayout(Widget):
|
||||
icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
|
||||
self._toggles["ExperimentalMode"].set_icon(icon)
|
||||
|
||||
def _toggle_callback(self, state: bool, param: str):
|
||||
self._params.put_bool(param, state, block=True)
|
||||
if param == "ExperimentalMode":
|
||||
self._update_experimental_mode_icon()
|
||||
def _handle_experimental_mode_toggle(self, state: bool):
|
||||
confirmed = self._params.get_bool("ExperimentalModeConfirmed")
|
||||
if state and not confirmed:
|
||||
def confirm_callback(result: DialogResult):
|
||||
if result == DialogResult.CONFIRM:
|
||||
self._params.put_bool("ExperimentalMode", True, block=True)
|
||||
self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
|
||||
else:
|
||||
self._toggles["ExperimentalMode"].action_item.set_state(False)
|
||||
self._update_experimental_mode_icon()
|
||||
|
||||
# show confirmation dialog
|
||||
content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
|
||||
f"<p>{self._toggles['ExperimentalMode'].description}</p>")
|
||||
dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
|
||||
gui_app.push_widget(dlg)
|
||||
else:
|
||||
self._update_experimental_mode_icon()
|
||||
self._params.put_bool("ExperimentalMode", state, block=True)
|
||||
|
||||
def _toggle_callback(self, state: bool, param: str):
|
||||
if param == "ExperimentalMode":
|
||||
self._handle_experimental_mode_toggle(state)
|
||||
return
|
||||
|
||||
self._params.put_bool(param, state, block=True)
|
||||
if self._toggle_defs[param][3]:
|
||||
self._params.put_bool("OnroadCycleRequested", True, block=True)
|
||||
|
||||
|
||||
@@ -10,7 +10,6 @@ from openpilot.common.realtime import drop_realtime
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
|
||||
|
||||
|
||||
class PrimeType(IntEnum):
|
||||
@@ -23,10 +22,6 @@ class PrimeType(IntEnum):
|
||||
MAGENTA_NEW = 4
|
||||
PURPLE = 5
|
||||
|
||||
class Provider(str):
|
||||
GOOGLE = "google"
|
||||
GITHUB = "github"
|
||||
APPLE = "apple"
|
||||
|
||||
class PrimeState:
|
||||
FETCH_INTERVAL = 5.0 # seconds between API calls
|
||||
@@ -38,13 +33,6 @@ class PrimeState:
|
||||
self._lock = threading.Lock()
|
||||
self._session = requests.Session() # reuse session to reduce SSL handshake overhead
|
||||
self.prime_type: PrimeType = self._load_initial_state()
|
||||
self._prime_trial_available = False
|
||||
pairing_provider = os.getenv("PAIRING_PROVIDER") or self._params.get("PairingProvider")
|
||||
self._pairing_provider: Provider | None = Provider(pairing_provider) if pairing_provider is not None else None
|
||||
self._pairing_email: str | None = self._params.get("PairingEmail")
|
||||
self._commacare = False
|
||||
|
||||
set_offroad_alert("Offroad_Pairing", self.prime_type <= PrimeType.UNPAIRED)
|
||||
|
||||
self._running = False
|
||||
self._thread = None
|
||||
@@ -68,80 +56,18 @@ class PrimeState:
|
||||
response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
|
||||
is_paired = data.get("is_paired", False)
|
||||
prime_type = data.get("prime_type", 0)
|
||||
self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
|
||||
if not is_paired:
|
||||
self.set_provider(None, None)
|
||||
|
||||
prime_trial_available = data.get("trial_claimed") is False and data.get("eligible_features", {}).get("prime", False)
|
||||
self.set_prime_trial_available(prime_trial_available)
|
||||
|
||||
commacare = data.get("commacare", False)
|
||||
self.set_commacare(commacare)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch prime status: {e}")
|
||||
|
||||
def _fetch_pairing_provider(self) -> None:
|
||||
dongle_id = self._params.get("DongleId")
|
||||
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
|
||||
return
|
||||
|
||||
try:
|
||||
identity_token = get_token(dongle_id)
|
||||
response = api_get(f"v1/devices/{dongle_id}/owner", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
user_id = data.get("user_id", "")
|
||||
provider = Provider(user_id.partition("_")[0])
|
||||
email = data.get("email")
|
||||
self.set_provider(provider, email)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch pairing provider: {e}")
|
||||
|
||||
def set_type(self, prime_type: PrimeType) -> None:
|
||||
with self._lock:
|
||||
if prime_type != self.prime_type:
|
||||
self.prime_type = prime_type
|
||||
self._params.put("PrimeType", int(prime_type))
|
||||
cloudlog.info(f"Prime type updated to {prime_type}")
|
||||
set_offroad_alert("Offroad_Pairing", self.prime_type <= PrimeType.UNPAIRED)
|
||||
|
||||
def set_provider(self, provider: Provider | None, email: str | None):
|
||||
with self._lock:
|
||||
if self.prime_type <= PrimeType.UNPAIRED:
|
||||
provider = None
|
||||
email = None
|
||||
email = email or None # if data.get(email) returns "" instead of None
|
||||
|
||||
if self._pairing_provider != provider:
|
||||
self._pairing_provider = provider
|
||||
if provider is None:
|
||||
self._params.remove("PairingProvider")
|
||||
else:
|
||||
self._params.put("PairingProvider", str(provider))
|
||||
|
||||
if self._pairing_email != email:
|
||||
self._pairing_email = email
|
||||
if email is None:
|
||||
self._params.remove("PairingEmail")
|
||||
else:
|
||||
self._params.put("PairingEmail", email)
|
||||
|
||||
def set_commacare(self, has_commacare: bool):
|
||||
with self._lock:
|
||||
if self.prime_type <= PrimeType.UNPAIRED:
|
||||
self._commacare = False
|
||||
else:
|
||||
self._commacare = has_commacare
|
||||
|
||||
def set_prime_trial_available(self, prime_trail_available: bool):
|
||||
with self._lock:
|
||||
if self.prime_type <= PrimeType.UNPAIRED:
|
||||
self._prime_trial_available = False
|
||||
else:
|
||||
self._prime_trial_available = prime_trail_available
|
||||
|
||||
def _worker_thread(self) -> None:
|
||||
drop_realtime()
|
||||
@@ -149,7 +75,6 @@ class PrimeState:
|
||||
while self._running:
|
||||
if not ui_state.started and device._awake:
|
||||
self._fetch_prime_status()
|
||||
self._fetch_pairing_provider()
|
||||
|
||||
for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
|
||||
if not self._running:
|
||||
@@ -184,25 +109,5 @@ class PrimeState:
|
||||
with self._lock:
|
||||
return self.prime_type > PrimeType.UNPAIRED
|
||||
|
||||
def can_claim_prime_trial(self) -> bool:
|
||||
with self._lock:
|
||||
return self._prime_trial_available
|
||||
|
||||
def has_commacare(self) -> bool:
|
||||
with self._lock:
|
||||
return self._commacare
|
||||
|
||||
def get_pairing_provider(self) -> str | None:
|
||||
with self._lock:
|
||||
return self._pairing_provider
|
||||
|
||||
def get_pairing_account(self) -> str:
|
||||
with self._lock:
|
||||
if not self._pairing_provider:
|
||||
return "unknown"
|
||||
elif self._pairing_provider == Provider.GITHUB or not self._pairing_email:
|
||||
return f"{self._pairing_provider} account"
|
||||
return self._pairing_email
|
||||
|
||||
def __del__(self):
|
||||
self.stop()
|
||||
|
||||
@@ -173,7 +173,7 @@ class MiciHomeLayout(Widget):
|
||||
if self._mouse_down_t is not None:
|
||||
if time.monotonic() - self._mouse_down_t > 0.5:
|
||||
# long gating for experimental mode - only allow toggle if longitudinal control is available
|
||||
if ui_state.has_longitudinal_control:
|
||||
if ui_state.has_longitudinal_control and ui_state.experimental_mode_confirmed:
|
||||
ui_state.experimental_mode = not ui_state.experimental_mode
|
||||
ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
|
||||
self._mouse_down_t = None
|
||||
|
||||
@@ -73,8 +73,6 @@ class MiciMainLayout(Scroller):
|
||||
return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
|
||||
|
||||
def _setup_callbacks(self):
|
||||
self._alerts_layout.set_enabled(lambda: self.enabled)
|
||||
self._alerts_layout.set_pairing_callback(self._settings_layout.show_pairing)
|
||||
self._home_layout.set_callbacks(
|
||||
on_settings=lambda: gui_app.push_widget(self._settings_layout),
|
||||
on_alerts=lambda: self._scroll_to(self._alerts_layout),
|
||||
|
||||
@@ -4,7 +4,6 @@ import pyray as rl
|
||||
import re
|
||||
import threading
|
||||
import time
|
||||
from collections.abc import Callable
|
||||
from dataclasses import dataclass
|
||||
from enum import IntEnum
|
||||
from openpilot.common.params import Params
|
||||
@@ -233,11 +232,6 @@ class MiciOffroadAlerts(Scroller):
|
||||
def scrolling(self):
|
||||
return self._scroller.scroll_panel.is_touch_valid()
|
||||
|
||||
def set_pairing_callback(self, callback: Callable[[], None]):
|
||||
for alert_item in self.alert_items:
|
||||
if alert_item.alert_data.key == "Offroad_Pairing":
|
||||
alert_item.set_click_callback(callback)
|
||||
|
||||
def _build_alerts(self):
|
||||
"""Build sorted list of alerts from OFFROAD_ALERTS."""
|
||||
self.sorted_alerts = []
|
||||
|
||||
@@ -3,7 +3,7 @@ import numpy as np
|
||||
import pyray as rl
|
||||
from collections.abc import Callable
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.ui.mici.widgets.qr import QR
|
||||
from openpilot.common.qrcode import make_texture
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, TextAlignment
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import SmallCircleIconButton
|
||||
@@ -277,6 +277,23 @@ class TrainingGuide(NavWidget):
|
||||
self._steps[0].render(self._rect)
|
||||
|
||||
|
||||
class QRCodeWidget(Widget):
|
||||
def __init__(self, url: str, size: int = 170):
|
||||
super().__init__()
|
||||
self.set_rect(rl.Rectangle(0, 0, size, size))
|
||||
self._size = size
|
||||
self._qr_texture = make_texture(url, inverted=True)
|
||||
|
||||
def _render(self, _):
|
||||
if self._qr_texture:
|
||||
scale = self._size / self._qr_texture.height
|
||||
rl.draw_texture_ex(self._qr_texture, rl.Vector2(round(self._rect.x), round(self._rect.y)), 0.0, scale, rl.WHITE)
|
||||
|
||||
def __del__(self):
|
||||
if self._qr_texture and self._qr_texture.id != 0:
|
||||
rl.unload_texture(self._qr_texture)
|
||||
|
||||
|
||||
class TermsPage(Scroller):
|
||||
def __init__(self, on_accept, on_decline):
|
||||
super().__init__()
|
||||
@@ -293,7 +310,7 @@ class TermsPage(Scroller):
|
||||
self._terms_header,
|
||||
GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms",
|
||||
gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
|
||||
QR("https://sunnypilot.ai/terms"),
|
||||
QRCodeWidget("https://sunnypilot.ai/terms"),
|
||||
self._must_accept_card,
|
||||
self._accept_button,
|
||||
self._decline_button,
|
||||
|
||||
+44
-56
@@ -6,16 +6,17 @@ from typing import Union
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.time_helpers import system_time_valid
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device.prime import PrimeScroller
|
||||
from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
|
||||
from openpilot.selfdrive.ui.mici.widgets.info import InfoLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
|
||||
from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
|
||||
from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog
|
||||
from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.html_render import HtmlRenderer
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
|
||||
@@ -90,56 +91,70 @@ class EngagedConfirmationButton(BigButton):
|
||||
self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
|
||||
|
||||
|
||||
class DeviceInfoLayoutMici(InfoLayoutMici):
|
||||
class DeviceInfoLayoutMici(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
self.set_rect(rl.Rectangle(0, 0, 360, 180))
|
||||
|
||||
params = Params()
|
||||
super().__init__("device ID", params.get("DongleId") or 'N/A', "serial", params.get("HardwareSerial") or 'N/A', width=380)
|
||||
subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
|
||||
max_width = int(self._rect.width - 20)
|
||||
self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
|
||||
self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False)
|
||||
|
||||
self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
|
||||
self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False)
|
||||
|
||||
def _render(self, _):
|
||||
self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
|
||||
self._dongle_id_label.render()
|
||||
|
||||
self._dongle_id_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
|
||||
self._dongle_id_text_label.render()
|
||||
|
||||
self._serial_number_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
|
||||
self._serial_number_label.render()
|
||||
|
||||
self._serial_number_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
|
||||
self._serial_number_text_label.render()
|
||||
|
||||
|
||||
class PairBigButton(BigButton):
|
||||
def __init__(self):
|
||||
self._commacare_badge = gui_app.texture("icons_mici/settings/device/commacare.png", 27, 32)
|
||||
self._show_commacare = False
|
||||
self._comma_icon = gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60)
|
||||
self._provider_icons = {provider: gui_app.texture(f"icons_mici/settings/device/paired_{provider}.png", 64, 64)
|
||||
for provider in ("github", "google", "apple")}
|
||||
super().__init__("pair to connect", "connect.comma.ai", self._comma_icon)
|
||||
super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))
|
||||
|
||||
def _get_label_font_size(self):
|
||||
return 64
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
self._show_commacare = (ui_state.prime_state.is_paired() and ui_state.prime_state.is_prime()
|
||||
and ui_state.prime_state.has_commacare())
|
||||
if ui_state.prime_state.is_paired():
|
||||
self.set_icon(self._provider_icons.get(ui_state.prime_state.get_pairing_provider(), self._comma_icon))
|
||||
self.set_text("paired")
|
||||
if ui_state.prime_state.is_prime():
|
||||
self.set_value("prime" if ui_state.prime_state.is_full_prime() else "prime lite")
|
||||
self.set_value("subscribed")
|
||||
else:
|
||||
self.set_value("claim prime trial" if ui_state.prime_state.can_claim_prime_trial() else "upgrade to prime")
|
||||
self.set_value("upgrade to prime")
|
||||
else:
|
||||
self.set_icon(self._comma_icon)
|
||||
self.set_text("pair to connect")
|
||||
self.set_text("pair")
|
||||
self.set_value("connect.comma.ai")
|
||||
|
||||
def _draw_subtitle(self, rect: rl.Rectangle):
|
||||
if self._show_commacare:
|
||||
y = rect.y + rect.height - self._commacare_badge.height
|
||||
rl.draw_texture_v(self._commacare_badge, rl.Vector2(rect.x, y), rl.WHITE)
|
||||
offset = self._commacare_badge.width + 14
|
||||
rect = rl.Rectangle(rect.x + offset, rect.y, rect.width - offset, rect.height)
|
||||
super()._draw_subtitle(rect)
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
dlg: BigDialog | PrimeScroller
|
||||
# TODO: show ad dialog when clicked if not prime
|
||||
if ui_state.prime_state.is_paired():
|
||||
return
|
||||
dlg: BigDialog | PairingDialog
|
||||
if not system_time_valid():
|
||||
dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing."))
