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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
74f3b89414 |
@@ -194,7 +194,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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aTarget @5 :Float32;
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events @6 :List(OnroadEventSP.Event);
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e2eAlerts @7 :E2eAlerts;
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acceleration @8 :Acceleration;
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struct DynamicExperimentalControl {
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state @0 :DynamicExperimentalControlState;
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@@ -297,23 +296,6 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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greenLightAlert @0 :Bool;
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leadDepartAlert @1 :Bool;
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}
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# Acceleration Personality (Eco / Normal / Sport)
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struct Acceleration {
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personality @0 :AccelerationPersonality;
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enabled @1 :Bool;
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maxAccel @2 :Float32; # current speed-indexed accel ceiling
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brakeNeed @3 :Float32; # predicted decel demand from the lookahead (m/s^2, positive)
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decelTarget @4 :Float32; # early-soft comfort decel target (m/s^2, negative)
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smoothActive @5 :Bool; # early-soft braking currently shaping the target
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bypassed @6 :Bool; # passthrough to stock plan (hard brake / FCW / should_stop / closing lead / e2e)
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}
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enum AccelerationPersonality {
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eco @0;
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normal @1;
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sport @2;
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}
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}
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struct OnroadEventSP @0xda96579883444c35 {
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@@ -360,7 +342,6 @@ struct OnroadEventSP @0xda96579883444c35 {
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speedLimitChanged @21;
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speedLimitPending @22;
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e2eChime @23;
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laneChangeRoadEdge @24;
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}
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}
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@@ -467,8 +448,6 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
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struct ModelDataV2SP @0xa1680744031fdb2d {
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laneTurnDirection @0 :TurnDirection;
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leftLaneChangeEdgeBlock @1 :Bool;
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rightLaneChangeEdgeBlock @2 :Bool;
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enum TurnDirection {
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none @0;
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+111
-379
@@ -1771,38 +1771,34 @@ const ::capnp::_::RawSchema s_e60821c0505ad473 = {
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4, 12, i_e60821c0505ad473, nullptr, nullptr, { &s_e60821c0505ad473, nullptr, nullptr, 0, 0, nullptr }, false
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};
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#endif // !CAPNP_LITE
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static const ::capnp::_::AlignedData<197> b_f35cc4560bbf6ec2 = {
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static const ::capnp::_::AlignedData<172> b_f35cc4560bbf6ec2 = {
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{ 0, 0, 0, 0, 5, 0, 6, 0,
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194, 110, 191, 11, 86, 196, 92, 243,
|
||||
13, 0, 0, 0, 1, 0, 2, 0,
|
||||
89, 10, 85, 29, 102, 186, 38, 181,
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||||
6, 0, 7, 0, 0, 0, 0, 0,
|
||||
5, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
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||||
21, 0, 0, 0, 2, 1, 0, 0,
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||||
33, 0, 0, 0, 119, 0, 0, 0,
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||||
33, 0, 0, 0, 87, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
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||||
161, 0, 0, 0, 255, 1, 0, 0,
|
||||
125, 0, 0, 0, 199, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 0,
|
||||
28, 0, 0, 0, 1, 0, 1, 0,
|
||||
20, 0, 0, 0, 1, 0, 1, 0,
|
||||
119, 191, 14, 16, 174, 91, 106, 188,
|
||||
49, 0, 0, 0, 218, 0, 0, 0,
|
||||
33, 0, 0, 0, 218, 0, 0, 0,
|
||||
163, 23, 92, 92, 71, 153, 141, 193,
|
||||
57, 0, 0, 0, 154, 0, 0, 0,
|
||||
41, 0, 0, 0, 154, 0, 0, 0,
|
||||
187, 34, 168, 255, 81, 184, 158, 154,
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||||
61, 0, 0, 0, 90, 0, 0, 0,
|
||||
45, 0, 0, 0, 90, 0, 0, 0,
|
||||
196, 110, 217, 86, 5, 68, 71, 173,
|
||||
61, 0, 0, 0, 186, 0, 0, 0,
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||||
45, 0, 0, 0, 186, 0, 0, 0,
|
||||
254, 40, 174, 34, 232, 188, 103, 165,
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||||
65, 0, 0, 0, 82, 0, 0, 0,
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||||
223, 198, 33, 235, 72, 239, 180, 151,
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||||
65, 0, 0, 0, 106, 0, 0, 0,
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||||
158, 249, 255, 126, 235, 97, 45, 208,
|
||||
65, 0, 0, 0, 194, 0, 0, 0,
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||||
49, 0, 0, 0, 82, 0, 0, 0,
|
||||
68, 121, 110, 97, 109, 105, 99, 69,
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||||
120, 112, 101, 114, 105, 109, 101, 110,
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116, 97, 108, 67, 111, 110, 116, 114,
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@@ -1817,75 +1813,63 @@ static const ::capnp::_::AlignedData<197> b_f35cc4560bbf6ec2 = {
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83, 111, 117, 114, 99, 101, 0, 0,
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||||
69, 50, 101, 65, 108, 101, 114, 116,
|
||||
115, 0, 0, 0, 0, 0, 0, 0,
|
||||
65, 99, 99, 101, 108, 101, 114, 97,
|
||||
116, 105, 111, 110, 0, 0, 0, 0,
|
||||
65, 99, 99, 101, 108, 101, 114, 97,
|
||||
116, 105, 111, 110, 80, 101, 114, 115,
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||||
111, 110, 97, 108, 105, 116, 121, 0,
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||||
36, 0, 0, 0, 3, 0, 4, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
237, 0, 0, 0, 34, 0, 0, 0,
|
||||
209, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 0, 0, 0, 3, 0, 1, 0,
|
||||
244, 0, 0, 0, 2, 0, 1, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
216, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 0, 0, 0, 186, 0, 0, 0,
|
||||
213, 0, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 0, 0, 0, 154, 0, 0, 0,
|
||||
225, 0, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 1, 0, 0, 3, 0, 1, 0,
|
||||
12, 1, 0, 0, 2, 0, 1, 0,
|
||||
228, 0, 0, 0, 3, 0, 1, 0,
|
||||
240, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 90, 0, 0, 0,
|
||||
237, 0, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 1, 0, 0, 3, 0, 1, 0,
|
||||
20, 1, 0, 0, 2, 0, 1, 0,
|
||||
236, 0, 0, 0, 3, 0, 1, 0,
|
||||
248, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 66, 0, 0, 0,
|
||||
245, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 1, 0, 0, 3, 0, 1, 0,
|
||||
24, 1, 0, 0, 2, 0, 1, 0,
|
||||
240, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 66, 0, 0, 0,
|
||||
249, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 1, 0, 0, 3, 0, 1, 0,
|
||||
28, 1, 0, 0, 2, 0, 1, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
0, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 58, 0, 0, 0,
|
||||
253, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 1, 0, 0, 3, 0, 1, 0,
|
||||
48, 1, 0, 0, 2, 0, 1, 0,
|
||||
248, 0, 0, 0, 3, 0, 1, 0,
|
||||
20, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 1, 0, 0, 82, 0, 0, 0,
|
||||
17, 1, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 1, 0, 0, 3, 0, 1, 0,
|
||||
56, 1, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
52, 1, 0, 0, 3, 0, 1, 0,
|
||||
64, 1, 0, 0, 2, 0, 1, 0,
|
||||
16, 1, 0, 0, 3, 0, 1, 0,
|
||||
28, 1, 0, 0, 2, 0, 1, 0,
|
||||
100, 101, 99, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
119, 191, 14, 16, 174, 91, 106, 188,