|
||||
elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
|
||||
dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair."))
|
||||
else:
|
||||
dlg = PrimeScroller()
|
||||
dlg = PairingDialog()
|
||||
gui_app.push_widget(dlg)
|
||||
|
||||
|
||||
@@ -148,8 +163,6 @@ class DeviceLayoutMici(NavScroller):
|
||||
super().__init__()
|
||||
|
||||
self._fcc_dialog: MiciFccModal | None = None
|
||||
self._pairing_button = PairBigButton()
|
||||
self._pending_pairing_grow_animation = False
|
||||
|
||||
def power_off_callback():
|
||||
ui_state.params.put_bool("DoShutdown", True, block=True)
|
||||
@@ -194,7 +207,7 @@ class DeviceLayoutMici(NavScroller):
|
||||
|
||||
self._scroller.add_widgets([
|
||||
DeviceInfoLayoutMici(),
|
||||
self._pairing_button,
|
||||
PairBigButton(),
|
||||
review_training_guide_btn,
|
||||
cabin_cam_btn,
|
||||
terms_btn,
|
||||
@@ -204,31 +217,6 @@ class DeviceLayoutMici(NavScroller):
|
||||
self._power_off_btn,
|
||||
])
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if self._pending_pairing_grow_animation:
|
||||
btn_right = self._pairing_button.rect.x + self._pairing_button.rect.width
|
||||
visible_right = self._rect.x + self._rect.width
|
||||
if btn_right < visible_right + 50:
|
||||
self._pending_pairing_grow_animation = False
|
||||
self._pairing_button.trigger_grow_animation()
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
if not ui_state.prime_state.is_paired():
|
||||
self.set_shown_callback(self._pairing_button.trigger_grow_animation)
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self.set_shown_callback(None)
|
||||
self._pending_pairing_grow_animation = False
|
||||
|
||||
def scroll_to_pairing(self):
|
||||
self._scroller._layout()
|
||||
offset = (self._pairing_button.rect.x + self._pairing_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
|
||||
self._scroller.scroll_to(offset, smooth=True, block_interrupt=True, block_widget_interaction=True)
|
||||
self._pending_pairing_grow_animation = True
|
||||
|
||||
def _on_regulatory(self):
|
||||
if not self._fcc_dialog:
|
||||
self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "openpilot/selfdrive/assets/offroad/mici_fcc.html"))
|
||||
@@ -1,171 +0,0 @@
|
||||
import pyray as rl
|
||||
import time
|
||||
|
||||
from openpilot.common.api import Api
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, GreyBigButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.info import InfoLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.widgets.qr import QR
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller
|
||||
|
||||
|
||||
class PairingInfoLayout(InfoLayoutMici):
|
||||
def __init__(self):
|
||||
super().__init__("account", "", "status", "")
|
||||
self._commacare_badge = gui_app.texture("icons_mici/settings/device/commacare.png", 27, 32)
|
||||
self._provider_icons = {provider: gui_app.texture(f"icons_mici/settings/device/{provider}.png", 32, 32)
|
||||
for provider in ("github", "google", "apple")}
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
self.subtext1.set_text(ui_state.prime_state.get_pairing_account())
|
||||
self.subtext2.set_text(self._get_prime_status())
|
||||
self._provider_icon = self._provider_icons.get(ui_state.prime_state.get_pairing_provider())
|
||||
self._show_commacare = ui_state.prime_state.has_commacare()
|
||||
|
||||
@staticmethod
|
||||
def _get_prime_status() -> str:
|
||||
if ui_state.prime_state.is_prime():
|
||||
return "prime" if ui_state.prime_state.is_full_prime() else "prime lite"
|
||||
return "not subscribed"
|
||||
|
||||
def _layout(self):
|
||||
super()._layout()
|
||||
provider_offset = self._provider_icon.width + 14 if self._provider_icon else 0
|
||||
commacare_offset = self._commacare_badge.width + 14 if self._show_commacare else 0
|
||||
self.subtext1.set_position(self.subtext1.rect.x + provider_offset, self.subtext1.rect.y)
|
||||
self.subtext1.set_max_width(int(self._rect.width - provider_offset - (40 if self._provider_icon else 20)))
|
||||
self.subtext2.set_position(self.subtext2.rect.x + commacare_offset, self.subtext2.rect.y)
|
||||
self.subtext2.set_max_width(int(self._rect.width - commacare_offset - (40 if self._show_commacare else 20)))
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
super()._render(rect)
|
||||
|
||||
if self._provider_icon:
|
||||
icon_pos = rl.Vector2(self._rect.x + 20, self.subtext1.rect.y + (self.subtext1.rect.height - self._provider_icon.height) / 2)
|
||||
rl.draw_texture_v(self._provider_icon, icon_pos, self._subheader_color)
|
||||
if self._show_commacare:
|
||||
icon_pos = rl.Vector2(self._rect.x + 20, self.subtext2.rect.y + (self.subtext2.rect.height - self._commacare_badge.height) / 2 + 4)
|
||||
rl.draw_texture_v(self._commacare_badge, icon_pos, rl.WHITE)
|
||||
|
||||
|
||||
class PrimeManagementScroller(NavScroller):
|
||||
"""Prime subscription management and upgrade information."""
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
|
||||
can_claim_trial = ui_state.prime_state.can_claim_prime_trial()
|
||||
|
||||
self._prime_icon = gui_app.texture("icons_mici/settings/device/green_cell.png", 64, 64)
|
||||
self._phone_icon = gui_app.texture("icons_mici/settings/device/phone.png", 85, 64)
|
||||
self._prime_adverts = [
|
||||
QR(self._get_prime_url()),
|
||||
GreyBigButton(
|
||||
"try prime for\n30 days" if can_claim_trial else "upgrade to prime",
|
||||
"scan to claim trial" if can_claim_trial else "scan to manage\nprime status",
|
||||
self._prime_icon
|
||||
),
|
||||
GreyBigButton("", "prime adds 24/7 LTE to device and 1 year of cloud storage in connect.",),
|
||||
GreyBigButton("", "prime lets you view live video and GPS location remotely in connect.",),
|
||||
GreyBigButton("", "prime also includes commacare extended device warranty.",),
|
||||
]
|
||||
self._prime_management = [
|
||||
QR(self._get_prime_url()),
|
||||
GreyBigButton(
|
||||
"manage prime",
|
||||
"scan to open\ndevice prime settings",
|
||||
self._phone_icon
|
||||
),
|
||||
]
|
||||
self._scroller.add_widgets(self._prime_management if ui_state.prime_state.is_prime() else self._prime_adverts)
|
||||
|
||||
def _get_prime_url(self) -> str:
|
||||
if dongle_id := self._params.get("DongleId"):
|
||||
return f"https://connect.comma.ai/{dongle_id}/prime"
|
||||
return "https://connect.comma.ai"
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if not ui_state.prime_state.is_paired():
|
||||
self.dismiss()
|
||||
|
||||
|
||||
class PrimeScroller(NavScroller):
|
||||
"""Pairing flow or paired account information with access to prime management."""
|
||||
|
||||
QR_REFRESH_INTERVAL = 300 # 5 minutes in seconds
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
self.initial_is_paired = ui_state.prime_state.is_paired()
|
||||
self._last_pairing_qr_generation = float("-inf")
|
||||
|
||||
self._manage_icon = gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60)
|
||||
if not ui_state.prime_state.is_prime():
|
||||
title = "claim\nprime trial" if ui_state.prime_state.can_claim_prime_trial() else "upgrade\nto prime"
|
||||
self._manage_prime = BigButton(title, icon=self._manage_icon)
|
||||
else:
|
||||
self._manage_prime = BigButton("manage prime", icon=self._manage_icon)
|
||||
self._manage_prime.set_click_callback(lambda: gui_app.push_widget(PrimeManagementScroller()))
|
||||
|
||||
if self.initial_is_paired:
|
||||
self._scroller.add_widgets([
|
||||
PairingInfoLayout(),
|
||||
self._manage_prime,
|
||||
])
|
||||
else:
|
||||
self._qr = QR(self._get_pairing_url())
|
||||
self._scroller.scroll_indicator_start_after = self._qr
|
||||
self._scroller.add_widgets([
|
||||
self._qr,
|
||||
GreyBigButton("finish setup", "scan QR code or visit connect.comma.ai",
|
||||
gui_app.texture("icons_mici/settings/device/green_settings.png", 64, 64)),
|
||||
GreyBigButton("", "connect lets you review recent driving footage and bookmark events."),
|
||||
])
|
||||
|
||||
def _get_pairing_url(self) -> str:
|
||||
try:
|
||||
dongle_id = self._params.get("DongleId") or ""
|
||||
token = Api(dongle_id).get_token({'pair': True})
|
||||
except Exception as e:
|
||||
cloudlog.warning(f"Failed to get pairing token: {e}")
|
||||
token = ""
|
||||
return f"https://connect.comma.ai/?pair={token}"
|
||||
|
||||
def _update_layout_rects(self):
|
||||
super()._update_layout_rects()
|
||||
if not self.initial_is_paired:
|
||||
self._qr.set_rect(rl.Rectangle(self._qr.rect.x, self._qr.rect.y, self._rect.height, self._rect.height))
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
if not self.initial_is_paired:
|
||||
current_time = time.monotonic()
|
||||
if current_time - self._last_pairing_qr_generation >= self.QR_REFRESH_INTERVAL:
|
||||
self._qr._url = self._get_pairing_url()
|
||||
if self._qr._texture and self._qr._texture.id != 0:
|
||||
rl.unload_texture(self._qr._texture)
|
||||
self._qr._texture = self._qr._generate_qr_code()
|
||||
self._last_pairing_qr_generation = current_time
|
||||
super()._render(rect)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if self.initial_is_paired != ui_state.prime_state.is_paired() and gui_app.get_active_widget() is self:
|
||||
self.dismiss()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
gui_app.init_window("pairing device")
|
||||
pairing = PrimeScroller()
|
||||
gui_app.push_widget(pairing)
|
||||
try:
|
||||
for _ in gui_app.render():
|
||||
pass
|
||||
finally:
|
||||
del pairing
|
||||
@@ -30,7 +30,7 @@ class NetworkLayoutMici(NavScroller):
|
||||
self._wifi_manager.set_tethering_active(checked)
|
||||
|
||||
self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback,
|
||||
description="Share the device's internet connection through a Wi-Fi hotspot.")
|
||||
description="Share the device’s internet connection through a Wi-Fi hotspot.")
|
||||
|
||||
def tethering_password_callback(password: str):
|
||||
if password:
|
||||
@@ -61,7 +61,7 @@ class NetworkLayoutMici(NavScroller):
|
||||
# TODO: signal for current network metered type when changing networks, this is wrong until you press it once
|
||||
# TODO: disable when not connected
|
||||
self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback,
|
||||
description="Metered prevents large uploads on this Wi-Fi connection. Default uses the network's detected " +
|
||||
description="Metered prevents large uploads on this Wi-Fi connection. Default uses the network’s detected " +
|
||||
"setting.")
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ from openpilot.system.ui.widgets.scroller import NavScroller
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import DeviceLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.software import SoftwareLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
|
||||
@@ -28,9 +28,9 @@ class SettingsLayout(NavScroller):
|
||||
network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
|
||||
network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))
|
||||
|
||||
self._device_panel = DeviceLayoutMici()
|
||||
self._device_button = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
|
||||
self._device_button.set_click_callback(lambda: gui_app.push_widget(self._device_panel))
|
||||
device_panel = DeviceLayoutMici()
|
||||
device_btn = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
|
||||
device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))
|
||||
|
||||
software_panel = SoftwareLayoutMici()
|
||||
software_btn = SettingsBigButton("software", "", gui_app.texture("icons_mici/settings/software.png", 64, 75))
|
||||
@@ -47,28 +47,10 @@ class SettingsLayout(NavScroller):
|
||||
self._scroller.add_widgets([
|
||||
toggles_btn,
|
||||
network_btn,
|
||||
self._device_button,
|
||||
device_btn,
|
||||
software_btn,
|
||||
firehose_btn,
|
||||
developer_btn,
|
||||
])
|
||||
|
||||
self._font_medium = gui_app.font(FontWeight.MEDIUM)
|
||||
|
||||
def show_pairing(self):
|
||||
gui_app.push_widget(self)
|
||||
# add settings in the back stack without showing its entrance animation.
|
||||
self._y_pos_filter.x = 0.0
|
||||
self.set_visible(lambda: self.enabled or self._device_panel.is_dismissing)
|
||||
self.set_shown_callback(self._scroll_to_device)
|
||||
gui_app.push_widget(self._device_panel)
|
||||
self._device_panel.set_shown_callback(self._on_pairing_shown)
|
||||
|
||||
def _scroll_to_device(self):
|
||||
self._scroller._layout()
|
||||
offset = (self._device_button.rect.x + self._device_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
|
||||
self._scroller.scroll_to(offset, smooth=False)
|
||||
|
||||
def _on_pairing_shown(self):
|
||||
self.set_visible(True)
|
||||
self._device_panel.scroll_to_pairing()
|
||||
|
||||
@@ -5,13 +5,14 @@ from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
|
||||
from openpilot.common.time_helpers import system_time_valid
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import EngagedConfirmationButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.info import InfoLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device import EngagedConfirmationButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, 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
|
||||
|
||||
UPDATER_TIMEOUT = 10.0 # seconds to wait for updater to respond
|
||||
@@ -32,21 +33,44 @@ class UpdaterState(IntEnum):
|
||||
UPDATER_RESPONDING = 2
|
||||
|
||||
|
||||
class SoftwareInfoLayoutMici(InfoLayoutMici):
|
||||
class SoftwareInfoLayoutMici(Widget):
|
||||
def __init__(self):
|
||||
super().__init__("version", "", "branch", "")
|
||||
super().__init__()
|
||||
|
||||
self.set_rect(rl.Rectangle(0, 0, 360, 180))
|
||||
|
||||
subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
|
||||
max_width = int(self._rect.width - 20)
|
||||
self._version_label = UnifiedLabel("version", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
|
||||
self._version_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False)
|
||||
|
||||
self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
|
||||
self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
|
||||
if desc is not None:
|
||||
version, branch, commit, date = desc
|
||||
self.subtext1.set_text(f"{version} ({date})")
|
||||
self.subtext2.set_text(f"{branch} ({commit})")
|
||||
self._version_text_label.set_text(f"{version} ({date})")
|
||||
self._branch_text_label.set_text(f"{branch} ({commit})")
|
||||
else:
|
||||
self.subtext1.set_text(ui_state.params.get("Version") or "N/A")
|
||||
self.subtext2.set_text(ui_state.params.get("GitBranch") or "N/A")
|
||||
self._version_text_label.set_text(ui_state.params.get("Version") or "N/A")
|
||||
self._branch_text_label.set_text(ui_state.params.get("GitBranch") or "N/A")
|
||||
|
||||
def _render(self, _):
|
||||
self._version_label.set_position(self._rect.x + 20, self._rect.y - 10)
|
||||
self._version_label.render()
|
||||
|
||||
self._version_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
|
||||
self._version_text_label.render()
|
||||
|
||||
self._branch_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
|
||||
self._branch_label.render()
|
||||
|
||||
self._branch_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
|
||||
self._branch_text_label.render()
|
||||
|
||||
|
||||
class CheckUpdateButton(BigButton):
|
||||
|
||||
@@ -1,7 +1,10 @@
|
||||
from collections.abc import Callable
|
||||
|
||||
from openpilot.cereal import log
|
||||
|
||||
from openpilot.system.ui.widgets.scroller import NavScroller
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle, BigToggle, GreyBigButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
@@ -9,6 +12,31 @@ from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
|
||||
|
||||
|
||||
class ExperimentalModeConfirmPage(NavScroller):
|
||||
def __init__(self, on_confirm: Callable[[], None]):
|
||||
super().__init__()
|
||||
|
||||
accept = BigConfirmationCircleButton("enable\nexperimental mode",
|
||||
gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
|
||||
lambda: self.dismiss(on_confirm))
|
||||
|
||||
self._scroller.add_widgets([
|
||||
GreyBigButton("enabling\nexperimental mode", "scroll to continue",
|
||||
gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
|
||||
GreyBigButton("", "openpilot defaults to driving in chill mode."),
|
||||
GreyBigButton("", "Experimental mode enables alpha-level features that aren't ready for chill mode."),
|
||||
GreyBigButton("End-to-End Longitudinal Control"),
|
||||
GreyBigButton("", "Let the driving model control the gas and brakes."),
|
||||
GreyBigButton("", "openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."),
|
||||
GreyBigButton("", "The set speed will only act as an upper bound."),
|
||||
GreyBigButton("", "This is an alpha quality feature; mistakes should be expected."),
|
||||
GreyBigButton("New Driving Visualization"),
|
||||
GreyBigButton("", "The path will change colors to communicate acceleration intent."),
|
||||
GreyBigButton("", "Red for braking, green for acceleration, and gray for coasting."),
|
||||
accept,
|
||||
])
|
||||
|
||||
|
||||
class TogglesLayoutMici(NavScroller):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
@@ -18,8 +46,8 @@ class TogglesLayoutMici(NavScroller):
|
||||
"Aggressive follows closer, with firmer gas and braking.\n" +
|
||||
"Relaxed leaves more space.\n" +
|
||||
"Use the steering wheel distance button on supported cars.")
|
||||
self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode",
|
||||
description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
|
||||
self._experimental_btn = BigToggle("experimental mode", description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
|
||||
initial_state=ui_state.params.get_bool("ExperimentalMode"), toggle_callback=self._on_experimental_mode,
|
||||
description="Let the driving model control gas and brakes.\n" +
|
||||
"Includes stopping for red lights and stop signs.\n" +
|
||||
"Set speed is a maximum, not a target.\n" +
|
||||
@@ -105,3 +133,17 @@ class TogglesLayoutMici(NavScroller):
|
||||
# Refresh toggles from params to mirror external changes
|
||||
for key, item in self._refresh_toggles:
|
||||
item.set_checked(ui_state.params.get_bool(key))
|
||||
|
||||
def _on_experimental_mode(self, state: bool):
|
||||
if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
|
||||
# Don't show enabled state until confirm
|
||||
self._experimental_btn.set_checked(False)
|
||||
|
||||
def on_confirm():
|
||||
ui_state.params.put_bool("ExperimentalModeConfirmed", True)
|
||||
ui_state.params.put_bool("ExperimentalMode", True)
|
||||
self._experimental_btn.set_checked(True)
|
||||
|
||||
gui_app.push_widget(ExperimentalModeConfirmPage(on_confirm))
|
||||
else:
|
||||
ui_state.params.put_bool("ExperimentalMode", state)
|
||||
|
||||
@@ -8,14 +8,13 @@ from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
|
||||
from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.long_indicator import LongIndicator
|
||||
from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
|
||||
from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, TextAlignment, TextAlignmentVertical
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
|
||||
from openpilot.common.filter_simple import BounceFilter
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
|
||||
from openpilot.common.transformations.orientation import rot_from_euler
|
||||
from enum import IntEnum
|
||||
@@ -36,14 +35,14 @@ class BookmarkState(IntEnum):
|
||||
DRAGGING = 1
|
||||
TRIGGERED = 2
|
||||
|
||||
WIDE_CAM_MAX_SPEED = 5.0 # m/s (11 mph)
|
||||
ROAD_CAM_MIN_SPEED = 10.0 # m/s (22 mph)
|
||||
WIDE_CAM_MAX_SPEED = 5.0 # m/s (10 mph)
|
||||
ROAD_CAM_MIN_SPEED = 10 # m/s (25 mph)
|
||||
|
||||
CAM_Y_OFFSET = 20
|
||||
|
||||
|
||||
class BookmarkIcon(Widget):
|
||||
PEEK_THRESHOLD = 150 # If icon peeks out this much, snap it fully visible
|
||||
PEEK_THRESHOLD = 50 # If icon peeks out this much, snap it fully visible
|
||||
FULL_VISIBLE_OFFSET = 200 # How far onscreen when fully visible
|
||||
HIDDEN_OFFSET = -50 # How far offscreen when hidden
|
||||
|
||||
@@ -51,9 +50,7 @@ class BookmarkIcon(Widget):
|
||||
super().__init__()
|
||||
self._bookmark_callback = bookmark_callback
|
||||
self._icon = gui_app.texture("icons_mici/onroad/bookmark.png", 180, 180)
|
||||
self._filled_icon = gui_app.texture("icons_mici/onroad/bookmark_fill.png", 180, 180)
|
||||
self._offset_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
self._active_alpha = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
|
||||
# State
|
||||
self._interacting = False
|
||||
@@ -63,8 +60,6 @@ class BookmarkIcon(Widget):
|
||||
self._is_swiping = False
|
||||
self._is_swiping_left: bool = False
|
||||
self._triggered_time: float = 0.0
|
||||
self._triggered_duration = 1.5
|
||||
self._swipe_expired = False
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
"""Check if currently swiping left (for scroller to disable)."""
|
||||
@@ -75,25 +70,18 @@ class BookmarkIcon(Widget):
|
||||
return interacting
|
||||
|
||||
def _update_state(self):
|
||||
if self._state == BookmarkState.TRIGGERED and rl.get_time() - self._triggered_time >= self._triggered_duration:
|
||||
self._state = BookmarkState.HIDDEN
|
||||
self._swipe_expired = self._is_swiping
|
||||
|
||||
swipe_offset = self._swipe_start_x - self._swipe_current_x
|
||||
armed = self._state == BookmarkState.DRAGGING and swipe_offset > self.PEEK_THRESHOLD
|
||||
if self._state == BookmarkState.DRAGGING:
|
||||
# Snap to the released position when armed, while allowing further dragging or cancellation.
|
||||
if armed:
|
||||
swipe_offset += self.FULL_VISIBLE_OFFSET - self.PEEK_THRESHOLD
|
||||
# Allow pulling past activated position with rubber band effect
|
||||
swipe_offset = self._swipe_start_x - self._swipe_current_x
|
||||
swipe_offset = min(swipe_offset, self.FULL_VISIBLE_OFFSET + 50)
|
||||
self._offset_filter.update(swipe_offset)
|
||||
|
||||
elif self._state == BookmarkState.TRIGGERED:
|
||||
# Let another left swipe move the same bookmark.
|
||||
offset = self.FULL_VISIBLE_OFFSET
|
||||
if self._is_swiping and self._is_swiping_left:
|
||||
offset += min(swipe_offset, 50)
|
||||
self._offset_filter.update(offset)
|
||||
# Continue animating to fully visible
|
||||
self._offset_filter.update(self.FULL_VISIBLE_OFFSET)
|
||||
# Stay in TRIGGERED state for 1 second
|
||||
if rl.get_time() - self._triggered_time >= 1.5:
|
||||
self._state = BookmarkState.HIDDEN
|
||||
|
||||
elif self._state == BookmarkState.HIDDEN:
|
||||
self._offset_filter.update(self.HIDDEN_OFFSET)
|
||||
@@ -101,23 +89,17 @@ class BookmarkIcon(Widget):
|
||||
if self._offset_filter.x < 1e-3:
|
||||
self._interacting = False
|
||||
|
||||
self._active_alpha.update(float(armed or self._state == BookmarkState.TRIGGERED))
|
||||
|
||||
def _handle_mouse_event(self, mouse_event: MouseEvent):
|
||||
if not ui_state.started:
|
||||
return
|
||||
|
||||
if mouse_event.left_pressed:
|
||||
if self._state == BookmarkState.TRIGGERED:
|
||||
self._triggered_time = rl.get_time()
|
||||
self._triggered_duration = 0.5
|
||||
|
||||
# Store relative position within widget
|
||||
self._swipe_start_x = mouse_event.pos.x
|
||||
self._swipe_current_x = mouse_event.pos.x
|
||||
self._is_swiping = True
|
||||
self._is_swiping_left = False
|
||||
self._swipe_expired = False
|
||||
self._state = BookmarkState.DRAGGING
|
||||
|
||||
elif mouse_event.left_down and self._is_swiping:
|
||||
self._swipe_current_x = mouse_event.pos.x
|
||||
@@ -125,34 +107,30 @@ class BookmarkIcon(Widget):
|
||||
self._is_swiping_left = swipe_offset > 0
|
||||
if self._is_swiping_left:
|
||||
self._interacting = True
|
||||
if self._state == BookmarkState.HIDDEN and not self._swipe_expired:
|
||||
self._state = BookmarkState.DRAGGING
|
||||
|
||||
elif mouse_event.left_released:
|
||||
if self._is_swiping and self._state == BookmarkState.DRAGGING:
|
||||
if self._is_swiping:
|
||||
swipe_distance = self._swipe_start_x - self._swipe_current_x
|
||||
|
||||
# If peeking past threshold, transition to animating to fully visible and bookmark
|
||||
if swipe_distance > self.PEEK_THRESHOLD:
|
||||
self._state = BookmarkState.TRIGGERED
|
||||
self._triggered_time = rl.get_time()
|
||||
self._triggered_duration = 1.5
|
||||
self._bookmark_callback()
|
||||
else:
|
||||
# Otherwise, transition back to hidden
|
||||
self._state = BookmarkState.HIDDEN
|
||||
|
||||
# Reset swipe state
|
||||
self._is_swiping = False
|
||||
self._is_swiping_left = False
|
||||
# Reset swipe state
|
||||
self._is_swiping = False
|
||||
self._is_swiping_left = False
|
||||
|
||||
def _render(self, _):
|
||||
"""Render the bookmark icon."""
|
||||
if self._offset_filter.x > 0:
|
||||
icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
|
||||
icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2 # Vertically centered
|
||||
for icon, alpha in ((self._icon, 1.0 - self._active_alpha.x), (self._filled_icon, self._active_alpha.x)):
|
||||
rl.draw_texture_ex(icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.Color(255, 255, 255, round(255 * alpha)))
|
||||
rl.draw_texture_ex(self._icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
|
||||
|
||||
|
||||
class AugmentedRoadView(CameraView):
|
||||
@@ -175,7 +153,6 @@ class AugmentedRoadView(CameraView):
|
||||
|
||||
self._model_renderer = ModelRenderer()
|
||||
self._hud_renderer = HudRenderer()
|
||||
self._long_indicator = LongIndicator()
|
||||
self._alert_renderer = AlertRenderer()
|
||||
self._driver_state_renderer = DriverStateRenderer()
|
||||
self._confidence_ball = ConfidenceBall()
|
||||
@@ -252,8 +229,6 @@ class AugmentedRoadView(CameraView):
|
||||
self._driver_state_renderer.set_should_draw(should_draw_dmoji)
|
||||
self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
|
||||
self._driver_state_renderer.render()
|
||||
self._long_indicator.set_should_draw(not self._hud_renderer.drawing_top_icons())
|
||||
self._long_indicator.render(self._content_rect)
|
||||
|
||||
self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
|
||||
self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and
|
||||
|
||||
@@ -1,89 +0,0 @@
|
||||
import pyray as rl
|
||||
from openpilot.cereal import log
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
HIGHLIGHT_TIME = 2.5 # seconds
|
||||
|
||||
|
||||
class LongIndicator(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._txt_lead_car = (self._texture('car', 35, 27), self._texture('car_green', 50, 42))
|
||||
self._txt_distance = [(self._texture('distance_1', 32, 7), self._texture('distance_1_green', 60, 35)),
|
||||
(self._texture('distance_2', 40, 9), self._texture('distance_2_green', 68, 37)),
|
||||
(self._texture('distance_3', 48, 11), self._texture('distance_3_green', 76, 39))]
|
||||
self._alpha_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
|
||||
# crossfade between states, a white and a green filter per icon
|
||||
self._lead_car_filters = (FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps), FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps))
|
||||
self._distance_filters = [(FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps), FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps))
|
||||
for _ in range(3)]
|
||||
self._personality: int | None = None
|
||||
self._personality_changed_time = -HIGHLIGHT_TIME
|
||||
self._should_draw = False
|
||||
|
||||
@staticmethod
|
||||
def _texture(name: str, width: int, height: int) -> rl.Texture:
|
||||
return gui_app.texture(f'icons_mici/longitudinal/{name}.png', width, height, keep_aspect_ratio=False)
|
||||
|
||||
def set_should_draw(self, should_draw: bool):
|
||||
self._should_draw = should_draw
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
sm = ui_state.sm
|
||||
if sm.recv_frame['selfdriveState'] < ui_state.started_frame or not sm['selfdriveState'].enabled or not ui_state.has_longitudinal_control:
|
||||
self._personality = None
|
||||
self._personality_changed_time = -HIGHLIGHT_TIME
|
||||
self._alpha_filter.x = 0.0
|
||||
return
|
||||
|
||||
# hidden under alerts and set speed
|
||||
visible = self._should_draw and sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none
|
||||
alpha = self._alpha_filter.update(visible)
|
||||
self._draw_lead_car(rect, alpha)
|
||||
self._draw_distance_bars(rect, alpha, visible)
|
||||
|
||||
def _draw_lead_car(self, rect: rl.Rectangle, alpha: float) -> None:
|
||||
sm = ui_state.sm
|
||||
plan = sm['longitudinalPlan']
|
||||
has_lead = sm.alive['longitudinalPlan'] and plan.hasLead
|
||||
|
||||
e2e = has_lead and plan.longitudinalPlanSource == log.LongitudinalPlan.LongitudinalPlanSource.e2e
|
||||
white_f, green_f = self._lead_car_filters
|
||||
white_alpha = white_f.update(0.0 if e2e else 0.9 if has_lead else 0.35)
|
||||
green_alpha = green_f.update(float(e2e))
|
||||
|
||||
white, green = self._txt_lead_car
|
||||
self._draw_centered(white, rect, 100, white_alpha * alpha)
|
||||
self._draw_centered(green, rect, 100, green_alpha * alpha)
|
||||
|
||||
def _draw_distance_bars(self, rect: rl.Rectangle, alpha: float, visible: bool) -> None:
|
||||
sm = ui_state.sm
|
||||
now = rl.get_time()
|
||||
personality = sm['selfdriveState'].personality.raw
|
||||
if self._personality is not None and personality != self._personality:
|
||||
self._personality_changed_time = now
|
||||
self._personality = personality
|
||||
# the personality alert covers the bars, hold the highlight until they show
|
||||
if not visible and now - self._personality_changed_time < HIGHLIGHT_TIME:
|
||||
self._personality_changed_time = now
|
||||
highlight = now - self._personality_changed_time < HIGHLIGHT_TIME
|
||||
|
||||
# blink at double the turn signal rate (2.67 Hz) while overriding the gas
|
||||
overriding = any(e.name == log.OnroadEvent.EventName.gasPressedOverride for e in sm['onroadEvents'])
|
||||
blink = 0.35 / 0.9 if overriding and now % 0.375 > 0.1875 else 1.0
|
||||
|
||||
count = personality + 1
|
||||
for i, ((white, green), y, (active_f, green_f)) in enumerate(zip(self._txt_distance, (122, 136, 152), self._distance_filters, strict=True)):
|
||||
active = active_f.update(float(i < count))
|
||||
green_alpha = green_f.update(float(highlight and i == count - 1))
|
||||
# only lit bars blink on override
|
||||
self._draw_centered(white, rect, y, (0.35 * (1 - active) + 0.9 * (active - green_alpha) * blink) * alpha)
|
||||
self._draw_centered(green, rect, y, green_alpha * blink * alpha)
|
||||
|
||||
@staticmethod
|
||||
def _draw_centered(texture: rl.Texture, rect: rl.Rectangle, y: float, alpha: float) -> None:
|
||||
pos = rl.Vector2(rect.x + 46 - texture.width / 2, rect.y + y - texture.height / 2)
|
||||