|
||||
@@ -1957,15 +1941,6 @@ static const ::capnp::_::AlignedData<197> b_f35cc4560bbf6ec2 = {
|
||||
254, 40, 174, 34, 232, 188, 103, 165,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 99, 99, 101, 108, 101, 114, 97,
|
||||
116, 105, 111, 110, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
223, 198, 33, 235, 72, 239, 180, 151,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
@@ -1973,7 +1948,6 @@ static const ::capnp::_::AlignedData<197> b_f35cc4560bbf6ec2 = {
|
||||
::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
|
||||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
|
||||
&s_97b4ef48eb21c6df,
|
||||
&s_9a9eb851ffa822bb,
|
||||
&s_a567bce822ae28fe,
|
||||
&s_ad47440556d96ec4,
|
||||
@@ -1981,11 +1955,11 @@ static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
|
||||
&s_c18d99475c5c17a3,
|
||||
&s_f6e831752fcdf793,
|
||||
};
|
||||
static const uint16_t m_f35cc4560bbf6ec2[] = {5, 8, 0, 7, 6, 1, 2, 3, 4};
|
||||
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
static const uint16_t m_f35cc4560bbf6ec2[] = {5, 0, 7, 6, 1, 2, 3, 4};
|
||||
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 197, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
|
||||
7, 9, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 172, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
|
||||
6, 8, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<73> b_bc6a5bae100ebf77 = {
|
||||
@@ -3157,195 +3131,6 @@ const ::capnp::_::RawSchema s_a567bce822ae28fe = {
|
||||
0, 2, i_a567bce822ae28fe, nullptr, nullptr, { &s_a567bce822ae28fe, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<131> b_97b4ef48eb21c6df = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
223, 198, 33, 235, 72, 239, 180, 151,
|
||||
32, 0, 0, 0, 1, 0, 2, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
0, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 106, 1, 0, 0,
|
||||
41, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 0, 0, 0, 143, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 101, 114, 97,
|
||||
116, 105, 111, 110, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
28, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
181, 0, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
180, 0, 0, 0, 3, 0, 1, 0,
|
||||
192, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
189, 0, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
184, 0, 0, 0, 3, 0, 1, 0,
|
||||
196, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
192, 0, 0, 0, 3, 0, 1, 0,
|
||||
204, 0, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 0, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
200, 0, 0, 0, 3, 0, 1, 0,
|
||||
212, 0, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 0, 0, 0, 3, 0, 1, 0,
|
||||
220, 0, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 0, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 0, 0, 0, 3, 0, 1, 0,
|
||||
228, 0, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 18, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 0, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 0, 0, 0, 3, 0, 1, 0,
|
||||
236, 0, 0, 0, 2, 0, 1, 0,
|
||||
112, 101, 114, 115, 111, 110, 97, 108,
|
||||
105, 116, 121, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
158, 249, 255, 126, 235, 97, 45, 208,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 110, 97, 98, 108, 101, 100, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 97, 120, 65, 99, 99, 101, 108,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
98, 114, 97, 107, 101, 78, 101, 101,
|
||||
100, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
100, 101, 99, 101, 108, 84, 97, 114,
|
||||
103, 101, 116, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
115, 109, 111, 111, 116, 104, 65, 99,
|
||||
116, 105, 118, 101, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
98, 121, 112, 97, 115, 115, 101, 100,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_97b4ef48eb21c6df = b_97b4ef48eb21c6df.words;
|
||||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_97b4ef48eb21c6df[] = {
|
||||
&s_d02d61eb7efff99e,
|
||||
};
|
||||
static const uint16_t m_97b4ef48eb21c6df[] = {3, 6, 4, 1, 2, 0, 5};
|
||||
static const uint16_t i_97b4ef48eb21c6df[] = {0, 1, 2, 3, 4, 5, 6};
|
||||
const ::capnp::_::RawSchema s_97b4ef48eb21c6df = {
|
||||
0x97b4ef48eb21c6df, b_97b4ef48eb21c6df.words, 131, d_97b4ef48eb21c6df, m_97b4ef48eb21c6df,
|
||||
1, 7, i_97b4ef48eb21c6df, nullptr, nullptr, { &s_97b4ef48eb21c6df, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<33> b_d02d61eb7efff99e = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
158, 249, 255, 126, 235, 97, 45, 208,
|
||||
32, 0, 0, 0, 2, 0, 0, 0,
|
||||
194, 110, 191, 11, 86, 196, 92, 243,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 194, 1, 0, 0,
|
||||
45, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
41, 0, 0, 0, 79, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
97, 112, 110, 112, 58, 76, 111, 110,
|
||||
103, 105, 116, 117, 100, 105, 110, 97,
|
||||
108, 80, 108, 97, 110, 83, 80, 46,
|
||||
65, 99, 99, 101, 108, 101, 114, 97,
|
||||
116, 105, 111, 110, 80, 101, 114, 115,
|
||||
111, 110, 97, 108, 105, 116, 121, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
12, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 99, 111, 0, 0, 0, 0, 0,
|
||||
110, 111, 114, 109, 97, 108, 0, 0,
|
||||
115, 112, 111, 114, 116, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_d02d61eb7efff99e = b_d02d61eb7efff99e.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_d02d61eb7efff99e[] = {0, 1, 2};
|
||||
const ::capnp::_::RawSchema s_d02d61eb7efff99e = {
|
||||
0xd02d61eb7efff99e, b_d02d61eb7efff99e.words, 33, nullptr, m_d02d61eb7efff99e,
|
||||
0, 3, nullptr, nullptr, nullptr, { &s_d02d61eb7efff99e, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(AccelerationPersonality_d02d61eb7efff99e, d02d61eb7efff99e);
|
||||
static const ::capnp::_::AlignedData<44> b_da96579883444c35 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
53, 76, 68, 131, 152, 87, 150, 218,
|
||||
@@ -3611,7 +3396,7 @@ const ::capnp::_::RawSchema s_f6e831752fcdf793 = {
|
||||
1, 11, i_f6e831752fcdf793, nullptr, nullptr, { &s_f6e831752fcdf793, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
static const ::capnp::_::AlignedData<158> b_b8007ed8a646b5e6 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
230, 181, 70, 166, 216, 126, 0, 184,
|
||||
27, 0, 0, 0, 2, 0, 0, 0,
|
||||
@@ -3621,7 +3406,7 @@ static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
21, 0, 0, 0, 42, 1, 0, 0,
|
||||
37, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 0, 0, 0, 95, 2, 0, 0,
|
||||
33, 0, 0, 0, 71, 2, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -3630,81 +3415,78 @@ static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
83, 80, 46, 69, 118, 101, 110, 116,
|
||||
78, 97, 109, 101, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
100, 0, 0, 0, 1, 0, 2, 0,
|
||||
96, 0, 0, 0, 1, 0, 2, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 1, 0, 0, 90, 0, 0, 0,
|
||||
25, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 98, 0, 0, 0,
|
||||
21, 1, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
2, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 186, 0, 0, 0,
|
||||
17, 1, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
3, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 218, 0, 0, 0,
|
||||
17, 1, 0, 0, 218, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 0, 0, 0, 0,
|
||||
29, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
18, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
19, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 0, 0, 0, 0,
|
||||
5, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
6, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
7, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
10, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
11, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
12, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 178, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
18, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
19, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 162, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
20, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
22, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 146, 0, 0, 0,
|
||||
9, 1, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
23, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 1, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 0, 0, 0, 0, 0, 0, 0,
|
||||
17, 1, 0, 0, 154, 0, 0, 0,
|
||||
9, 1, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 107, 97, 115, 69, 110, 97, 98,
|
||||
108, 101, 0, 0, 0, 0, 0, 0,
|
||||
@@ -3772,17 +3554,14 @@ static const ::capnp::_::AlignedData<164> b_b8007ed8a646b5e6 = {
|
||||
105, 116, 80, 101, 110, 100, 105, 110,
|
||||
103, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 50, 101, 67, 104, 105, 109, 101,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 97, 110, 101, 67, 104, 97, 110,
|
||||
103, 101, 82, 111, 97, 100, 69, 100,
|
||||
103, 101, 0, 0, 0, 0, 0, 0, }
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_b8007ed8a646b5e6 = b_b8007ed8a646b5e6.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {12, 23, 14, 13, 24, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
static const uint16_t m_b8007ed8a646b5e6[] = {12, 23, 14, 13, 17, 18, 1, 0, 3, 2, 16, 6, 9, 5, 4, 11, 8, 10, 7, 20, 21, 22, 19, 15};
|
||||
const ::capnp::_::RawSchema s_b8007ed8a646b5e6 = {
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 164, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 25, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xb8007ed8a646b5e6, b_b8007ed8a646b5e6.words, 158, nullptr, m_b8007ed8a646b5e6,
|
||||
0, 24, nullptr, nullptr, nullptr, { &s_b8007ed8a646b5e6, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(EventName_b8007ed8a646b5e6, b8007ed8a646b5e6);
|
||||
@@ -5067,7 +4846,7 @@ const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
|
||||
0, 6, i_f416ec09499d9d19, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<74> b_a1680744031fdb2d = {
|
||||
static const ::capnp::_::AlignedData<39> b_a1680744031fdb2d = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
45, 219, 31, 3, 68, 7, 104, 161,
|
||||
13, 0, 0, 0, 1, 0, 1, 0,
|
||||
@@ -5077,7 +4856,7 @@ static const ::capnp::_::AlignedData<74> b_a1680744031fdb2d = {
|
||||
21, 0, 0, 0, 218, 0, 0, 0,
|
||||
33, 0, 0, 0, 23, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
45, 0, 0, 0, 175, 0, 0, 0,
|
||||
45, 0, 0, 0, 63, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
99, 117, 115, 116, 111, 109, 46, 99,
|
||||
@@ -5089,28 +4868,14 @@ static const ::capnp::_::AlignedData<74> b_a1680744031fdb2d = {
|
||||
1, 0, 0, 0, 114, 0, 0, 0,
|
||||
84, 117, 114, 110, 68, 105, 114, 101,
|
||||
99, 116, 105, 111, 110, 0, 0, 0,
|
||||
12, 0, 0, 0, 3, 0, 4, 0,
|
||||
4, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 0, 0, 0, 146, 0, 0, 0,
|
||||
13, 0, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 0, 0, 0, 3, 0, 1, 0,
|
||||
84, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
81, 0, 0, 0, 194, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
84, 0, 0, 0, 3, 0, 1, 0,
|
||||
96, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
93, 0, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
100, 0, 0, 0, 3, 0, 1, 0,
|
||||
112, 0, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 0, 0, 3, 0, 1, 0,
|
||||
28, 0, 0, 0, 2, 0, 1, 0,
|
||||
108, 97, 110, 101, 84, 117, 114, 110,
|
||||
68, 105, 114, 101, 99, 116, 105, 111,
|
||||
110, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -5119,27 +4884,6 @@ static const ::capnp::_::AlignedData<74> b_a1680744031fdb2d = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
15, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 101, 102, 116, 76, 97, 110, 101,
|
||||
67, 104, 97, 110, 103, 101, 69, 100,
|
||||
103, 101, 66, 108, 111, 99, 107, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
114, 105, 103, 104, 116, 76, 97, 110,
|
||||
101, 67, 104, 97, 110, 103, 101, 69,
|
||||
100, 103, 101, 66, 108, 111, 99, 107,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
@@ -5148,11 +4892,11 @@ static const ::capnp::_::AlignedData<74> b_a1680744031fdb2d = {
|
||||
static const ::capnp::_::RawSchema* const d_a1680744031fdb2d[] = {
|
||||
&s_b73df234a23b0cc2,
|
||||
};
|
||||
static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2};
|
||||
static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2};
|
||||
static const uint16_t m_a1680744031fdb2d[] = {0};
|
||||
static const uint16_t i_a1680744031fdb2d[] = {0};
|
||||
const ::capnp::_::RawSchema s_a1680744031fdb2d = {
|
||||
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 74, d_a1680744031fdb2d, m_a1680744031fdb2d,
|
||||
1, 3, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 39, d_a1680744031fdb2d, m_a1680744031fdb2d,
|
||||
1, 1, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<34> b_b73df234a23b0cc2 = {
|
||||
@@ -5707,18 +5451,6 @@ constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::E2eAlerts::_capnpPriv
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// LongitudinalPlanSP::Acceleration
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t LongitudinalPlanSP::Acceleration::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t LongitudinalPlanSP::Acceleration::_capnpPrivate::pointerCount;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#if !CAPNP_LITE
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr ::capnp::Kind LongitudinalPlanSP::Acceleration::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::Acceleration::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// OnroadEventSP
|
||||
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
|
||||
constexpr uint16_t OnroadEventSP::_capnpPrivate::dataWordSize;
|
||||
|
||||
@@ -175,14 +175,6 @@ enum class LongitudinalPlanSource_ad47440556d96ec4: uint16_t {
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(LongitudinalPlanSource, ad47440556d96ec4);
|
||||
CAPNP_DECLARE_SCHEMA(a567bce822ae28fe);
|
||||
CAPNP_DECLARE_SCHEMA(97b4ef48eb21c6df);
|
||||
CAPNP_DECLARE_SCHEMA(d02d61eb7efff99e);
|
||||
enum class AccelerationPersonality_d02d61eb7efff99e: uint16_t {
|
||||
ECO,
|
||||
NORMAL,
|
||||
SPORT,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(AccelerationPersonality, d02d61eb7efff99e);
|
||||
CAPNP_DECLARE_SCHEMA(da96579883444c35);
|
||||
CAPNP_DECLARE_SCHEMA(f6e831752fcdf793);
|
||||
CAPNP_DECLARE_SCHEMA(b8007ed8a646b5e6);
|
||||
@@ -211,7 +203,6 @@ enum class EventName_b8007ed8a646b5e6: uint16_t {
|
||||
SPEED_LIMIT_CHANGED,
|
||||
SPEED_LIMIT_PENDING,
|
||||
E2E_CHIME,
|
||||
LANE_CHANGE_ROAD_EDGE,
|
||||
};
|
||||
CAPNP_DECLARE_ENUM(EventName, b8007ed8a646b5e6);
|
||||
CAPNP_DECLARE_SCHEMA(80ae746ee2596b11);
|
||||
@@ -465,12 +456,9 @@ struct LongitudinalPlanSP {
|
||||
typedef ::capnp::schemas::LongitudinalPlanSource_ad47440556d96ec4 LongitudinalPlanSource;
|
||||
|
||||
struct E2eAlerts;
|
||||
struct Acceleration;
|
||||
typedef ::capnp::schemas::AccelerationPersonality_d02d61eb7efff99e AccelerationPersonality;
|
||||
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 6)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 2, 5)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -611,21 +599,6 @@ struct LongitudinalPlanSP::E2eAlerts {
|
||||
};
|
||||
};
|
||||
|
||||
struct LongitudinalPlanSP::Acceleration {
|
||||
Acceleration() = delete;
|
||||
|
||||
class Reader;
|
||||
class Builder;
|
||||
class Pipeline;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(97b4ef48eb21c6df, 2, 0)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
};
|
||||
};
|
||||
|
||||
struct OnroadEventSP {
|
||||
OnroadEventSP() = delete;
|
||||
|
||||
@@ -2195,9 +2168,6 @@ public:
|
||||
inline bool hasE2eAlerts() const;
|
||||
inline ::cereal::LongitudinalPlanSP::E2eAlerts::Reader getE2eAlerts() const;
|
||||
|
||||
inline bool hasAcceleration() const;
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Reader getAcceleration() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2270,13 +2240,6 @@ public:
|
||||
inline void adoptE2eAlerts(::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> disownE2eAlerts();
|
||||
|
||||
inline bool hasAcceleration();
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Builder getAcceleration();
|
||||
inline void setAcceleration( ::cereal::LongitudinalPlanSP::Acceleration::Reader value);
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Builder initAcceleration();
|
||||
inline void adoptAcceleration(::capnp::Orphan< ::cereal::LongitudinalPlanSP::Acceleration>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::Acceleration> disownAcceleration();
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2299,7 +2262,6 @@ public:
|
||||
inline ::cereal::LongitudinalPlanSP::SmartCruiseControl::Pipeline getSmartCruiseControl();
|
||||
inline ::cereal::LongitudinalPlanSP::SpeedLimit::Pipeline getSpeedLimit();
|
||||
inline ::cereal::LongitudinalPlanSP::E2eAlerts::Pipeline getE2eAlerts();
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Pipeline getAcceleration();
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
@@ -3075,112 +3037,6 @@ private:
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class LongitudinalPlanSP::Acceleration::Reader {
|
||||
public:
|
||||
typedef Acceleration Reads;
|
||||
|
||||
Reader() = default;
|
||||
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const {
|
||||
return _reader.totalSize().asPublic();
|
||||
}
|
||||
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const {
|
||||
return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelerationPersonality getPersonality() const;
|
||||
|
||||
inline bool getEnabled() const;
|
||||
|
||||
inline float getMaxAccel() const;
|
||||
|
||||
inline float getBrakeNeed() const;
|
||||
|
||||
inline float getDecelTarget() const;
|
||||
|
||||
inline bool getSmoothActive() const;
|
||||
|
||||
inline bool getBypassed() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::List;
|
||||
friend class ::capnp::MessageBuilder;
|
||||
friend class ::capnp::Orphanage;
|
||||
};
|
||||
|
||||
class LongitudinalPlanSP::Acceleration::Builder {
|
||||
public:
|
||||
typedef Acceleration Builds;
|
||||
|
||||
Builder() = delete; // Deleted to discourage incorrect usage.
|
||||
// You can explicitly initialize to nullptr instead.