rl.draw_texture_ex(texture, pos, 0.0, 1.0, rl.Color(255, 255, 255, round(255 * alpha)))
|
||||
@@ -1,12 +1,11 @@
|
||||
import colorsys
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from openpilot.cereal import log, messaging
|
||||
from openpilot.cereal import messaging
|
||||
from opendbc.car.structs import car
|
||||
from dataclasses import dataclass, field
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
|
||||
from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
|
||||
from openpilot.selfdrive.ui.mici.onroad import blend_colors
|
||||
@@ -19,8 +18,6 @@ from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LI
|
||||
CLIP_MARGIN = 500
|
||||
MIN_DRAW_DISTANCE = 10.0
|
||||
MAX_DRAW_DISTANCE = 100.0
|
||||
LEAD_BAR_LENGTH = 12.0 # px
|
||||
LEAD_BAR_WIDTH = 1.8 # m
|
||||
|
||||
THROTTLE_COLORS = [
|
||||
rl.Color(13, 248, 122, 102), # HSLF(148/360, 0.94, 0.51, 0.4)
|
||||
@@ -48,12 +45,11 @@ class ModelPoints:
|
||||
projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
|
||||
|
||||
|
||||
@dataclass
|
||||
class LeadVehicle:
|
||||
def __init__(self):
|
||||
self.bar = np.empty((0, 2), dtype=np.float32)
|
||||
self.d_filter = FirstOrderFilter(0.0, 0.2, 1 / gui_app.target_fps, initialized=False)
|
||||
self.y_filter = FirstOrderFilter(0.0, 0.2, 1 / gui_app.target_fps, initialized=False)
|
||||
self.fade_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
glow: list[tuple[float, float]] = field(default_factory=list)
|
||||
chevron: list[tuple[float, float]] = field(default_factory=list)
|
||||
fill_alpha: int = 0
|
||||
|
||||
|
||||
class ModelRenderer(Widget, ModelRendererSP):
|
||||
@@ -149,6 +145,8 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
return
|
||||
|
||||
self._update_model(lead_one, path_x_array)
|
||||
if render_lead_indicator:
|
||||
self._update_leads(radar_state, path_x_array)
|
||||
self._transform_dirty = False
|
||||
|
||||
# Draw elements (hide when disengaged)
|
||||
@@ -156,11 +154,8 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
self._draw_lane_lines()
|
||||
self._draw_path(sm)
|
||||
|
||||
if render_lead_indicator:
|
||||
self._update_leads(sm)
|
||||
self._draw_lead_indicator()
|
||||
else:
|
||||
self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
|
||||
# if render_lead_indicator and radar_state:
|
||||
# self._draw_lead_indicator()
|
||||
|
||||
def _update_raw_points(self, model):
|
||||
"""Update raw 3D points from model data"""
|
||||
@@ -176,45 +171,21 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
|
||||
self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
|
||||
|
||||
def _update_leads(self, sm):
|
||||
plan = sm['longitudinalPlan']
|
||||
if plan.longitudinalPlanSource == log.LongitudinalPlan.LongitudinalPlanSource.e2e and len(sm['modelV2'].leadsV3) > 1:
|
||||
leads = [(lead.prob > 0.5, lead.x[0], -lead.y[0]) for lead in list(sm['modelV2'].leadsV3)[:2]]
|
||||
else:
|
||||
radar = sm['radarState']
|
||||
leads = [(lead.present, lead.dRel + RADAR_TO_CAMERA, lead.yRel) for lead in (radar.leadOne, radar.leadTwo)]
|
||||
def _update_leads(self, radar_state, path_x_array):
|
||||
"""Update positions of lead vehicles"""
|
||||
self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
|
||||
leads = [radar_state.leadOne, radar_state.leadTwo]
|
||||
|
||||
# both leads can be the same vehicle
|
||||
if leads[0][0] and abs(leads[1][1] - leads[0][1]) < 3.0:
|
||||
leads[1] = (False, 0.0, 0.0)
|
||||
for i, lead_data in enumerate(leads):
|
||||
if lead_data and lead_data.present:
|
||||
d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
|
||||
idx = self._get_path_length_idx(path_x_array, d_rel)
|
||||
|
||||
ss, cs = sm['selfdriveState'], sm['carState']
|
||||
# braking disengages without making openpilot unavailable
|
||||
available = ss.enabled or ss.engageable or cs.brakePressed
|
||||
lane = self._path.raw_points
|
||||
opacity = 0.4 if ui_state.status == UIStatus.DISENGAGED else 0.8
|
||||
for lead, (present, d_rel, y_rel) in zip(self._lead_vehicles, leads, strict=True):
|
||||
visible = available and present and d_rel < MAX_DRAW_DISTANCE and len(lane) > 0
|
||||
# snap to a new vehicle instead of sliding over
|
||||
if not visible or abs(y_rel - lead.y_filter.x) > 3.0:
|
||||
lead.d_filter.initialized = lead.y_filter.initialized = False
|
||||
lead.fade_filter.update(opacity if visible else 0.0)
|
||||
if visible:
|
||||
lead.bar = self._get_lead_bar(lane, lead.d_filter.update(d_rel), lead.y_filter.update(y_rel))
|
||||
|
||||
def _get_lead_bar(self, lane, d_rel, y_rel):
|
||||
# bar on the road behind the lead, following the lane
|
||||
x = np.array([d_rel, d_rel - min(6.0, 0.25 * d_rel)])
|
||||
y = np.interp(x, lane[:, 0], lane[:, 1]) - np.interp(d_rel, lane[:, 0], lane[:, 1]) - y_rel
|
||||
z = np.interp(x, self._path.raw_points[:, 0], self._path.raw_points[:, 2]) + self._path_offset_z
|
||||
corners = np.vstack((np.column_stack((x, y + LEAD_BAR_WIDTH / 2, z)), np.column_stack((x, y - LEAD_BAR_WIDTH / 2, z))[::-1]))
|
||||
pts = self._car_space_transform @ corners.T
|
||||
bar = (pts[:2] / pts[2]).T
|
||||
|
||||
far, near = bar[[0, 3]], bar[[1, 2]]
|
||||
length = np.linalg.norm(near.mean(axis=0) - far.mean(axis=0))
|
||||
bar[[1, 2]] = far + (near - far) * np.clip(length, 3.0, LEAD_BAR_LENGTH) / length
|
||||
return bar.astype(np.float32)
|
||||
# Get z-coordinate from path at the lead vehicle position
|
||||
z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
|
||||
point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
|
||||
if point:
|
||||
self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
|
||||
|
||||
def _update_model(self, lead, path_x_array):
|
||||
"""Update model visualization data based on model message"""
|
||||
@@ -299,6 +270,30 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
self._exp_gradient.colors = segment_colors
|
||||
self._exp_gradient.stops = gradient_stops
|
||||
|
||||
def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
|
||||
speed_buff, lead_buff = 10.0, 40.0
|
||||
|
||||
# Calculate fill alpha
|
||||
fill_alpha = 0
|
||||
if d_rel < lead_buff:
|
||||
fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
|
||||
if v_rel < 0:
|
||||
fill_alpha += 255 * (-1 * (v_rel / speed_buff))
|
||||
fill_alpha = min(fill_alpha, 255)
|
||||
|
||||
# Calculate size and position
|
||||
sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 1
|
||||
x = np.clip(point[0], 0.0, rect.width - sz / 2)
|
||||
y = min(point[1], rect.height - sz * 0.6)
|
||||
|
||||
g_xo = sz / 5
|
||||
g_yo = sz / 10
|
||||
|
||||
glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
|
||||
chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
|
||||
|
||||
return LeadVehicle(glow=glow, chevron=chevron, fill_alpha=int(fill_alpha))
|
||||
|
||||
def _get_ll_color(self, prob: float, adjacent: bool, left: bool):
|
||||
alpha = np.clip(prob, 0.0, 0.7)
|
||||
if adjacent:
|
||||
@@ -380,9 +375,13 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
draw_polygon(self._rect, path_pts, gradient=gradient)
|
||||
|
||||
def _draw_lead_indicator(self):
|
||||
offset = np.array([self._rect.x, self._rect.y], dtype=np.float32)
|
||||
# Draw lead vehicles if available
|
||||
for lead in self._lead_vehicles:
|
||||
draw_polygon(self._rect, lead.bar + offset, rl.Color(255, 255, 255, int(255 * lead.fade_filter.x)))
|
||||
if not lead.glow or not lead.chevron:
|
||||
continue
|
||||
|
||||
rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
|
||||
rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))
|
||||
|
||||
@staticmethod
|
||||
def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
|
||||
@@ -392,6 +391,22 @@ class ModelRenderer(Widget, ModelRendererSP):
|
||||
indices = np.where(pos_x_array <= path_height)[0]
|
||||
return indices[-1] if indices.size > 0 else 0
|
||||
|
||||
def _map_to_screen(self, in_x, in_y, in_z):
|
||||
"""Project a point in car space to screen space"""
|
||||
input_pt = np.array([in_x, in_y, in_z])
|
||||
pt = self._car_space_transform @ input_pt
|
||||
|
||||
if abs(pt[2]) < 1e-6:
|
||||
return None
|
||||
|
||||
x, y = pt[0] / pt[2], pt[1] / pt[2]
|
||||
|
||||
clip = self._clip_region
|
||||
if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
|
||||
return None
|
||||
|
||||
return (x, y)
|
||||
|
||||
def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
|
||||
"""Convert 3D line to 2D polygon for rendering."""
|
||||
if line.shape[0] == 0:
|
||||
|
||||
@@ -19,7 +19,7 @@ KNOWN_LEAKS = {
|
||||
"openpilot.system.ui.widgets.button.Button",
|
||||
"openpilot.system.ui.widgets.html_render.HtmlRenderer",
|
||||
"openpilot.system.ui.widgets.nav_widget.NavBar",
|
||||
"openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout.MiciFccModal",
|
||||
"openpilot.selfdrive.ui.mici.layouts.settings.device.MiciFccModal",
|
||||
"openpilot.system.ui.widgets.inputbox.InputBox",
|
||||
"openpilot.system.ui.widgets.scroller_tici.Scroller",
|
||||
"openpilot.system.ui.widgets.label.UnifiedLabel",
|
||||
@@ -52,9 +52,9 @@ class TestWidgetLeaks(OpenpilotTestCase):
|
||||
# mici dialogs
|
||||
from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
|
||||
from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog as MiciCabinCameraDialog
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device.prime import PrimeScroller
|
||||
from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import MiciFccModal
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
|
||||
|
||||
# tici dialogs
|
||||
from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog as TiciCabinCameraDialog
|
||||
@@ -71,7 +71,7 @@ class TestWidgetLeaks(OpenpilotTestCase):
|
||||
|
||||
for ctor in (
|
||||
# mici
|
||||
MiciCabinCameraDialog, PrimeScroller,
|
||||
MiciCabinCameraDialog, MiciPairingDialog,
|
||||
lambda: MiciTrainingGuide(lambda: None),
|
||||
lambda: MiciOnboardingWindow(lambda: None),
|
||||
lambda: BigDialog("test", "test"),
|
||||
|
||||
@@ -241,9 +241,6 @@ class BigButton(BaseButton):
|
||||
btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
|
||||
return txt_bg, btn_x, btn_y, scale
|
||||
|
||||
def _draw_subtitle(self, rect: rl.Rectangle):
|
||||
self._sub_label.render(rect)
|
||||
|
||||
def _draw_content(self, btn_y: float):
|
||||
# LABEL ------------------------------------------------------------------
|
||||
label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
|
||||
@@ -258,7 +255,7 @@ class BigButton(BaseButton):
|
||||
label_y = label_rect.y + self._label.get_content_height(int(label_rect.width))
|
||||
sub_label_height = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING - label_y
|
||||
sub_label_rect = rl.Rectangle(label_x, label_y, self._subtitle_width_hint(), sub_label_height)
|
||||
self._draw_subtitle(sub_label_rect)
|
||||
self._sub_label.render(sub_label_rect)
|
||||
|
||||
# ICON -------------------------------------------------------------------
|
||||
if self._txt_icon:
|
||||
|
||||
@@ -183,7 +183,7 @@ class BigInputDialog(BigDialogBase):
|
||||
# draw gradient on left side to indicate more text
|
||||
if text_size.x > text_field_rect.width:
|
||||
rl.draw_rectangle_gradient_ex(rl.Rectangle(text_field_rect.x, text_field_rect.y, 80, text_field_rect.height),
|
||||
rl.BLACK, rl.BLACK, rl.BLANK, rl.BLANK)
|
||||
rl.BLACK, rl.BLANK, rl.BLANK, rl.BLACK)
|
||||
|
||||
# draw cursor
|
||||
blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
|
||||
|
||||
@@ -1,31 +0,0 @@
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.system.ui.lib.application import FontWeight
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
|
||||
|
||||
class InfoLayoutMici(Widget):
|
||||
def __init__(self, title1: str, subtext1: str, title2: str, subtext2: str, *, width: int = 360):
|
||||
super().__init__()
|
||||
self.set_rect(rl.Rectangle(0, 0, width, 180))
|
||||
|
||||
max_width = int(self._rect.width - 20)
|
||||
self._subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
|
||||
|
||||
self.title1 = UnifiedLabel(title1, 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
|
||||
self.subtext1 = UnifiedLabel(subtext1, 36, max_width=max_width, text_color=self._subheader_color,
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
|
||||
self.title2 = UnifiedLabel(title2, 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
|
||||
self.subtext2 = UnifiedLabel(subtext2, 36, max_width=max_width, text_color=self._subheader_color,
|
||||
font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
|
||||
|
||||
def _layout(self):
|
||||
self.title1.set_position(self._rect.x + 20, self._rect.y - 10)
|
||||
self.subtext1.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
|
||||
self.title2.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
|
||||
self.subtext2.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
for widget in [self.title1, self.subtext1, self.title2, self.subtext2]:
|
||||
widget.render()
|
||||
@@ -0,0 +1,95 @@
|
||||
import pyray as rl
|
||||
import time
|
||||
|
||||
from openpilot.common.api import Api
|
||||
from openpilot.common.qrcode import make_texture
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.widgets.nav_widget import NavWidget
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
|
||||
|
||||
class PairingDialog(NavWidget):
|
||||
"""Dialog for device pairing with QR code."""