|
||||
inline Builder(decltype(nullptr)) {}
|
||||
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
|
||||
inline operator Reader() const { return Reader(_builder.asReader()); }
|
||||
inline Reader asReader() const { return *this; }
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelerationPersonality getPersonality();
|
||||
inline void setPersonality( ::cereal::LongitudinalPlanSP::AccelerationPersonality value);
|
||||
|
||||
inline bool getEnabled();
|
||||
inline void setEnabled(bool value);
|
||||
|
||||
inline float getMaxAccel();
|
||||
inline void setMaxAccel(float value);
|
||||
|
||||
inline float getBrakeNeed();
|
||||
inline void setBrakeNeed(float value);
|
||||
|
||||
inline float getDecelTarget();
|
||||
inline void setDecelTarget(float value);
|
||||
|
||||
inline bool getSmoothActive();
|
||||
inline void setSmoothActive(bool value);
|
||||
|
||||
inline bool getBypassed();
|
||||
inline void setBypassed(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
friend class ::capnp::Orphanage;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
};
|
||||
|
||||
#if !CAPNP_LITE
|
||||
class LongitudinalPlanSP::Acceleration::Pipeline {
|
||||
public:
|
||||
typedef Acceleration Pipelines;
|
||||
|
||||
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
|
||||
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
|
||||
: _typeless(kj::mv(typeless)) {}
|
||||
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class OnroadEventSP::Reader {
|
||||
public:
|
||||
typedef OnroadEventSP Reads;
|
||||
@@ -4572,10 +4428,6 @@ public:
|
||||
|
||||
inline ::cereal::ModelDataV2SP::TurnDirection getLaneTurnDirection() const;
|
||||
|
||||
inline bool getLeftLaneChangeEdgeBlock() const;
|
||||
|
||||
inline bool getRightLaneChangeEdgeBlock() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -4607,12 +4459,6 @@ public:
|
||||
inline ::cereal::ModelDataV2SP::TurnDirection getLaneTurnDirection();
|
||||
inline void setLaneTurnDirection( ::cereal::ModelDataV2SP::TurnDirection value);
|
||||
|
||||
inline bool getLeftLaneChangeEdgeBlock();
|
||||
inline void setLeftLaneChangeEdgeBlock(bool value);
|
||||
|
||||
inline bool getRightLaneChangeEdgeBlock();
|
||||
inline void setRightLaneChangeEdgeBlock(bool value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -6765,45 +6611,6 @@ inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::E2eAlerts> LongitudinalPla
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Reader::hasAcceleration() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool LongitudinalPlanSP::Builder::hasAcceleration() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Reader LongitudinalPlanSP::Reader::getAcceleration() const {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::Acceleration>::get(_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Builder LongitudinalPlanSP::Builder::getAcceleration() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::Acceleration>::get(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
#if !CAPNP_LITE
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Pipeline LongitudinalPlanSP::Pipeline::getAcceleration() {
|
||||
return ::cereal::LongitudinalPlanSP::Acceleration::Pipeline(_typeless.getPointerField(5));
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
inline void LongitudinalPlanSP::Builder::setAcceleration( ::cereal::LongitudinalPlanSP::Acceleration::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::Acceleration>::set(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::LongitudinalPlanSP::Acceleration::Builder LongitudinalPlanSP::Builder::initAcceleration() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::Acceleration>::init(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void LongitudinalPlanSP::Builder::adoptAcceleration(
|
||||
::capnp::Orphan< ::cereal::LongitudinalPlanSP::Acceleration>&& value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::Acceleration>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::LongitudinalPlanSP::Acceleration> LongitudinalPlanSP::Builder::disownAcceleration() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::LongitudinalPlanSP::Acceleration>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState LongitudinalPlanSP::DynamicExperimentalControl::Reader::getState() const {
|
||||
return _reader.getDataField< ::cereal::LongitudinalPlanSP::DynamicExperimentalControl::DynamicExperimentalControlState>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -7394,104 +7201,6 @@ inline void LongitudinalPlanSP::E2eAlerts::Builder::setLeadDepartAlert(bool valu
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelerationPersonality LongitudinalPlanSP::Acceleration::Reader::getPersonality() const {
|
||||
return _reader.getDataField< ::cereal::LongitudinalPlanSP::AccelerationPersonality>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::cereal::LongitudinalPlanSP::AccelerationPersonality LongitudinalPlanSP::Acceleration::Builder::getPersonality() {
|
||||
return _builder.getDataField< ::cereal::LongitudinalPlanSP::AccelerationPersonality>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Acceleration::Builder::setPersonality( ::cereal::LongitudinalPlanSP::AccelerationPersonality value) {
|
||||
_builder.setDataField< ::cereal::LongitudinalPlanSP::AccelerationPersonality>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Acceleration::Reader::getEnabled() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Acceleration::Builder::getEnabled() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Acceleration::Builder::setEnabled(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::Acceleration::Reader::getMaxAccel() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::Acceleration::Builder::getMaxAccel() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Acceleration::Builder::setMaxAccel(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::Acceleration::Reader::getBrakeNeed() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::Acceleration::Builder::getBrakeNeed() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Acceleration::Builder::setBrakeNeed(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::Acceleration::Reader::getDecelTarget() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline float LongitudinalPlanSP::Acceleration::Builder::getDecelTarget() {
|
||||
return _builder.getDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Acceleration::Builder::setDecelTarget(float value) {
|
||||
_builder.setDataField<float>(
|
||||
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Acceleration::Reader::getSmoothActive() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Acceleration::Builder::getSmoothActive() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Acceleration::Builder::setSmoothActive(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Acceleration::Reader::getBypassed() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<18>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool LongitudinalPlanSP::Acceleration::Builder::getBypassed() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<18>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void LongitudinalPlanSP::Acceleration::Builder::setBypassed(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<18>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool OnroadEventSP::Reader::hasEvents() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
@@ -8944,34 +8653,6 @@ inline void ModelDataV2SP::Builder::setLaneTurnDirection( ::cereal::ModelDataV2S
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Reader::getLeftLaneChangeEdgeBlock() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Builder::getLeftLaneChangeEdgeBlock() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ModelDataV2SP::Builder::setLeftLaneChangeEdgeBlock(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<16>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Reader::getRightLaneChangeEdgeBlock() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2SP::Builder::getRightLaneChangeEdgeBlock() {
|
||||
return _builder.getDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void ModelDataV2SP::Builder::setRightLaneChangeEdgeBlock(bool value) {
|
||||
_builder.setDataField<bool>(
|
||||
::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
CAPNP_END_HEADER
|
||||
|
||||
@@ -4,7 +4,6 @@
|
||||
#include <unordered_map>
|
||||
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "cereal/gen/cpp/custom.capnp.h"
|
||||
|
||||
inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
|
||||
@@ -180,19 +179,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// toyota specific params
|
||||
{"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// MADS params
|
||||
{"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
@@ -236,13 +228,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// Acceleration Personality (Eco / Normal / Sport)
|
||||
{"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
|
||||
|
||||
// Radar Distance: hold a lead through radar flicker/dropout so the MPC doesn't lose+regain it
|
||||
{"RadarDistance", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
// sunnypilot model params
|
||||
{"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
|
||||
{"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
|
||||
Binary file not shown.
+119
-117
@@ -4,24 +4,24 @@
|
||||
|
||||
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.
|
||||
|
||||
# 340 Supported Cars
|
||||
# 341 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|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</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>|||
|
||||
|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>|||
|
||||
|Acura|MDX 2025-26|All except Type S|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 MDX 2025-26">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|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=Acura RDX 2016-18">Buy Here</a></sub></details>|||
|
||||
|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
|
||||
|Acura|TLX 2021-22|All|openpilot available[<sup>1</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|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>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
|
||||
|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|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>|||
|
||||
@@ -33,7 +33,7 @@ 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>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|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>|||
|
||||
|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>|||
|
||||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2018-22|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=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|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=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</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 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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 2022-24|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>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|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 CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 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 CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 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 CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|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 CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|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 CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-26|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 CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|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=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|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 Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|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 Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|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 HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 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 N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|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 HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Insight 2019-22|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=Honda Insight 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Inspire 2018|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=Honda Inspire 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 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 N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 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 Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</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=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|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=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 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 Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 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 Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|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 Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Ioniq 5 (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 Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (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 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 Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|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=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -223,14 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|MAN[<sup>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>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|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)|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>|||
|
||||
@@ -238,35 +239,35 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
|
||||
|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
|
||||
|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</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>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</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>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</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) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</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) 2024-25">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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>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) 2020-23[<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 Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Tesla[<sup>10</sup>](#footnotes)|Model Y (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 Y (with HW4) 2024-25">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>|||
|
||||
@@ -279,8 +280,8 @@ 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>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 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>|||
|
||||
@@ -312,60 +313,61 @@ 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>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=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[<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 />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
<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>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
|
||||
<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
|
||||
<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
|
||||
<sup>8</sup>Some 2023 model years have HW4. 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>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
|
||||
<sup>10</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>11</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>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>15</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>16</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>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <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>Some 2023 model years have HW4. 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/).
|
||||
|
||||
@@ -130,6 +130,7 @@ class CarHarness(EnumBase):
|
||||
hyundai_p = BaseCarHarness("Hyundai P connector")
|
||||
hyundai_q = BaseCarHarness("Hyundai Q connector")
|
||||
hyundai_r = BaseCarHarness("Hyundai R connector")
|
||||
hyundai_s = BaseCarHarness("Hyundai S connector")
|
||||
custom = BaseCarHarness("Developer connector")
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
|
||||
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
|
||||
|
||||
@@ -198,6 +198,7 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.brake_switch_prev = brake_switch
|
||||
ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
|
||||
|
||||
ret.brakeDEPRECATED = cp.vl["VSA_STATUS"]["USER_BRAKE"]
|
||||
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
|
||||
ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
|
||||
|
||||
|
||||
@@ -200,6 +200,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
|
||||
|
||||
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG
|
||||
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
|
||||
ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
|
||||
|
||||
# steering control
|
||||
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.lkas_icon))
|
||||
@@ -211,7 +212,12 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
|
||||
|
||||
# LFA and HDA icons
|
||||
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
|
||||
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
|
||||
if ccnc_non_hda2:
|
||||
can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP.openpilotLongitudinalControl, CC.enabled, CC.hudControl, CC.leftBlinker,
|
||||
CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5, CS.is_metric, CS.out, CS.main_cruise_enabled,
|
||||
self.lfa_icon))
|
||||
else:
|
||||
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
|
||||
|
||||
# blinkers
|
||||
if lka_steering and self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
|
||||
@@ -220,11 +226,12 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if lka_steering:
|
||||
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
|
||||
else:
|
||||
elif not ccnc_non_hda2:
|
||||
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
|
||||
set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning))
|
||||
set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning,
|
||||
CS.cruise_info if ccnc_non_hda2 else None))
|
||||
self.accel_last = accel
|
||||
else:
|
||||
# button presses
|
||||
|
||||
@@ -64,6 +64,7 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
|
||||
self.buttons_counter = 0
|
||||
|
||||
self.cruise_info = {}
|
||||
self.msg_161, self.msg_162, self.msg_1b5 = {}, {}, {}
|
||||
|
||||
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
|
||||
self.cluster_speed = 0
|
||||
@@ -256,12 +257,14 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
|
||||
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
|
||||
ret.steerFaultTemporary = cp.vl["MDPS"]["MDPS_LkaFailSta"] != 0
|
||||
|
||||
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
|
||||
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
|
||||
if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
|
||||
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
|
||||
cp.vl["BLINKERS"][right_blinker_sig])
|
||||
alt = ""
|
||||
if self.CP.flags & HyundaiFlags.CCNC:
|
||||
alt = "_ALT"
|
||||
if not self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
|
||||
self.msg_161, self.msg_162, self.msg_1b5 = map(copy.copy, (cp_cam.vl["CCNC_0x161"], cp_cam.vl["CCNC_0x162"], cp_cam.vl["FR_CMR_03_50ms"]))
|
||||
self.cruise_info = copy.copy((cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp).vl["SCC_CONTROL"])
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][f"LEFT_LAMP{alt}"],
|
||||
cp.vl["BLINKERS"][f"RIGHT_LAMP{alt}"])
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_LtIndSta"])
|
||||
ret.rightBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_RtIndSta"])
|
||||
|
||||
@@ -220,6 +220,15 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.07 99211-L1000 211223',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_2024: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.01 99211-L1800 230512',
|
||||
b'\xf1\x00DN8 MFC AT USA LHD 1.00 1.01 99211-L1800 230512',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DN8_ RDR ----- 1.00 1.00 99110-L1800 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_LF: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ',
|
||||
@@ -570,6 +579,16 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_KONA_2ND_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00SX2 MFC AT USA LHD 1.00 1.03 99211-BE000 230517',
|
||||
b'\xf1\x00SX2 MFC AT USA LHD 1.00 1.07 99211-BE000 240611',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE000 ',
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_CEED: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CD__ SCC F-CUP 1.00 1.00 99110-J7500 ',
|
||||
@@ -605,6 +624,16 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K4_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00CL4 MFC AT CAN LHD 1.00 1.02 99210-GG000 240708',
|
||||
b'\xf1\x00CL4 MFC AT USA LHD 1.00 1.02 99210-GG000 240708',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CL4_ RDR ----- 1.00 1.01 99110-GG000 ',
|
||||
b'\xf1\x00CL4_ RDR ----- 1.00 1.01 99110-GG100 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K5_2021: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ',
|
||||
@@ -637,6 +666,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K5_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L2500 240117',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DL3_ RDR ----- 1.00 1.01 99110-L2500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K5_HEV_2020: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DLhe SCC FHCUP 1.00 1.02 99110-L7000 ',
|
||||
@@ -723,6 +760,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410',
|
||||
b'\xf1\x00SX2EMFC AT USA LHD 1.00 1.02 99211-BF000 230823',
|
||||
],
|
||||
},
|
||||
CAR.KIA_NIRO_EV: {
|
||||
@@ -981,6 +1019,16 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00SX2HMFC AT AUS RHD 1.00 1.00 99211-BE001 241015',
|
||||
b'\xf1\x00SX2HMFC AT EUR RHD 1.00 1.04 99211-BE000 231010',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE000 ',
|
||||
b'\xf1\x00SX2_ RDR ----- 1.00 1.02 99110-BE500 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_HYBRID: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
|
||||
@@ -1002,6 +1050,15 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SONATA_HEV_2024: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00DN8HMFC AT KOR LHD 1.00 1.01 99211-L1800 230512',
|
||||
b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.01 99211-L1800 230512',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00DN8_ RDR ----- 1.00 1.00 99110-L1800 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00UMP LKAS AT AUS RHD 1.00 1.00 96400-C6550 S30',
|
||||
@@ -1069,6 +1126,16 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_IONIQ_5_N: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NE1N RDR ----- 1.00 1.00 99110-NI000 ',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NE1NMFC AT KOR LHD 1.00 1.04 99211-NI000 231219',
|
||||
b'\xf1\x00NE1NMFC AT KOR LHD 1.00 1.00 99211-NI010 240712',
|
||||
b'\xf1\x00NE1NMFC AT USA LHD 1.00 1.04 99211-NI000 231219',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_IONIQ_6: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ',
|
||||
@@ -1107,6 +1174,36 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NX4__ 1.01 1.02 99110-N9000 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_TUCSON_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7030 C55',
|
||||
b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7035 C5C',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7000 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.03 99110N7100 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_TUCSON_HEV_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7000 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7100 ',
|
||||
b'\xf1\x00NX4__ 1.00 1.03 99110N7100 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_TUCSON_PHEV_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.02 99110N7100 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
|
||||
@@ -1118,6 +1215,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NX4__ 1.01 1.00 99110-K5000 ',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_SANTA_CRUZ_2025: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.00 99110K5500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
|
||||
@@ -1190,6 +1295,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO_2024: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00MQ4 MFC AT AUS RHD 1.01 1.04 99210-P2550 231127',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00MQ4_ RDR ----- 1.00 1.01 99110-P2500 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330',
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import numpy as np
|
||||
from opendbc.car import CanBusBase
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.crc import CRC16_XMODEM
|
||||
from opendbc.car.hyundai.values import HyundaiFlags
|
||||
from opendbc.sunnypilot.car.hyundai.lead_data_ext import CanFdLeadData
|
||||
@@ -125,8 +126,106 @@ def create_lfahda_cluster(packer, CAN, enabled, lfa_icon):
|
||||
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
|
||||
|
||||
|
||||
def create_ccnc(packer, CAN, openpilotLongitudinalControl, enabled, hud, leftBlinker, rightBlinker, msg_161, msg_162, msg_1b5,
|
||||
is_metric, out, main_cruise_enabled, lfa_icon):
|
||||
for f in {"FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"}:
|
||||
msg_162[f] = 0
|
||||
if msg_161["ALERTS_2"] == 5:
|
||||
msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
|
||||
if msg_161["ALERTS_3"] == 17:
|
||||
msg_161["ALERTS_3"] = 0
|
||||
if msg_161["ALERTS_5"] in (2, 5):
|
||||
msg_161["ALERTS_5"] = 0
|
||||
if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (3, 0,):
|
||||
msg_161["SOUNDS_4"] = 0
|
||||
|
||||
LANE_CHANGE_SPEED_MIN = 8.9408
|
||||
anyBlinker = leftBlinker or rightBlinker
|
||||
curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
|
||||
|
||||
msg_161.update({
|
||||
"DAW_ICON": 0,
|
||||
"LKA_ICON": 0,
|
||||
"LFA_ICON": 2 if lfa_icon else 0,
|
||||
"CENTERLINE": 1 if lfa_icon else 0,
|
||||
"LANELINE_CURVATURE": curvature.get(max(-15, min(int(out.steeringAngleDeg / 4.5), 15)), 14) if lfa_icon and not anyBlinker else 15,
|
||||
"LANELINE_LEFT": (0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if anyBlinker else 2),
|
||||
"LANELINE_RIGHT": (0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if anyBlinker else 2),
|
||||
"LCA_LEFT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.leftBlindspot else 2 if anyBlinker else 4),
|
||||
"LCA_RIGHT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.rightBlindspot else 2 if anyBlinker else 4),
|
||||
"LCA_LEFT_ARROW": 2 if leftBlinker else 0,
|
||||
"LCA_RIGHT_ARROW": 2 if rightBlinker else 0,
|
||||
})
|
||||
|
||||
if lfa_icon and (leftBlinker or rightBlinker):
|
||||
leftlaneraw, rightlaneraw = msg_1b5["Info_LftLnPosVal"], msg_1b5["Info_RtLnPosVal"]
|
||||
|
||||
scale_per_m = 15 / 1.7
|
||||
leftlane = abs(int(round(15 + (leftlaneraw - 1.7) * scale_per_m)))
|
||||
rightlane = abs(int(round(15 + (rightlaneraw - 1.7) * scale_per_m)))
|
||||
|
||||
if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
|
||||
leftlane = 0
|
||||
if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
|
||||
rightlane = 0
|
||||
|
||||
if leftlaneraw == -2.0248375:
|
||||
leftlane = 30 - rightlane
|
||||
if rightlaneraw == 2.0248375:
|
||||
rightlane = 30 - leftlane
|
||||
|
||||
if leftlaneraw == rightlaneraw == 0:
|
||||
leftlane = rightlane = 15
|
||||
elif leftlaneraw == 0:
|
||||
leftlane = 30 - rightlane
|
||||
elif rightlaneraw == 0:
|
||||
rightlane = 30 - leftlane
|
||||
|
||||
total = leftlane + rightlane
|
||||
if total == 0:
|
||||
leftlane = rightlane = 15
|
||||
else:
|
||||
leftlane = round((leftlane / total) * 30)
|
||||
rightlane = 30 - leftlane
|
||||
|
||||
msg_161["LANELINE_LEFT_POSITION"] = leftlane
|
||||
msg_161["LANELINE_RIGHT_POSITION"] = rightlane
|
||||
|
||||
if hud.leftLaneDepart or hud.rightLaneDepart:
|
||||
msg_162["VIBRATE"] = 1
|
||||
|
||||
if openpilotLongitudinalControl:
|
||||
if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
|
||||
msg_161["ALERTS_3"] = 0
|
||||
if msg_161["ALERTS_5"] == 4:
|
||||
msg_161["ALERTS_5"] = 0
|
||||
if msg_161["SOUNDS_3"] == 5:
|
||||
msg_161["SOUNDS_3"] = 0
|
||||
|
||||
msg_161.update({
|
||||
"SETSPEED": 3 if enabled else 1,
|
||||
"SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
|
||||
"SETSPEED_SPEED": (
|
||||
255 if not main_cruise_enabled else
|
||||
(40 if is_metric else 25) if (s := round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))) > (145 if is_metric else 90) else s
|
||||
),
|
||||
"DISTANCE": hud.leadDistanceBars,
|
||||
"DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
|
||||
"DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
|
||||
"DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
|
||||
"SLA_ICON": 0,
|
||||
"NAV_ICON": 0,
|
||||
"TARGET": 0,
|
||||
})
|
||||
|
||||
msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
|
||||
msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
|
||||
|
||||
return [packer.make_can_msg(msg, CAN.ECAN, data) for msg, data in [("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162)]]
|
||||
|
||||
|
||||
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
|
||||
lead_data: CanFdLeadData, main_cruise_enabled, tuning):
|
||||
lead_data: CanFdLeadData, main_cruise_enabled, tuning, cruise_info=None):
|
||||
jerk = 5
|
||||
jn = jerk / 50
|
||||
if not enabled or gas_override:
|
||||
@@ -154,6 +253,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
|
||||
"SET_ME_TMP_64": 0x64,
|
||||
"DISTANCE_SETTING": hud_control.leadDistanceBars,
|
||||
}
|
||||
if cruise_info:
|
||||
values.update({s: cruise_info[s] for s in ["ACC_ObjDist", "ACC_ObjRelSpd"]})
|
||||
|
||||
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
|
||||
|
||||
|
||||
@@ -85,6 +85,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
|
||||
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
||||
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
|
||||
if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
|
||||
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
|
||||
|
||||
else:
|
||||
# Shared configuration for non CAN-FD cars
|
||||
|
||||
@@ -23,7 +23,11 @@ NO_DATES_PLATFORMS = {
|
||||
# CAN FD
|
||||
CAR.KIA_SPORTAGE_5TH_GEN,
|
||||
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
|
||||
CAR.HYUNDAI_SANTA_CRUZ_2025,
|
||||
CAR.HYUNDAI_TUCSON_4TH_GEN,
|
||||
CAR.HYUNDAI_TUCSON_2025,
|
||||
CAR.HYUNDAI_TUCSON_HEV_2025,
|
||||
CAR.HYUNDAI_TUCSON_PHEV_2025,
|
||||
# CAN
|
||||
CAR.HYUNDAI_ELANTRA,
|
||||
CAR.HYUNDAI_ELANTRA_GT_I30,
|
||||
|
||||
@@ -68,6 +68,7 @@ class HyundaiSafetyFlags(IntFlag):
|
||||
CANFD_LKA_STEER_MSG_ALT = 128
|
||||
FCEV_GAS = 256
|
||||
ALT_LIMITS_2 = 512
|
||||
CCNC = 1024
|
||||
|
||||
|
||||
# Hyundai/Kia/Genesis SCC (Smart Cruise Control) and steering architecture:
|
||||
@@ -149,6 +150,8 @@ class HyundaiFlags(IntFlag):
|
||||
|
||||
ALT_LIMITS_2 = 2 ** 26
|
||||
|
||||
CCNC = 2 ** 27
|
||||
|
||||
|
||||
@dataclass
|
||||
class HyundaiCarDocs(CarDocs):
|
||||
@@ -285,6 +288,16 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
|
||||
)
|
||||
HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
|
||||
CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_l]))],
|
||||
CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_KONA_EV = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
|
||||
CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
|
||||
@@ -296,10 +309,13 @@ class CAR(Platforms):
|
||||
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
|
||||
)
|
||||
HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_r]))],
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
|
||||
car_parts=CarParts.common([CarHarness.hyundai_r])),
|
||||
HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
],
|
||||
CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
|
||||
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages,
|
||||
@@ -339,6 +355,11 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
|
||||
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
|
||||
)
|
||||
HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
|
||||
CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
|
||||
@@ -374,6 +395,11 @@ class CAR(Platforms):
|
||||
HYUNDAI_SONATA.specs,
|
||||
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
|
||||
)
|
||||
HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
@@ -383,6 +409,11 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
|
||||
flags=HyundaiFlags.EV,
|
||||
)
|
||||
HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
|
||||
CarSpecs(mass=2205, wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
|
||||
flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
@@ -400,11 +431,31 @@ class CAR(Platforms):
|
||||
],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
)
|
||||
HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
|
||||
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
|
||||
)
|
||||
HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
|
||||
CarSpecs(mass=1920, wheelbase=3, steerRatio=14.2),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
|
||||
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
|
||||
@@ -419,11 +470,24 @@ class CAR(Platforms):
|
||||
],
|
||||
CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
|
||||
)
|
||||
KIA_K4_2025 = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Kia K4 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
|
||||
],
|
||||
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
KIA_K5_2021 = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
|
||||
flags=HyundaiFlags.CHECKSUM_CRC8,
|
||||
)
|
||||
KIA_K5_2025 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Kia K5 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_m]))],
|
||||
CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
|
||||
[HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
KIA_K5_2021.specs,
|
||||
@@ -534,6 +598,11 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
|
||||
flags=HyundaiFlags.CANFD_RADAR_SCC,
|
||||
)
|
||||
KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
|
||||
[HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
|
||||
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
|
||||
flags=HyundaiFlags.CCNC,
|
||||
)
|
||||
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
|
||||
@@ -28,6 +28,9 @@ non_tested_cars = [
|
||||
SUBARU.SUBARU_FORESTER_HYBRID,
|
||||
VOLKSWAGEN.PORSCHE_MACAN_MK1,
|
||||
HONDA.ACURA_TLX_2G,
|
||||
HYUNDAI.KIA_SORENTO_2024,
|
||||
HYUNDAI.HYUNDAI_IONIQ_5_N,
|
||||
HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
|
||||
|
||||
# These had their DSUs unplugged, need new routes
|
||||
# TOYOTA.LEXUS_ES # hybrid
|
||||
@@ -166,6 +169,7 @@ routes = [
|
||||
CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL), # LKA steering
|
||||
CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
|
||||
CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
|
||||
CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
|
||||
CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