|
||||
|
||||
QR_REFRESH_INTERVAL = 300 # 5 minutes in seconds
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
self._qr_texture: rl.Texture | None = None
|
||||
self._last_qr_generation = float("-inf")
|
||||
|
||||
self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
|
||||
self._pair_label = UnifiedLabel("pair with comma connect", font_size=48, font_weight=FontWeight.BOLD, line_height=0.8)
|
||||
|
||||
def _get_pairing_url(self) -> str:
|
||||
try:
|
||||
dongle_id = self._params.get("DongleId") or ""
|
||||
token = Api(dongle_id).get_token({'pair': True})
|
||||
except Exception as e:
|
||||
cloudlog.warning(f"Failed to get pairing token: {e}")
|
||||
token = ""
|
||||
return f"https://connect.comma.ai/?pair={token}"
|
||||
|
||||
def _generate_qr_code(self) -> None:
|
||||
try:
|
||||
if self._qr_texture and self._qr_texture.id != 0:
|
||||
rl.unload_texture(self._qr_texture)
|
||||
self._qr_texture = make_texture(self._get_pairing_url(), inverted=True)
|
||||
except Exception as e:
|
||||
cloudlog.warning(f"QR code generation failed: {e}")
|
||||
self._qr_texture = None
|
||||
|
||||
def _check_qr_refresh(self) -> None:
|
||||
current_time = time.monotonic()
|
||||
if current_time - self._last_qr_generation >= self.QR_REFRESH_INTERVAL:
|
||||
self._generate_qr_code()
|
||||
self._last_qr_generation = current_time
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if ui_state.prime_state.is_paired() and not self.is_dismissing:
|
||||
self.dismiss()
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self._check_qr_refresh()
|
||||
|
||||
self._render_qr_code()
|
||||
|
||||
label_x = self._rect.x + 8 + self._rect.height + 24
|
||||
self._pair_label.set_max_width(int(self._rect.width - label_x))
|
||||
self._pair_label.set_position(label_x, self._rect.y + 16)
|
||||
self._pair_label.render()
|
||||
|
||||
rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16),
|
||||
0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35)))
|
||||
|
||||
def _render_qr_code(self) -> None:
|
||||
if not self._qr_texture:
|
||||
error_font = gui_app.font(FontWeight.BOLD)
|
||||
rl.draw_text_ex(
|
||||
error_font, "QR Code Error", rl.Vector2(self._rect.x + 20, self._rect.y + self._rect.height // 2 - 15), 30, 0.0, rl.RED
|
||||
)
|
||||
return
|
||||
|
||||
scale = self._rect.height / self._qr_texture.height
|
||||
pos = rl.Vector2(round(self._rect.x + 8), round(self._rect.y))
|
||||
rl.draw_texture_ex(self._qr_texture, pos, 0.0, scale, rl.WHITE)
|
||||
|
||||
def __del__(self):
|
||||
if self._qr_texture and self._qr_texture.id != 0:
|
||||
rl.unload_texture(self._qr_texture)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
gui_app.init_window("pairing device")
|
||||
pairing = PairingDialog()
|
||||
gui_app.push_widget(pairing)
|
||||
try:
|
||||
for _ in gui_app.render():
|
||||
pass
|
||||
finally:
|
||||
del pairing
|
||||
@@ -1,37 +0,0 @@
|
||||
import pyray as rl
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.ui.lib.application import FontWeight
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import Label
|
||||
from openpilot.common.qrcode import make_texture
|
||||
|
||||
|
||||
class QR(Widget):
|
||||
def __init__(self, url: str, width: int = 170):
|
||||
super().__init__()
|
||||
self._url = url
|
||||
|
||||
self._texture = self._generate_qr_code()
|
||||
|
||||
self.set_rect(rl.Rectangle(0, 0, width, width))
|
||||
self._error = Label("QR Code Error", font_size=30, font_weight=FontWeight.BOLD, text_color=rl.RED)
|
||||
|
||||
def _generate_qr_code(self):
|
||||
try:
|
||||
return make_texture(self._url, inverted=True)
|
||||
except Exception as e:
|
||||
cloudlog.warning(f"QR code generation failed: {e}")
|
||||
return None
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
if not self._texture:
|
||||
self._error.render(rect)
|
||||
return
|
||||
scale = rect.height / self._texture.height
|
||||
pos = rl.Vector2(round(rect.x), round(rect.y))
|
||||
rl.draw_texture_ex(self._texture, pos, 0.0, scale, rl.WHITE)
|
||||
|
||||
def __del__(self):
|
||||
if self._texture and self._texture.id != 0:
|
||||
rl.unload_texture(self._texture)
|
||||
@@ -33,8 +33,8 @@ BORDER_COLORS = {
|
||||
**BORDER_COLORS_SP,
|
||||
}
|
||||
|
||||
WIDE_CAM_MAX_SPEED = 5.0 # m/s (11 mph)
|
||||
ROAD_CAM_MIN_SPEED = 10.0 # m/s (22 mph)
|
||||
WIDE_CAM_MAX_SPEED = 10.0 # m/s (22 mph)
|
||||
ROAD_CAM_MIN_SPEED = 15.0 # m/s (34 mph)
|
||||
INF_POINT = np.array([1000.0, 0.0, 0.0])
|
||||
|
||||
|
||||
|
||||
@@ -34,7 +34,7 @@ class ExpButton(Widget):
|
||||
|
||||
def _handle_mouse_release(self, _):
|
||||
super()._handle_mouse_release(_)
|
||||
if ui_state.has_longitudinal_control:
|
||||
if self._is_toggle_allowed():
|
||||
new_mode = not self._experimental_mode
|
||||
self._params.put_bool("ExperimentalMode", new_mode)
|
||||
|
||||
@@ -61,3 +61,10 @@ class ExpButton(Widget):
|
||||
self._hold_end_time = self._held_mode = None
|
||||
|
||||
return self._experimental_mode
|
||||
|
||||
def _is_toggle_allowed(self):
|
||||
if not self._params.get_bool("ExperimentalModeConfirmed"):
|
||||
return False
|
||||
|
||||
# Mirror exp mode toggle using persistent car params
|
||||
return ui_state.has_longitudinal_control
|
||||
|
||||
@@ -20,8 +20,7 @@ SAMPLE_RATE = 48000
|
||||
SAMPLE_BUFFER = 4096 # (approx 100ms)
|
||||
MAX_VOLUME = 1.0
|
||||
MIN_VOLUME = 0.1
|
||||
ALERT_RAMP_TIME = 4 # seconds to ramp critical alerts to max volume
|
||||
ALERT_MAX_TIME = 8 # seconds before critical alerts switch to the max sound
|
||||
ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
|
||||
SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
|
||||
FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
|
||||
|
||||
@@ -35,7 +34,6 @@ if HARDWARE.get_device_type() == "tizi":
|
||||
|
||||
AudibleAlert = log.SelfdriveState.AudibleAlert
|
||||
AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
|
||||
CRITICAL_MAX = -1 # internal sound key, not an AudibleAlert
|
||||
|
||||
|
||||
sound_list_sp: dict[int, tuple[str, int | None, float]] = {
|
||||
@@ -60,7 +58,6 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
|
||||
AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
|
||||
|
||||
**sound_list_sp,
|
||||
CRITICAL_MAX: ("dm_critical_max.wav", None, MAX_VOLUME),
|
||||
}
|
||||
|
||||
def check_selfdrive_timeout_alert(sm):
|
||||
@@ -80,7 +77,6 @@ class Soundd(QuietMode):
|
||||
self.load_sounds()
|
||||
|
||||
self.current_alert = AudibleAlert.none
|
||||
self.current_sound = AudibleAlert.none
|
||||
self.current_volume = MIN_VOLUME
|
||||
self.current_sound_frame = 0
|
||||
|
||||
@@ -113,7 +109,7 @@ class Soundd(QuietMode):
|
||||
|
||||
if self.should_play_sound(self.current_alert):
|
||||
num_loops = sound_list[self.current_alert][1]
|
||||
sound_data = self.loaded_sounds[self.current_sound]
|
||||
sound_data = self.loaded_sounds[self.current_alert]
|
||||
written_frames = 0
|
||||
|
||||
current_sound_frame = self.current_sound_frame % len(sound_data)
|
||||
@@ -140,7 +136,7 @@ class Soundd(QuietMode):
|
||||
data_out[:frames, 0] = self.get_sound_data(frames)
|
||||
|
||||
def update_alert(self, new_alert):
|
||||
current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_sound])
|
||||
current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
|
||||
# let looping sounds finish the current loop instead of cutting off mid tone
|
||||
if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
|
||||
if current_alert_played_once:
|
||||
@@ -151,11 +147,10 @@ class Soundd(QuietMode):
|
||||
return
|
||||
self.pending_stop = False
|
||||
if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
|
||||
if new_alert in (AudibleAlert.warningSoft, AudibleAlert.warningImmediate):
|
||||
if new_alert == AudibleAlert.warningImmediate:
|
||||
self.ramp_start_volume = self.current_volume
|
||||
self.ramp_start_time = time.monotonic()
|
||||
self.current_alert = new_alert
|
||||
self.current_sound = new_alert
|
||||
self.current_sound_frame = 0
|
||||
|
||||
def get_audible_alert(self, sm):
|
||||
@@ -204,13 +199,11 @@ class Soundd(QuietMode):
|
||||
|
||||
self.get_audible_alert(sm)
|
||||
|
||||
if self.current_alert in (AudibleAlert.warningSoft, AudibleAlert.warningImmediate):
|
||||
# Ramp up immediate warning sound over 4s
|
||||
if self.current_alert == AudibleAlert.warningImmediate:
|
||||
elapsed = time.monotonic() - self.ramp_start_time
|
||||
ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
|
||||
self.current_volume = max(self.current_volume, ramp_vol)
|
||||
if elapsed >= ALERT_MAX_TIME and self.current_sound != CRITICAL_MAX:
|
||||
self.current_sound = CRITICAL_MAX
|
||||
self.current_sound_frame = 0
|
||||
|
||||
rk.keep_time()
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import DeviceLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
|
||||
|
||||
@@ -7,9 +7,8 @@ See the LICENSE.md file in the root directory for more details.
|
||||
import base64
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.mici.widgets.qr import QR
|
||||
from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
|
||||
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
@@ -17,20 +16,15 @@ from openpilot.system.ui.widgets.nav_widget import NavWidget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
|
||||
|
||||
class SunnylinkPairingDialog(NavWidget):
|
||||
"""Dialog for sunnylink pairing with QR code."""
|
||||
class SunnylinkPairingDialog(PairingDialog):
|
||||
"""Dialog for device pairing with QR code."""
|
||||
|
||||
def __init__(self, sponsor_pairing: bool = False):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
PairingDialog.__init__(self)
|
||||
self._sponsor_pairing = sponsor_pairing
|
||||
|
||||
self._qr = self._child(QR(self._get_pairing_url()))
|
||||
self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
|
||||
|
||||
label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
|
||||
self._pair_label = self._child(UnifiedLabel(label_text, font_size=48, font_weight=FontWeight.BOLD,
|
||||
text_color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=0.8))
|
||||
self._pair_label = UnifiedLabel(label_text, font_size=48, font_weight=FontWeight.BOLD,
|
||||
text_color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=0.8)
|
||||
|
||||
def _get_pairing_url(self) -> str:
|
||||
qr_string = "https://github.com/sponsors/sunnyhaibin"
|
||||
@@ -48,21 +42,8 @@ class SunnylinkPairingDialog(NavWidget):
|
||||
return qr_string
|
||||
|
||||
def _update_state(self):