|
||||
CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
|
||||
CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
|
||||
@@ -179,11 +183,14 @@ routes = [
|
||||
CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
|
||||
CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
|
||||
CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
|
||||
CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
|
||||
CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
|
||||
CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
|
||||
CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
|
||||
CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # 2023
|
||||
CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # hybrid
|
||||
CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
|
||||
CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
|
||||
CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
|
||||
CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
|
||||
CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
|
||||
@@ -201,6 +208,8 @@ routes = [
|
||||
CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
|
||||
CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
|
||||
CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
|
||||
CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
|
||||
CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
|
||||
CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
|
||||
CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV), # openpilot longitudinal enabled
|
||||
CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
|
||||
@@ -214,7 +223,9 @@ routes = [
|
||||
CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # LKA steering
|
||||
CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # LFA steering
|
||||
CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
|
||||
CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
|
||||
CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
|
||||
CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
|
||||
CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
|
||||
CarTestRoute("74fbff45aa20fe9e/00000010--6f173d5799", HYUNDAI.KIA_K7_2017),
|
||||
CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
|
||||
@@ -233,6 +244,7 @@ routes = [
|
||||
CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
|
||||
CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
|
||||
CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
|
||||
CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
|
||||
CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
|
||||
CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
|
||||
|
||||
|
||||
@@ -101,6 +101,13 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"JEEP_CHEROKEE_5TH_GEN" = [1.5, 1.5, 0.15]
|
||||
"ACURA_MDX_4G" = [1.4, 1.4, 0.17]
|
||||
"ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
|
||||
"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
|
||||
"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
|
||||
"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
|
||||
"KIA_K5_2025" = [2.5, 2.5, 0.1]
|
||||
"KIA_K4_2025" = [2.5, 2.5, 0.1]
|
||||
"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
|
||||
"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.005]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
"MOCK" = [10.0, 10, 0.0]
|
||||
|
||||
@@ -45,6 +45,11 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"GENESIS_G90" = "GENESIS_G70"
|
||||
"GENESIS_G80" = "GENESIS_G70"
|
||||
"GENESIS_G70_2020" = "HYUNDAI_SONATA"
|
||||
"HYUNDAI_SONATA_2024" = "HYUNDAI_SONATA"
|
||||
"HYUNDAI_SONATA_HEV_2024" = "HYUNDAI_SONATA_HYBRID"
|
||||
"HYUNDAI_TUCSON_2025" = "HYUNDAI_TUCSON_4TH_GEN"
|
||||
"HYUNDAI_TUCSON_HEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
|
||||
"HYUNDAI_TUCSON_PHEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
|
||||
|
||||
"HONDA_FREED" = "HONDA_ODYSSEY"
|
||||
"HONDA_CRV_EU" = "HONDA_CRV"
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.car import Bus, make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY, DT_CTRL
|
||||
from opendbc.car.lateral import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance
|
||||
from opendbc.car.carlog import carlog
|
||||
@@ -13,7 +12,6 @@ from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
|
||||
CarControllerParams, ToyotaFlags, \
|
||||
UNSUPPORTED_DSU_CAR
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
from opendbc.sunnypilot.car.toyota.gas_interceptor import GasInterceptorCarController
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
@@ -22,7 +20,6 @@ Ecu = structs.CarParams.Ecu
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
# The up limit allows the brakes/gas to unwind quickly leaving a stop,
|
||||
# the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
|
||||
@@ -40,19 +37,11 @@ MAX_STEER_RATE_FRAMES = 17 # tx control frames needed before torque can be cut
|
||||
# EPS allows user torque above threshold for 50 frames before permanently faulting
|
||||
MAX_USER_TORQUE = 500
|
||||
|
||||
LEFT_BLINDSPOT = b"\x41"
|
||||
RIGHT_BLINDSPOT = b"\x42"
|
||||
|
||||
def get_long_tune(CP, params):
|
||||
if CP.carFingerprint in TSS2_CAR:
|
||||
if Params().get_bool("ToyotaTSS2Long"):
|
||||
#kiBP = [0., 2.0, 9.0, 14., 20., 27.]
|
||||
#kiV = [0.25, 0.25, 0.15, 0.12, 0.12, 0.12]
|
||||
kiBP= [1.0, 3.0, 5.0, 7., 12., 27., 36.]
|
||||
kiV = [0.36, 0.34, 0.235, 0.12, 0.12, 0.08, 0.06]
|
||||
else:
|
||||
kiBP = [2., 5.]
|
||||
kiV = [0.5, 0.25]
|
||||
kiBP = [2., 5.]
|
||||
kiV = [0.5, 0.25]
|
||||
else:
|
||||
kiBP = [0., 5., 35.]
|
||||
kiV = [3.6, 2.4, 1.5]
|
||||
@@ -93,22 +82,6 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
self.secoc_acc_message_counter = 0
|
||||
self.secoc_prev_reset_counter = 0
|
||||
|
||||
self.left_blindspot_debug_enabled = False
|
||||
self.right_blindspot_debug_enabled = False
|
||||
self.left_last_blindspot_frame = 0
|
||||
self.right_last_blindspot_frame = 0
|
||||
|
||||
self._auto_lock_speed = 0.0
|
||||
|
||||
if CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
self.brake_hold_active: bool = False
|
||||
self._brake_hold_counter: int = 0
|
||||
self._brake_hold_reset: bool = False
|
||||
self._prev_brake_pressed: bool = False
|
||||
|
||||
self._auto_lock_once = False
|
||||
self._gear_prev = GearShifter.park
|
||||
|
||||
def update(self, CC, CC_SP, CS, now_nanos):
|
||||
actuators = CC.actuators
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
@@ -224,9 +197,6 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
|
||||
self.last_standstill = CS.out.standstill
|
||||
|
||||
if self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
can_sends.extend(self.create_auto_brake_hold_messages(CS))
|
||||
|
||||
# handle UI messages
|
||||
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
||||
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
||||
@@ -350,9 +320,6 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
|
||||
can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
|
||||
|
||||
if self.CP_SP.flags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 200:
|
||||
can_sends.extend(self.create_enhanced_bsm_messages(CS, 20, True))
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.torque = apply_torque / self.params.STEER_MAX
|
||||
new_actuators.torqueOutputCan = apply_torque
|
||||
@@ -362,57 +329,3 @@ class CarController(CarControllerBase, GasInterceptorCarController):
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
# Enhanced BSM (@arne182, @rav4kumar)
|
||||
def create_enhanced_bsm_messages(self, CS: structs.CarState, e_bsm_rate: int = 20, always_on: bool = True):
|
||||
can_sends = []
|
||||
|
||||
# left bsm
|
||||
if not self.left_blindspot_debug_enabled:
|
||||
if always_on or CS.out.vEgo > 6: # eagle eye camera will stop working if left bsm is switched on under 6m/s
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(LEFT_BLINDSPOT, True))
|
||||
self.left_blindspot_debug_enabled = True
|
||||
else:
|
||||
if not always_on and self.frame - self.left_last_blindspot_frame > 50:
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(LEFT_BLINDSPOT, False))
|
||||
self.left_blindspot_debug_enabled = False
|
||||
if self.frame % e_bsm_rate == 0:
|
||||
can_sends.append(toyotacan.create_bsm_polling_status(LEFT_BLINDSPOT))
|
||||
self.left_last_blindspot_frame = self.frame
|
||||
|
||||
# right bsm
|
||||
if not self.right_blindspot_debug_enabled:
|
||||
if always_on or CS.out.vEgo > 6: # eagle eye camera will stop working if right bsm is switched on under 6m/s
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(RIGHT_BLINDSPOT, True))
|
||||
self.right_blindspot_debug_enabled = True
|
||||
else:
|
||||
if not always_on and self.frame - self.right_last_blindspot_frame > 50:
|
||||
can_sends.append(toyotacan.create_set_bsm_debug_mode(RIGHT_BLINDSPOT, False))
|
||||
self.right_blindspot_debug_enabled = False
|
||||
if self.frame % e_bsm_rate == e_bsm_rate // 2:
|
||||
can_sends.append(toyotacan.create_bsm_polling_status(RIGHT_BLINDSPOT))
|
||||
self.right_last_blindspot_frame = self.frame
|
||||
|
||||
return can_sends
|
||||
|
||||
# auto brake hold (https://github.com/AlexandreSato/)
|
||||
def create_auto_brake_hold_messages(self, CS: structs.CarState, brake_hold_allowed_timer: int = 100):
|
||||
can_sends = []
|
||||
disallowed_gears = [GearShifter.park, GearShifter.reverse]
|
||||
brake_hold_allowed = CS.out.standstill and CS.out.cruiseState.available and not CS.out.gasPressed and \
|
||||
not CS.out.cruiseState.enabled and (CS.out.gearShifter not in disallowed_gears)
|
||||
|
||||
if brake_hold_allowed:
|
||||
self._brake_hold_counter += 1
|
||||
self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer and not self._brake_hold_reset