|
||||
# Sunnylink pairing is not comma prime, so this never auto-dismisses on prime pairing.
|
||||
NavWidget._update_state(self)
|
||||
|
||||
def _render(self, _):
|
||||
qr_rect = rl.Rectangle(self._rect.x + 8, self._rect.y, self._rect.height, self._rect.height)
|
||||
self._qr.render(qr_rect)
|
||||
|
||||
label_x = self._rect.x + 8 + self._rect.height + 24
|
||||
self._pair_label.set_max_width(int(self._rect.width - label_x))
|
||||
self._pair_label.set_position(label_x, self._rect.y + 16)
|
||||
self._pair_label.render()
|
||||
|
||||
rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16),
|
||||
0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
gui_app.init_window("pairing device")
|
||||
|
||||
@@ -12,7 +12,7 @@ from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.lib.prime_state import PrimeState
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.common.hardware import HARDWARE, PC
|
||||
from openpilot.common.hardware.usb import cable_connected, get_usb_state, is_chestnut_usb_id
|
||||
from openpilot.common.hardware.usb import TYPEC_CC_ORIENTATION_PATH, get_usb_state, is_chestnut_usb_id, read_int
|
||||
from openpilot.selfdrive.modeld.helpers import chestnut_compiled
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
|
||||
@@ -91,6 +91,7 @@ class UIState(UIStateSP):
|
||||
self.is_release = False # self.params.get_bool("IsReleaseBranch")
|
||||
self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
|
||||
self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
|
||||
self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
|
||||
self.chestnut_present: bool = False
|
||||
self.chestnut_compiled: bool = chestnut_compiled()
|
||||
self.chestnut_active: bool | None = None
|
||||
@@ -209,7 +210,7 @@ class UIState(UIStateSP):
|
||||
self.status = UIStatus.DISENGAGED
|
||||
self.started_frame = self.sm.frame
|
||||
self.started_time = time.monotonic()
|
||||
self.chestnut_present = self.sm["deviceState"].chestnutPresent or (self.chestnut_compiled and self.usb_connected)
|
||||
self.chestnut_present = self.sm["deviceState"].chestnutPresent
|
||||
|
||||
for callback in self._offroad_transition_callbacks:
|
||||
callback()
|
||||
@@ -229,10 +230,10 @@ class UIState(UIStateSP):
|
||||
self.chestnut_state = ChestnutState.DISCONNECTED
|
||||
elif not self.chestnut_compiled:
|
||||
self.chestnut_state = ChestnutState.UNCOMPILED
|
||||
elif self.chestnut_loading or not model_seen:
|
||||
self.chestnut_state = ChestnutState.LOADING
|
||||
elif self.chestnut_state == ChestnutState.FAILED or not detected or (model_seen and (not self.sm.alive["modelV2"] or not self.sm["modelV2"].big)):
|
||||
self.chestnut_state = ChestnutState.FAILED
|
||||
elif self.chestnut_loading or not model_seen:
|
||||
self.chestnut_state = ChestnutState.LOADING
|
||||
elif self.chestnut_active is False:
|
||||
self.chestnut_state = ChestnutState.FAILED
|
||||
else:
|
||||
@@ -253,10 +254,13 @@ class UIState(UIStateSP):
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.always_on_dm = self.params.get_bool("AlwaysOnDM")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode")
|
||||
self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
|
||||
if not self.chestnut_compiled:
|
||||
self.chestnut_compiled = chestnut_compiled()
|
||||
self.chestnut_active = self.params.get("ChestnutActive")
|
||||
self.chestnut_loading = self.params.get_bool("ChestnutLoading")
|
||||
now = time.monotonic()
|
||||
if cable_connected():
|
||||
if read_int(TYPEC_CC_ORIENTATION_PATH) != 0:
|
||||
self.usb_disconnected_ts = None
|
||||
if not self.usb_connected:
|
||||
self.usb_connected = True
|
||||
|
||||
@@ -263,8 +263,6 @@ class OffroadAlert(AbstractAlert):
|
||||
def _build_alerts(self):
|
||||
self.sorted_alerts = []
|
||||
for key, config in sorted(OFFROAD_ALERTS.items(), key=lambda x: x[1].get("severity", 0), reverse=True):
|
||||
if key == "Offroad_Pairing":
|
||||
continue
|
||||
severity = config.get("severity", 0)
|
||||
alert_data = AlertData(key=key, text="", severity=severity)
|
||||
self.sorted_alerts.append(alert_data)
|
||||
|
||||
@@ -7,14 +7,12 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import atexit
|
||||
import codecs
|
||||
import gc
|
||||
import math
|
||||
import multiprocessing as mp
|
||||
import os
|
||||
import pickle
|
||||
import shutil
|
||||
import tempfile
|
||||
import time
|
||||
from functools import partial
|
||||
@@ -22,8 +20,8 @@ from typing import Any
|
||||
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets, open_file_chunked
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import dump_oob, load_oob
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, read_parts, write_bundle
|
||||
from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame, record_kernel_linear, serialize_jit
|
||||
import openpilot.sunnypilot.modeld_v2.stock_dependencies as stock
|
||||
from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
|
||||
|
||||
@@ -55,16 +53,6 @@ def _patch_tinygrad_fetch_fw():
|
||||
pass
|
||||
_patch_tinygrad_fetch_fw()
|
||||
|
||||
def _patch_ops_serialization():
|
||||
try:
|
||||
from tinygrad.uop.ops import Ops
|
||||
def __reduce_ex__(self, proto):
|
||||
return (getattr, (self.__class__, self.name))
|
||||
Ops.__reduce_ex__ = __reduce_ex__
|
||||
except ImportError:
|
||||
pass
|
||||
_patch_ops_serialization()
|
||||
|
||||
MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
|
||||
WARP_INPUTS = ['tfm', 'big_tfm']
|
||||
POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
|
||||
@@ -72,6 +60,7 @@ POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs'
|
||||
class MetadataOnnxPBParser(OnnxPBParser):
|
||||
def _parse_ModelProto(self) -> dict:
|
||||
obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
|
||||
self.opset_imports = {}
|
||||
for fid, wire_type in self._parse_message(self.reader.len):
|
||||
match fid:
|
||||
case 7:
|
||||
@@ -150,6 +139,10 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu
|
||||
return shapes, sizes
|
||||
|
||||
|
||||
def host_view(tensor: Tensor) -> np.ndarray: # QCOM -> CPU round trip of tfm takes 5ms longer than host memory view
|
||||
return np.frombuffer(tensor._buffer()._host_mv(), dtype=np.float32).reshape(tensor.shape)
|
||||
|
||||
|
||||
def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
|
||||
is_supercombo: bool = False) -> tuple[dict, dict]:
|
||||
road_key, _ = _detect_vision_keys(input_shapes)
|
||||
@@ -185,7 +178,7 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
|
||||
dtype=np.float32), device=device).contiguous().realize(),
|
||||
'packed_npy_inputs': Tensor(packed_npy_inputs, device=device if os.getenv('CHESTNUT') else 'NPY').realize(),
|
||||
'packed_npy_inputs': Tensor(packed_npy_inputs, device=device).realize(),
|
||||
}
|
||||
|
||||
if features_buffer:
|
||||
@@ -197,9 +190,11 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
|
||||
for key in ('tfm', 'big_tfm'):
|
||||
if key not in npy_arrays:
|
||||
npy_arrays[key] = np.eye(3, dtype=np.float32)
|
||||
queues[key] = Tensor(npy_arrays[key], device='NPY').realize()
|
||||
queues[key] = Tensor(npy_arrays[key], device=device).realize()
|
||||
|
||||
return queues, npy_arrays
|
||||
packed = host_view(queues['packed_npy_inputs'])
|
||||
npy_arrays |= {k: v.reshape(s) for (k, s), v in zip(shapes.items(), np.split(packed, split_indices) if sizes else [], strict=True)}
|
||||
return queues, npy_arrays | {k: host_view(queues[k]) for k in ('tfm', 'big_tfm')}
|
||||
|
||||
|
||||
def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
|
||||
@@ -221,8 +216,8 @@ def make_warp_queues(device=Device.DEFAULT):
|
||||
'tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
'big_tfm': np.zeros((3, 3), dtype=np.float32),
|
||||
}
|
||||
queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()}
|
||||
return queues, npy
|
||||
queues = {k: Tensor(v, device=device).realize() for k, v in npy.items()}
|
||||
return queues, {k: host_view(v) for k, v in queues.items()}
|
||||
|
||||
|
||||
def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
|
||||
@@ -282,8 +277,19 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
|
||||
return run_policy
|
||||
|
||||
|
||||
class _CheckFrameRecorder:
|
||||
def __init__(self, jit):
|
||||
self.jit, self.frame = jit, None
|
||||
|
||||
def __call__(self, *args, **kwargs):
|
||||
if self.frame is not None or args or self.jit.cnt < 2:
|
||||
return self.jit(*args, **kwargs)
|
||||
self.frame, result = capture_frame(self.jit, kwargs, None)
|
||||
return result
|
||||
|
||||
|
||||
def compile_jit(jit_or_fn, input_keys_or_make_inputs, make_queues=None, make_random_inputs=None,
|
||||
benchmark_runs: int = 1, clear_refs=None, return_loaded: bool = True):
|
||||
benchmark_runs: int = 1, clear_refs=None):
|
||||
if callable(input_keys_or_make_inputs) and make_queues is None:
|
||||
fn = jit_or_fn
|
||||
make_inputs = input_keys_or_make_inputs
|
||||
@@ -334,22 +340,23 @@ def compile_jit(jit_or_fn, input_keys_or_make_inputs, make_queues=None, make_ran
|
||||
|
||||
print('capture + replay')
|
||||
gc.collect()
|
||||
test_val = run_eval(jit, 42, 3)
|
||||
print(f'pickle round trip ({benchmark_runs} runs per seed)')
|
||||
with tempfile.TemporaryFile(dir=".") as f:
|
||||
dump_oob(jit, f)
|
||||
if clear_refs:
|
||||
clear_refs()
|
||||
gc.collect()
|
||||
f.seek(0)
|
||||
loaded_jit = load_oob(f)
|
||||
recorder = _CheckFrameRecorder(jit)
|
||||
with record_kernel_linear() as recorded:
|
||||
test_val = run_eval(recorder, 42, 3)
|
||||
assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
|
||||
part = serialize_jit(jit, recorded[0], recorder.frame)
|
||||
print(f'plain artifact round trip ({benchmark_runs} runs per seed)')
|
||||
if clear_refs:
|
||||
clear_refs()
|
||||
gc.collect()
|
||||
loaded_jit = PlainJit(part[0], memoryview(part[1]))
|
||||
|
||||
for seed in (42, 43):
|
||||
reference = test_val if seed == 42 else run_eval(jit_or_fn, seed, 1)
|
||||
actual = run_eval(loaded_jit, seed, benchmark_runs)
|
||||
for ref, val in zip(reference, actual, strict=True):
|
||||
np.testing.assert_array_equal(ref, val)
|
||||
return loaded_jit if return_loaded else jit
|
||||
return part
|
||||
|
||||
|
||||
def _parse_size(size_str: str) -> tuple[int, int]:
|
||||
@@ -357,16 +364,6 @@ def _parse_size(size_str: str) -> tuple[int, int]:
|
||||
return int(width), int(height)
|
||||
|
||||
|
||||
def read_file_chunked_to_disk(path):
|
||||
if not path:
|
||||
return None
|
||||
tmp_path = f'{path}.unchunked'
|
||||
with open(tmp_path, 'wb') as f, open_file_chunked(path) as src:
|
||||
shutil.copyfileobj(src, f)
|
||||
atexit.register(lambda: os.path.exists(tmp_path) and os.remove(tmp_path))
|
||||
return tmp_path
|
||||
|
||||
|
||||
def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
|
||||
runners, keys = [], []
|
||||
for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
|
||||
@@ -387,10 +384,7 @@ def _compile_warp_resolution_worker(cam_w, cam_h, model_w, model_h, benchmark_ru
|
||||
warp = None
|
||||
compiled_jit = compile_jit(warp, WARP_INPUTS, make_warp_queues, make_random_inputs=make_random_warp_inputs,
|
||||
benchmark_runs=benchmark_runs, clear_refs=cleanup_warp)
|
||||
|
||||
result_data = (compiled_jit, Device.DEFAULT)
|
||||
with open(result_path, "wb") as f:
|
||||
dump_oob(result_data, f)
|
||||
write_bundle(result_path, {(cam_w, cam_h): compiled_jit}, {'device': Device.DEFAULT})
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@@ -421,12 +415,6 @@ if __name__ == "__main__":
|
||||
model_w, model_h = args.model_size
|
||||
output_data = {}
|
||||
|
||||
args.vision_onnx = read_file_chunked_to_disk(args.vision_onnx)
|
||||
args.policy_onnx = read_file_chunked_to_disk(args.policy_onnx)
|
||||
args.off_policy_onnx = read_file_chunked_to_disk(args.off_policy_onnx)
|
||||
args.on_policy_onnx = read_file_chunked_to_disk(args.on_policy_onnx)
|
||||
args.supercombo_onnx = read_file_chunked_to_disk(args.supercombo_onnx)
|
||||
|
||||
is_unified_supercombo = False
|
||||
if args.model_type == 'supercombo':
|
||||
assert args.supercombo_onnx
|
||||
@@ -449,8 +437,10 @@ if __name__ == "__main__":
|
||||
frame_copy_size=frame_copy_size)
|
||||
warp = stock.make_warp(nv12, model_w, model_h)
|
||||
run_model_jit = TinyJit(stock.make_run_model(warp, run_policy, model_metadata, frame_copy_size), prune=True)
|
||||
compiled_jit = compile_jit(run_model_jit, stock.MODELD_INPUTS, make_model_queues, benchmark_runs=args.benchmark_runs, return_loaded=False)
|
||||
output_data[(cam_w, cam_h)] = compiled_jit
|
||||
write_bundle(part_path := f"{args.output}.{cam_w}x{cam_h}", {(cam_w, cam_h): compile_jit(run_model_jit, stock.MODELD_INPUTS, make_model_queues,
|
||||
benchmark_runs=args.benchmark_runs)})
|
||||
output_data[(cam_w, cam_h)] = read_parts(part_path)[0][(cam_w, cam_h)]
|
||||
os.remove(part_path)
|
||||
gc.collect()
|
||||
del model_runner, run_policy
|
||||
gc.collect()
|
||||
@@ -518,18 +508,12 @@ if __name__ == "__main__":
|
||||
|
||||
tmp_files.append((cam_w, cam_h, tmp_res.name))
|
||||
for cam_w, cam_h, tmp_name in tmp_files:
|
||||
with open(tmp_name, "rb") as f:
|
||||
compiled_jit, dev_name = load_oob(f)
|
||||
output_data[(cam_w, cam_h)] = compiled_jit
|
||||
output_data['input_devices']['warp'] = dev_name
|
||||
warp_parts, warp_extras = read_parts(tmp_name)
|
||||
output_data[(cam_w, cam_h)] = warp_parts[(cam_w, cam_h)]
|
||||
output_data['input_devices']['warp'] = warp_extras['device']
|
||||
os.remove(tmp_name)
|
||||
output_data['metadata']['warp_dev'] = Device.DEFAULT
|
||||
|
||||
with open(args.output, "wb") as file:
|
||||
dump_oob(output_data, file)
|
||||
|
||||
pkl_size = os.path.getsize(args.output)
|
||||
print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
|
||||
chunk_targets = get_chunk_targets(args.output, pkl_size)
|
||||
chunk_file(args.output, chunk_targets)
|
||||
print(f"Chunked into {len(chunk_targets) - 1} file(s)")
|
||||
parts = {key: output_data.pop(key) for key in [key for key, value in output_data.items() if isinstance(value, tuple)]}
|
||||
write_bundle(args.output, parts, output_data)
|
||||
print(f"Saved model to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB, {len(parts)} JITs)")
|
||||
|
||||
@@ -1,11 +1,59 @@
|
||||
#!/usr/bin/env python3
|
||||
import runpy
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import _patch_ops_serialization
|
||||
import numpy as np
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, write_bundle
|
||||
from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame, record_kernel_linear, serialize_jit
|
||||
|
||||
|
||||
def initialize_check_inputs(arrays: dict):
|
||||
rng = np.random.default_rng(7)
|
||||
for value in arrays.values():
|
||||
value[...] = rng.standard_normal(value.shape) if value.dtype.kind == "f" else rng.integers(0, 2 if value.dtype == np.bool_ else 16, value.shape)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
_patch_ops_serialization()
|
||||
upstream_script = os.path.join(os.environ.get("TINYGRAD_PATH", "tinygrad_repo"), "examples/openpilot/compile_onnx.py")
|
||||
runpy.run_path(upstream_script, run_name="__main__")
|
||||
sys.path.insert(0, os.environ.get("TINYGRAD_PATH", "tinygrad_repo"))
|
||||
from examples.openpilot.compile_onnx import onnx_metadata
|
||||
from examples.openpilot.helpers import allocate_inputs, benchmark
|
||||
from tinygrad import Device, Tensor, TinyJit
|
||||
from tinygrad.dtype import _to_np_dtype
|
||||
from tinygrad.nn.onnx import OnnxRunner
|
||||
|
||||
parser = argparse.ArgumentParser(description="Compile a native-architecture ONNX model into a plain tinygrad artifact")
|
||||
parser.add_argument('onnx')
|
||||
parser.add_argument('output')
|
||||
parser.add_argument('--device-input', action='append', default=[])
|
||||
parser.add_argument('--benchmark-runs', type=int, default=20)
|
||||
args = parser.parse_args()
|
||||
|
||||
runner, (properties, output_shapes) = OnnxRunner(args.onnx), onnx_metadata(args.onnx)
|
||||
device_inputs = runner.graph_inputs.keys() if '*' in args.device_input else args.device_input
|
||||
metadata = {'metadata': properties} | {f'{kind}_shapes': {name: tuple(d if isinstance(d, int) else 0 for d in shape) for name, shape in shapes.items()}
|
||||
for kind, shapes in [('input', {name: spec.shape for name, spec in runner.graph_inputs.items()}),
|
||||
('output', output_shapes)]}
|
||||
input_specs = {name: (tuple(s if isinstance(s, int) else 1 for s in spec.shape), np.dtype(_to_np_dtype(spec.dtype)).str,
|
||||
Device.DEFAULT if name in device_inputs else 'NPY') for name, spec in runner.graph_inputs.items()}
|
||||
|
||||
def model(inputs):
|
||||
return {name: value.contiguous() for name, value in runner({name: value.to(Device.DEFAULT) for name, value in inputs.items()}).items()}
|
||||
output_specs = {name: (value.shape, np.dtype(_to_np_dtype(value.dtype)).name, Device.DEFAULT) for name, value in model(allocate_inputs(input_specs)).items()}
|
||||
|
||||
@TinyJit(prune=True)
|
||||
def jit(output_buffers, **inputs):
|
||||
Tensor.realize(*(output_buffers[name].assign(value) for name, value in model(inputs).items()))
|
||||
|
||||
check_inputs = allocate_inputs(input_specs, initialize_check_inputs) | {'output_buffers': allocate_inputs(output_specs)}
|
||||
with record_kernel_linear() as recorded:
|
||||
for i in range(2 + args.benchmark_runs):
|
||||
benchmark(jit, cb=lambda t, i=i: print(f" [{i + 1}/{2 + args.benchmark_runs}] {t * 1e3:.2f} ms"), **check_inputs)
|
||||
assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
|
||||
|
||||
frame, _ = capture_frame(jit, check_inputs, 'output_buffers')
|
||||
part = serialize_jit(jit, recorded[0], frame)
|
||||
PlainJit(part[0], memoryview(part[1]))
|
||||
write_bundle(args.output, {'run': part}, {'metadata': metadata, 'input_specs': input_specs, 'output_specs': output_specs})
|
||||
print(f"Saved model to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB, {len(part[0]['calls'])} kernels)")
|
||||
|
||||
@@ -5,14 +5,23 @@ 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 builtins
|
||||
import contextlib
|
||||
import dataclasses
|
||||
import functools
|
||||
import hashlib
|
||||
import io
|
||||
import struct
|
||||
import json
|
||||
import math
|
||||
import mmap
|
||||
import os
|
||||
import pickle
|
||||
import inspect
|
||||
import importlib
|
||||
import tempfile
|
||||
import shutil
|
||||
import enum
|
||||
import struct
|
||||
|
||||
MAGIC = b"SPTGPLN1"
|
||||
ALIGNMENT = 256
|
||||
METADATA_TYPES = ("slice", "tuple", "list", "dict", "set", "frozenset", "complex")
|
||||
RUNTIME_ENVIRONMENT = ("GMMU", "AMD_AQL", "AMD_DISABLE_SDMA", "GRAPH_ONE_KERNEL")
|
||||
|
||||
|
||||
def _patch_system_flock_acquire():
|
||||
@@ -32,86 +41,246 @@ def _patch_system_flock_acquire():
|
||||
pass
|
||||
_patch_system_flock_acquire()
|
||||
|
||||
def _pad_args(func, args, kwargs):
|
||||
try:
|
||||
sig = inspect.signature(func)
|
||||
except Exception:
|
||||
return args, kwargs
|
||||
params = list(sig.parameters.values())
|
||||
if inspect.isfunction(func) and params and params[0].name in ('cls', 'self'):
|
||||
params = params[1:]
|
||||
|
||||
new_args = list(args)
|
||||
has_varargs = any(p.kind == inspect.Parameter.VAR_POSITIONAL for p in params)
|
||||
if len(new_args) > len(params) and not has_varargs:
|
||||
new_args = new_args[:len(params)]
|
||||
|
||||
for i in range(len(new_args), len(params)):
|
||||
param = params[i]
|
||||
if param.kind in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD):
|
||||
continue
|
||||
val = param.default if param.default is not inspect.Parameter.empty else None
|
||||
new_args.append(val)
|
||||
return new_args, kwargs
|
||||
class ArtifactMismatch(RuntimeError):
|
||||
pass
|
||||
|
||||
|
||||
def _dynamic_factory(real_class):
|
||||
if isinstance(real_class, type) and issubclass(real_class, enum.Enum):
|
||||
return real_class
|
||||
class Blob:
|
||||
def __init__(self, sink=None):
|
||||
self.chunks: list = []
|
||||
self.locations: dict[bytes, list[int]] = {}
|
||||
self.size, self.write = 0, sink.write if sink else self.chunks.append
|
||||
|
||||
def factory(*args, **kwargs):
|
||||
try:
|
||||
return real_class(*args, **kwargs)
|
||||
except TypeError:
|
||||
new_args, new_kwargs = _pad_args(real_class, args, kwargs)
|
||||
return real_class(*new_args, **new_kwargs)
|
||||
|
||||
class DynamicMeta(type(real_class)):
|
||||
def __call__(cls, *args, **kwargs):
|
||||
return factory(*args, **kwargs)
|
||||
|
||||
class DynamicProxy(real_class, metaclass=DynamicMeta):
|
||||
__slots__ = ()
|
||||
|
||||
def __new__(cls, *args, **kwargs):
|
||||
return factory(*args, **kwargs)
|
||||
|
||||
DynamicProxy.__name__ = real_class.__name__
|
||||
DynamicProxy.__module__ = real_class.__module__
|
||||
return DynamicProxy
|
||||
def add(self, data) -> list[int]:
|
||||
if (key := hashlib.blake2b(data, digest_size=16).digest()) not in self.locations:
|
||||
start = self.size + -self.size % ALIGNMENT
|
||||
self.write(bytes(start - self.size)), self.write(data)
|
||||
self.locations[key], self.size = [start, start + memoryview(data).nbytes], start + memoryview(data).nbytes
|
||||
return self.locations[key]
|
||||
|
||||
|
||||
class DynamicTinygradUnpickler(pickle.Unpickler):
|
||||
class _MetadataUnpickler(pickle.Unpickler):
|
||||
def find_class(self, module, name):
|
||||
real_class = getattr(importlib.import_module(module), name)
|
||||
if module.startswith("tinygrad"):
|
||||
return _dynamic_factory(real_class)
|
||||
return real_class
|
||||
if module == "builtins" and name in METADATA_TYPES:
|
||||
return getattr(builtins, name)
|
||||
raise pickle.UnpicklingError(f"{module}.{name} is not allowed in model metadata")
|
||||
|
||||
|
||||
def load_oob(f):
|
||||
opcodes = f.read(struct.unpack('<q', f.read(8))[0])
|
||||
def buffers():
|
||||
while (h := f.read(8)):
|
||||
pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
|
||||
f.readinto(pb)
|
||||
yield pb
|
||||
return DynamicTinygradUnpickler(io.BytesIO(opcodes), buffers=buffers()).load()
|
||||
def flatten(value) -> list:
|
||||
if isinstance(value, (tuple, list)):
|
||||
return [tensor for item in value for tensor in flatten(item)]
|
||||
return [] if value is None else [value]
|
||||
|
||||
|
||||
def dump_oob(obj, f):
|
||||
with tempfile.TemporaryFile(dir=".") as tmp:
|
||||
def buffer_cb(buffer):
|
||||
data = buffer.raw()
|
||||
tmp.write(struct.pack('<q', len(data)))
|
||||
tmp.write(data)
|
||||
buffer.release()
|
||||
return False
|
||||
def _relocate(value, part_blob: memoryview, blob: Blob):
|
||||
if isinstance(value, dict):
|
||||
return {k: blob.add(part_blob[slice(*v)]) if k in ("lib", "init", "data") else _relocate(v, part_blob, blob) for k, v in value.items()}
|
||||
return [_relocate(v, part_blob, blob) for v in value] if isinstance(value, list) else value
|
||||
|
||||
stream = io.BytesIO()
|
||||
pickle.Pickler(stream, protocol=5, buffer_callback=buffer_cb).dump(obj)
|
||||
opcodes = stream.getvalue()
|
||||
f.write(struct.pack('<q', len(opcodes)))
|
||||
f.write(opcodes)
|
||||
tmp.seek(0)
|
||||
shutil.copyfileobj(tmp, f)
|
||||
|
||||
def write_bundle(path: str, parts: dict, extras: dict | None = None):
|
||||
blob = Blob()
|
||||
headers = {key: _relocate(part_header, memoryview(part_blob), blob) for key, (part_header, part_blob) in parts.items()}
|
||||
extras_location = blob.add(pickle.dumps(extras or {}, protocol=4))
|
||||
entries = [{"key": list(key) if isinstance(key, tuple) else key, "blob": [0, blob.size], "header": header} for key, header in headers.items()]
|
||||
header = json.dumps({"parts": entries, "extras": extras_location}).encode()
|
||||
with open(path, "wb") as file:
|
||||
file.write(MAGIC + struct.pack("<Q", len(header)) + header + bytes(-(len(MAGIC) + 8 + len(header)) % ALIGNMENT))
|
||||
file.writelines(blob.chunks)
|
||||
|
||||
|
||||
def read_parts(path: str) -> tuple[dict, dict]:
|
||||
with open(path, "rb") as file:
|
||||
data = memoryview(mmap.mmap(file.fileno(), 0, access=mmap.ACCESS_READ))
|
||||
if bytes(data[:len(MAGIC)]) != MAGIC:
|
||||
raise ValueError(f"{path} is not a plain tinygrad model, recompile it with compile_modeld.py")
|
||||
start = len(MAGIC) + 8 + struct.unpack_from("<Q", data, len(MAGIC))[0]
|
||||
header, blob = json.loads(bytes(data[len(MAGIC) + 8:start])), data[start + -start % ALIGNMENT:]
|
||||
parts = {tuple(e["key"]) if isinstance(e["key"], list) else e["key"]: (e["header"], blob[slice(*e["blob"])]) for e in header["parts"]}
|
||||
return parts, _MetadataUnpickler(io.BytesIO(bytes(blob[slice(*header["extras"])]))).load()
|
||||
|
||||
|
||||
def load_model(path: str, device_map: dict | None = None, verify: bool = True, cache: bool = True) -> dict:
|
||||
parts, extras = read_parts(path)
|
||||
if cache and (cached := _read_cache(path, parts, device_map)) is not None:
|
||||
return extras | cached
|
||||
shared: dict = {}
|
||||
jits = {key: PlainJit(header, blob, device_map, verify, shared) for key, (header, blob) in parts.items()}
|
||||
if cache:
|
||||
_write_cache(path, jits, device_map)
|
||||
return extras | jits
|
||||
|
||||
|
||||
@functools.cache
|
||||
def tinygrad_identity() -> str:
|
||||
import tinygrad
|
||||
root, digest = os.path.dirname(tinygrad.__file__), hashlib.sha256()
|
||||
for directory, _, files in sorted(os.walk(root)):
|
||||
for name in sorted(file for file in files if file.endswith(".py")):
|
||||
stat = os.stat(path := os.path.join(directory, name))
|
||||
digest.update(f"{os.path.relpath(path, root)}:{stat.st_size}:{stat.st_mtime_ns};".encode())
|
||||
return digest.hexdigest()
|
||||
|
||||
|
||||
def _cache_key(path: str, device_map: dict | None) -> bytes:
|
||||
stat = os.stat(path)
|
||||
return json.dumps({"format": MAGIC.decode(), "tinygrad": tinygrad_identity(), "size": stat.st_size, "mtime_ns": stat.st_mtime_ns,
|
||||
"device_map": sorted((device_map or {}).items()), "env": [os.environ.get(name, "") for name in RUNTIME_ENVIRONMENT]}).encode()
|
||||
|
||||
|
||||
def _cache_header_matches(file, path: str, device_map: dict | None) -> bool:
|
||||
return file.read(struct.unpack("<Q", file.read(8))[0]) == _cache_key(path, device_map)
|
||||
|
||||
|
||||
def cache_is_fresh(path: str, device_map: dict | None = None) -> bool: # entry point for warmup proc
|
||||
try:
|
||||
with open(f"{path}.cache", "rb") as file:
|
||||
return _cache_header_matches(file, path, device_map)
|
||||
except (OSError, struct.error):
|
||||
return False
|
||||
|
||||
|
||||
def _read_cache(path: str, parts: dict, device_map: dict | None) -> dict | None:
|
||||
try:
|
||||
with open(f"{path}.cache", "rb") as file:
|
||||
if not _cache_header_matches(file, path, device_map):
|
||||
return None
|
||||
shared: dict = {}
|
||||
buffers = {repr(key): _allocate_buffers(header, blob, device_map, shared) for key, (header, blob) in parts.items()}
|
||||
return type("_Unpickler", (pickle.Unpickler,), {"persistent_load": lambda self, pid: buffers[pid[0]][pid[1]]})(file).load()
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def _write_cache(path: str, jits: dict, device_map: dict | None) -> None:
|
||||
from tinygrad.device import Buffer
|
||||
owners = {id(buffer): (repr(key), index) for key, jit in jits.items() for index, buffer in enumerate(jit.buffers)}
|
||||
|
||||
class _Pickler(pickle.Pickler):
|
||||
def persistent_id(self, obj):
|
||||
return owners.get(id(obj)) if isinstance(obj, Buffer) else None
|
||||
|
||||
key, tmp_path = _cache_key(path, device_map), f"{path}.cache.{os.getpid()}.tmp"
|
||||
with contextlib.suppress(Exception):
|
||||
with open(tmp_path, "wb") as file:
|
||||
file.write(struct.pack("<Q", len(key)) + key)
|
||||
_Pickler(file, protocol=5).dump({name: _Jit(jit.captured, jit.input_names, jit.buffers) for name, jit in jits.items()})
|
||||
os.replace(tmp_path, f"{path}.cache")
|
||||
|
||||
|
||||
# Everything below this comment block calls tinygrad internals, so after a tinygrad bump this
|
||||
# is the only code to update, and models are not recompiled. How to do this when discountchubbs is not available:
|
||||
# 1. run modeld_v2/tests/test_plain_artifact.py on the new tinygrad and fix each failing call against the new API: Buffer,
|
||||
# UOp.from_buffer/param (ParamArg), ProgramInfo, Target, KernelInfo, compile_linear, CapturedJit and
|
||||
# _prepare_jit_inputs in tinygrad/engine/jit.py
|
||||
# 2. load a real model with verify=True: ArtifactMismatch means the rebuilt graph still differs from the one that was compiled
|
||||
# The boot cache is keyed on the tinygrad source, so it rebuilds itself. Only a change in how the device runs kernel binaries needs a recompile.
|
||||
# Honestly, I would just have your clanker try it because you likely have zero idea what you are looking at lol..
|
||||
|
||||
def _dtype(text: str):
|
||||
from tinygrad.dtype import dtypes
|
||||
return eval(text, {"__builtins__": {}}, {"dtypes": dtypes})
|
||||
|
||||
|
||||
def _device(recorded: str, device_map: dict | None) -> str:
|
||||
from tinygrad import Device
|
||||
device_map = device_map or {}
|
||||
return Device.canonicalize(device_map.get(recorded, device_map.get(recorded.split(":", 1)[0], recorded)))
|
||||
|
||||
|
||||
def _allocate_buffers(header: dict, blob: memoryview, device_map: dict | None, shared: dict) -> list:
|
||||
import numpy as np
|
||||
from tinygrad.device import Buffer
|
||||
written = {call["args"][i]["buffer"] for call in header["calls"] for i in (call["outs"] if call["kind"] == "program" else (0,))
|
||||
if "buffer" in call["args"][i]}
|
||||
buffers = []
|
||||
for index, entry in enumerate(header["buffers"]):
|
||||
device, data = _device(entry["device"], device_map), blob[slice(*entry["init"])] if "init" in entry else None
|
||||
# read-only data the parts share in the file (weights common to every camera resolution) is uploaded once to the nut
|
||||
key = (device, entry["dtype"], np.frombuffer(data, np.uint8).ctypes.data, len(data)) if data and index not in written else object()
|
||||
if key not in shared:
|
||||
shared[key] = Buffer(device, entry["nbytes"], initial_value=pickle.PickleBuffer(data) if data else None).ensure_allocated()
|
||||
buffers.append(shared[key])
|
||||
return buffers
|
||||
|
||||
|
||||
def _program_uop(call: dict, lib: bytes):
|
||||
from tinygrad.helpers import Target
|
||||
from tinygrad.uop.ops import KernelInfo, Ops, ProgramInfo, UOp
|
||||
parameters = []
|
||||
for name, compact_slot, dtype, shape in call["signature"]:
|
||||
parameter = UOp.param(call["globals"][compact_slot], _dtype(dtype), math.prod(shape))
|
||||
image = (shape[0], shape[1]) if len(shape) == 3 and shape[2] == 4 else None
|
||||
parameters.append(parameter.replace(arg=dataclasses.replace(parameter.arg, name=name, image=image)))
|
||||
info = ProgramInfo(global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), vars=(), globals=tuple(call["globals"]),
|
||||
outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=Target(**call["target"]))
|
||||
return UOp(Ops.PROGRAM, src=(UOp(Ops.SINK, arg=KernelInfo(name=call["name"])), UOp(Ops.LINEAR, src=tuple(parameters)),
|
||||
UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)
|
||||
|
||||
|
||||
class _Jit:
|
||||
def __init__(self, captured, input_names: list, buffers: list):
|
||||
self.captured, self.input_names, self.buffers = captured, input_names, buffers
|
||||
|
||||
def __call__(self, *args, **kwargs):
|
||||
import tinygrad.engine.jit as jit
|
||||
input_uops, var_vals, names, _ = jit._prepare_jit_inputs(args, kwargs)
|
||||
if names != self.input_names:
|
||||
raise ValueError(f"expected inputs {self.input_names}, got {names}")
|
||||
return self.captured(input_uops, var_vals)
|
||||
|
||||
|
||||
class PlainJit(_Jit):
|
||||
def __init__(self, header: dict, blob: memoryview, device_map: dict | None = None, verify: bool = True, shared: dict | None = None):
|
||||
import numpy as np
|
||||
import tinygrad.engine.jit as jit
|
||||
from tinygrad import Tensor
|
||||
from tinygrad.device import Buffer
|
||||
from tinygrad.dtype import dtypes
|
||||
from tinygrad.uop.ops import Ops, UOp
|
||||
|
||||
inputs = {spec["slot"]: spec for spec in header["inputs"]}
|
||||
buffers = _allocate_buffers(header, blob, device_map, {} if shared is None else shared)
|
||||
bases = [UOp.from_buffer(buffer, _dtype(entry["dtype"])) for buffer, entry in zip(buffers, header["buffers"], strict=True)]
|
||||
|
||||
def argument(described: dict):
|
||||
if "input" in described:
|
||||
spec = inputs[described["input"]]
|
||||
return UOp.param(described["input"], _dtype(spec["dtype"]), spec["numel"], _device(spec["device"], device_map))
|
||||
base, dtype, offset, nbytes = bases[described["buffer"]], _dtype(described["dtype"]), described["offset"], described["nbytes"]
|
||||
if offset == 0 and nbytes == header["buffers"][described["buffer"]]["nbytes"] and dtype == base.dtype:
|
||||
return base
|
||||
return (base if base.dtype.itemsize == 1 else base.bitcast(dtypes.uint8)).shrink(((offset, offset + nbytes),)).bitcast(dtype)
|
||||
|
||||
calls = []
|
||||
for call in header["calls"]:
|
||||
arguments = [argument(described) for described in call["args"]]
|
||||
if call["kind"] == "program":
|
||||
calls.append(_program_uop(call, bytes(blob[slice(*call["lib"])])).call(*arguments))
|
||||
else:
|
||||
calls.append(arguments[0].store_call(arguments[1]))
|
||||
# stand-ins for JIT inputs: copy staging to GPU is decided from the input buffers, the real ones bind per call
|
||||
stand_ins = {slot: UOp.from_buffer(Buffer(_device(spec["device"], device_map), spec["numel"] * _dtype(spec["dtype"]).itemsize).ensure_allocated(),
|
||||
_dtype(spec["dtype"])) for slot, spec in inputs.items()}
|
||||
input_uops = tuple(stand_ins.get(slot, next(iter(stand_ins.values()), None)) for slot in range(max(stand_ins, default=-1) + 1))
|
||||
linear = jit.compile_linear(UOp(Ops.LINEAR, src=tuple(calls)), beam=0, input_uops=input_uops, cache=False)
|
||||
|
||||
returned = [Tensor(argument(t)).reshape(tuple(t["shape"])) for t in header["returns"]["tensors"]]
|
||||
ret = {"NoneType": None, "Tensor": returned[0] if returned else None, "tuple": tuple(returned), "list": returned}[header["returns"]["kind"]]
|
||||
super().__init__(jit.CapturedJit(ret, linear, header["input_names"], []), header["input_names"], buffers)
|
||||
|
||||
if not verify or not (check := header.get("check")):
|
||||
return
|
||||
def array(stored):
|
||||
return np.frombuffer(blob[slice(*stored["data"])], dtype=np.dtype(stored["dtype"])).reshape(stored["shape"]).copy()
|
||||
kwargs: dict = {}
|
||||
for path, stored, device in check["inputs"]:
|
||||
tensor = Tensor(array(stored), device=_device(device, device_map)).realize()
|
||||
kwargs[path[0]] = tensor if len(path) == 1 else {**kwargs.get(path[0], {}), path[1]: tensor}
|
||||
result = self(**kwargs)
|
||||
outputs = kwargs[check["output_container"]].values() if check["output_container"] else flatten(result)
|
||||
for index, (got, stored) in enumerate(zip([t.numpy() for t in outputs], check["outputs"], strict=True)):
|
||||
expected = array(stored)
|
||||
if got.shape != expected.shape or not np.allclose(got, expected, rtol=1e-3, atol=1e-3, equal_nan=True):
|
||||
raise ArtifactMismatch(f"output {index} differs from the compile-time reference frame; recompile the model")
|
||||
|
||||
@@ -23,8 +23,8 @@ from tinygrad.uop.ops import UOp
|
||||
|
||||
|
||||
def input_view(buffer: Buffer, shape: tuple[int, ...], dtype: DType, offset: int) -> Tensor:
|
||||
view = buffer.view(math.prod(shape), dtype, offset).ensure_allocated()
|
||||
return Tensor(UOp.from_buffer(view)).reshape(shape)
|
||||
view = buffer.view(math.prod(shape) * dtype.itemsize, offset).ensure_allocated()
|
||||
return Tensor(UOp.from_buffer(view, dtype)).reshape(shape)
|
||||
|
||||
|
||||
class BaseModelAdapter:
|
||||
|
||||
@@ -24,7 +24,6 @@ from openpilot.cereal.messaging import PubMaster, SubMaster
|
||||
from openpilot.cereal.visionipc import VisionStreamType
|
||||
from msgq.visionipc import VisionIpcClient, VisionBuf
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.file_chunker import open_file_chunked
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
@@ -42,7 +41,7 @@ from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
|
||||
from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import load_oob
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import load_model
|
||||
from openpilot.sunnypilot.modeld_v2.model_adapters import get_model_adapter
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
@@ -52,8 +51,7 @@ BIG_MODEL_TIMEOUT = 60
|
||||
|
||||
|
||||
def _pkl_exists(path):
|
||||
from openpilot.common.file_chunker import get_manifest_path
|
||||
return os.path.exists(path) or os.path.exists(get_manifest_path(path))
|
||||
return os.path.exists(path)
|
||||
|
||||
|
||||
def _find_driving_pkl(bundle):
|
||||
@@ -108,7 +106,7 @@ class ModelState(ModelStateBase):
|
||||
|
||||
def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
|
||||
cloudlog.warning(f"loading combined pkl: {pkl_path}")
|
||||
jits = load_oob(open_file_chunked(pkl_path))
|
||||
jits = load_model(pkl_path)
|
||||
|
||||
metadata = jits['metadata']
|
||||
self.WARP_DEV = metadata.get('warp_dev', 'QCOM') if COMMA_HARDWARE else 'CPU'
|
||||
@@ -258,7 +256,8 @@ def main(demo=False):
|
||||
|
||||
CHESTNUT = chestnut_present()
|
||||
if CHESTNUT:
|
||||
os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
|
||||
from tinygrad.runtime.ops_amd import AMDDevice
|
||||
AMDDevice.wait_timeout_ms = 3000
|
||||
|
||||
params = Params()
|
||||
params.put_bool("ChestnutLoading", CHESTNUT)
|
||||
|
||||
@@ -0,0 +1,90 @@
|
||||
"""
|
||||
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 dataclasses
|
||||
import mmap
|
||||
import tempfile
|
||||
from contextlib import contextmanager
|
||||
from unittest import mock
|
||||
|
||||
import numpy as np
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.helpers import Blob, flatten
|
||||
|
||||
# Compile time only/ see discountchubbs 4 assistance: turns a captured TinyJit into plain data that helpers.load_model rebuilds. It reads internals of the
|
||||
# tinygrad that compiles the model, so a tinygrad bump that breaks it blocks new builds, never loading already built models.
|
||||
@contextmanager
|
||||
def record_kernel_linear():
|
||||
import tinygrad.engine.jit as jit
|
||||
import tinygrad.engine.realize as realize
|
||||
recorded, hcq_compile, compile_linear = [], realize.hcq_compile, jit.compile_linear
|
||||
|
||||
def recording_compile_linear(*args, **kwargs):
|
||||
with mock.patch.object(realize, "hcq_compile", lambda linear, *a, **k: (recorded.append(linear), hcq_compile(linear, *a, **k))[1]):
|
||||
return compile_linear(*args, **kwargs)
|
||||
|
||||
with mock.patch.object(jit, "compile_linear", recording_compile_linear):
|
||||
yield recorded
|
||||
|
||||
|
||||
def capture_frame(jit, kwargs: dict, output_container: str | None = None):
|
||||
inputs = [([name] if key is None else [name, key], tensor.numpy().copy(), tensor.device)
|
||||
for name, value in kwargs.items() for key, tensor in (value.items() if isinstance(value, dict) else [(None, value)])]
|
||||
result = jit(**kwargs)
|
||||
outputs = kwargs[output_container].values() if output_container else flatten(result)
|
||||
return {"inputs": inputs, "outputs": [tensor.numpy().copy() for tensor in outputs], "output_container": output_container}, result
|
||||
|
||||
|
||||
def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict, memoryview]:
|
||||
from tinygrad.uop.ops import Ops
|
||||
sink = tempfile.TemporaryFile(dir=".")
|
||||
blob, bases, input_specs = Blob(sink), {}, {}
|
||||
|
||||
def store(array) -> dict:
|
||||
array = np.ascontiguousarray(array)
|
||||
return {"data": blob.add(array.tobytes()), "dtype": array.dtype.str, "shape": list(array.shape)}
|
||||
|
||||
def describe(uop) -> dict:
|
||||
if uop.op is Ops.PARAM:
|
||||
input_specs.setdefault(uop.arg.slot, {"dtype": repr(uop.dtype), "numel": int(uop.max_numel()), "device": uop.device})
|
||||
return {"input": uop.arg.slot}
|
||||
buffer = uop.buffer
|
||||
root = buffer._base if buffer._base is not None else buffer
|
||||
base = bases.setdefault(id(root), (len(bases), root, uop.base.dtype if buffer._base is None else uop.dtype))
|
||||
return {"buffer": base[0], "offset": buffer.offset if buffer._base is not None else 0, "nbytes": buffer.nbytes, "dtype": repr(uop.dtype)}
|
||||
|
||||
calls, written, needs_init = [], set(), set()
|
||||
for call in kernel_linear.src:
|
||||
ast, arguments = call.src[0], [describe(argument) for argument in call.src[1:]]
|
||||
if ast.op is Ops.PROGRAM:
|
||||
elf, info = ast.to_elf(), ast.arg
|
||||
global_size, local_size = info.launch_dims({})
|
||||
calls.append({"kind": "program", "name": elf.name, "lib": blob.add(bytes(elf.lib)), "target": dataclasses.asdict(elf.target),
|
||||
"signature": [[name, slot, repr(dtype), [int(x) for x in shape]] for name, slot, dtype, shape in elf.signature],
|
||||
"global_size": [int(x) for x in global_size], "local_size": [int(x) for x in local_size],
|
||||
"globals": list(info.globals), "outs": list(info.outs), "ins": list(info.ins), "args": arguments})
|
||||
outs, ins = info.outs, info.ins
|
||||
elif ast.op is Ops.COPY:
|
||||
calls.append({"kind": "copy", "args": arguments})
|
||||
outs, ins = (0,), (1,)
|
||||
else:
|
||||
raise ValueError(f"unsupported call {ast.op} {ast.arg}")
|
||||
needs_init |= {arguments[i]["buffer"] for i in ins if "buffer" in arguments[i] and arguments[i]["buffer"] not in written}
|
||||
written |= {arguments[i]["buffer"] for i in outs if "buffer" in arguments[i]}
|
||||
|
||||
ret = jit.captured.ret
|
||||
returns = {"kind": type(ret).__name__, "tensors": [describe(t.uop.base) | {"shape": [int(x) for x in t.shape]} for t in flatten(ret)]}
|
||||
buffers = [{"nbytes": base.nbytes, "device": base.device, "dtype": repr(dtype)}
|
||||
| ({"init": blob.add(base.as_memoryview())} if index in needs_init else {}) for index, base, dtype in bases.values()]
|
||||
names = list(jit.captured.expected_names)
|
||||
if check is not None:
|
||||
check = {"inputs": [[path, store(array), device] for path, array, device in check["inputs"]], "outputs": [store(array) for array in check["outputs"]],
|
||||
"output_container": check["output_container"]}
|
||||
header = {"input_names": names, "buffers": buffers, "calls": calls, "returns": returns, "check": check,
|
||||
"inputs": [{"slot": slot, "name": names[slot] if slot < len(names) else None} | input_specs[slot] for slot in sorted(input_specs)]}
|
||||
with sink:
|
||||
sink.flush()
|
||||
return header, memoryview(mmap.mmap(sink.fileno(), 0, access=mmap.ACCESS_READ) if blob.size else b"")
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user