|
||||
self._brake_hold_reset = not self._prev_brake_pressed and CS.out.brakePressed and not self._brake_hold_reset
|
||||
else:
|
||||
self._brake_hold_counter = 0
|
||||
self.brake_hold_active = False
|
||||
self._brake_hold_reset = False
|
||||
self._prev_brake_pressed = CS.out.brakePressed
|
||||
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
|
||||
|
||||
return can_sends
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
import copy
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.can import CANDefine, CANParser
|
||||
from opendbc.car import Bus, DT_CTRL, create_button_events, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
@@ -15,7 +13,6 @@ from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
SteerControlType = structs.CarParams.SteerControlType
|
||||
AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
|
||||
|
||||
# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
|
||||
# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
|
||||
@@ -59,28 +56,6 @@ class CarState(CarStateBase, CarStateExt):
|
||||
self.gvc = 0.0
|
||||
self.secoc_synchronization = None
|
||||
|
||||
self._left_blindspot = False
|
||||
self._left_blindspot_d1 = 0
|
||||
self._left_blindspot_d2 = 0
|
||||
self._left_blindspot_counter = 0
|
||||
|
||||
self._right_blindspot = False
|
||||
self._right_blindspot_d1 = 0
|
||||
self._right_blindspot_d2 = 0
|
||||
self._right_blindspot_counter = 0
|
||||
|
||||
if CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
self.pre_collision_2 = {}
|
||||
|
||||
self.toyota_drive_mode = Params().get_bool('ToyotaDriveMode')
|
||||
self._drive_mode_signals_checked = False
|
||||
self._sport_signal_available = False
|
||||
self._eco_signal_available = False
|
||||
self._prev_accel_profile = None
|
||||
self._accel_profile_init = False
|
||||
|
||||
self.frame = 0
|
||||
|
||||
def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
@@ -98,52 +73,18 @@ class CarState(CarStateBase, CarStateExt):
|
||||
ret.parkingBrake = cp.vl["BODY_CONTROL_STATE"]["PARKING_BRAKE"] == 1
|
||||
|
||||
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
|
||||
#ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
|
||||
ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
|
||||
|
||||
if self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"])
|
||||
ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
|
||||
can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
|
||||
else:
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 # TODO: these also have GAS_PEDAL, come back and unify
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
|
||||
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
|
||||
if not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
|
||||
ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
|
||||
|
||||
if self.toyota_drive_mode: # and not self.CP.flags & ToyotaFlags.SECOC.value:
|
||||
sport_signal = 'SPORT_ON_2' if self.CP.carFingerprint in (CAR.TOYOTA_RAV4_TSS2, CAR.LEXUS_ES_TSS2,
|
||||
CAR.TOYOTA_HIGHLANDER_TSS2) else 'SPORT_ON'
|
||||
|
||||
if not self._drive_mode_signals_checked:
|
||||
self._drive_mode_signals_checked = True
|
||||
try:
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal]
|
||||
self._sport_signal_available = True
|
||||
except KeyError:
|
||||
sport_mode = 0
|
||||
self._sport_signal_available = False
|
||||
try:
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON']
|
||||
self._eco_signal_available = True
|
||||
except KeyError:
|
||||
eco_mode = 0
|
||||
self._eco_signal_available = False
|
||||
else:
|
||||
sport_mode = cp.vl["GEAR_PACKET"][sport_signal] if self._sport_signal_available else 0
|
||||
eco_mode = cp.vl["GEAR_PACKET"]['ECON_ON'] if self._eco_signal_available else 0
|
||||
|
||||
if sport_mode == 1:
|
||||
accel_profile = AccelPersonality.sport
|
||||
elif eco_mode == 1:
|
||||
accel_profile = AccelPersonality.eco
|
||||
else:
|
||||
accel_profile = AccelPersonality.normal
|
||||
|
||||
if not self._accel_profile_init or accel_profile != self._prev_accel_profile:
|
||||
Params().put('AccelPersonality', int(accel_profile))
|
||||
self._accel_profile_init = True
|
||||
self._prev_accel_profile = accel_profile
|
||||
|
||||
self.parse_wheel_speeds(ret,
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
|
||||
@@ -272,55 +213,10 @@ class CarState(CarStateBase, CarStateExt):
|
||||
|
||||
ret.buttonEvents = buttonEvents
|
||||
|
||||
if self.CP_SP.flags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 199:
|
||||
ret.leftBlindspot, ret.rightBlindspot = self.sp_get_enhanced_bsm(cp)
|
||||
|
||||
if self.CP_SP.flags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
|
||||
self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
|
||||
|
||||
self.frame += 1
|
||||
|
||||
CarStateExt.update(self, ret, ret_sp, can_parsers)
|
||||
|
||||
return ret, ret_sp
|
||||
|
||||
# Enhanced BSM (@arne182, @rav4kumar)
|
||||
def sp_get_enhanced_bsm(self, cp):
|
||||
# Let's keep all the commented out code for easy debug purposes in the future.
|
||||
distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1')
|
||||
distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2')
|
||||
side = cp.vl["DEBUG"].get('BLINDSPOTSIDE')
|
||||
|
||||
if all(val is not None for val in [distance_1, distance_2, side]):
|
||||
if side == 65: # left blind spot
|
||||
if distance_1 != self._left_blindspot_d1 or distance_2 != self._left_blindspot_d2:
|
||||
self._left_blindspot_d1 = distance_1
|
||||
self._left_blindspot_d2 = distance_2
|
||||
self._left_blindspot_counter = 100
|
||||
self._left_blindspot = distance_1 > 10 or distance_2 > 10
|
||||
|
||||
elif side == 66: # right blind spot
|
||||
if distance_1 != self._right_blindspot_d1 or distance_2 != self._right_blindspot_d2:
|
||||
self._right_blindspot_d1 = distance_1
|
||||
self._right_blindspot_d2 = distance_2
|
||||
self._right_blindspot_counter = 100
|
||||
self._right_blindspot = distance_1 > 10 or distance_2 > 10
|
||||
|
||||
# update counters
|
||||
self._left_blindspot_counter = max(0, self._left_blindspot_counter - 1)
|
||||
self._right_blindspot_counter = max(0, self._right_blindspot_counter - 1)
|
||||
|
||||
# reset blind spot status if counter reaches 0
|
||||
if self._left_blindspot_counter == 0:
|
||||
self._left_blindspot = False
|
||||
self._left_blindspot_d1 = self._left_blindspot_d2 = 0
|
||||
|
||||
if self._right_blindspot_counter == 0:
|
||||
self._right_blindspot = False
|
||||
self._right_blindspot_d1 = self._right_blindspot_d2 = 0
|
||||
|
||||
return self._left_blindspot, self._right_blindspot
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP, CP_SP):
|
||||
pt_messages = [
|
||||
@@ -335,4 +231,4 @@ class CarState(CarStateBase, CarStateExt):
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [] + cam_messages, 2),
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,11 +1,10 @@
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.car import Bus, structs, get_safety_config, uds
|
||||
from opendbc.car.toyota.carstate import CarState
|
||||
from opendbc.car.toyota.carcontroller import CarController
|
||||
from opendbc.car.toyota.radar_interface import RadarInterface
|
||||
from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
|
||||
MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
|
||||
ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR, SECOC_CAR
|
||||
ToyotaSafetyFlags, UNSUPPORTED_DSU_CAR
|
||||
from opendbc.car.disable_ecu import disable_ecu
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP, ToyotaSafetyFlagsSP
|
||||
@@ -116,17 +115,13 @@ class CarInterface(CarInterfaceBase):
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter.
|
||||
ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
|
||||
sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
|
||||
|
||||
if candidate in TSS2_CAR:
|
||||
ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
|
||||
|
||||
ret.vEgoStopping = 0.25 if sp_tss2_long_tune else 0.25
|
||||
ret.vEgoStarting = 0.01 if sp_tss2_long_tune else 0.25
|
||||
if candidate == CAR.TOYOTA_RAV4_TSS2:
|
||||
ret.stoppingDecelRate = 0.001743 if sp_tss2_long_tune else 0.3 # reach stopping target smoothly
|
||||
else:
|
||||
ret.stoppingDecelRate = 0.001743 if sp_tss2_long_tune else 0.3 # reach stopping target smoothly
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
|
||||
|
||||
# Hybrids have much quicker longitudinal actuator response
|
||||
if ret.flags & ToyotaFlags.HYBRID.value:
|
||||
@@ -140,15 +135,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate in UNSUPPORTED_DSU_CAR:
|
||||
ret.safetyParam |= ToyotaSafetyFlagsSP.UNSUPPORTED_DSU
|
||||
|
||||
sp_toyota_auto_brake_hold = Params().get_bool("ToyotaAutoHold")
|
||||
sp_toyota_enhanced_bsm = Params().get_bool("ToyotaEnhancedBsm")
|
||||
if sp_toyota_enhanced_bsm and candidate in (TSS2_CAR - SECOC_CAR):
|
||||
ret.flags |= ToyotaFlagsSP.SP_ENHANCED_BSM.value
|
||||
if candidate == CAR.TOYOTA_PRIUS_TSS2:
|
||||
ret.flags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
|
||||
if sp_toyota_auto_brake_hold and candidate in (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR):
|
||||
ret.flags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
|
||||
|
||||
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
|
||||
# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
|
||||
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.can_definitions import CanData
|
||||
|
||||
SteerControlType = CarParams.SteerControlType
|
||||
|
||||
@@ -165,47 +164,3 @@ def toyota_checksum(address: int, sig, d: bytearray) -> int:
|
||||
for i in range(len(d) - 1):
|
||||
s += d[i]
|
||||
return s & 0xFF
|
||||
|
||||
def create_set_bsm_debug_mode(lr_blindspot, enabled):
|
||||
dat = b"\x02\x10\x60\x00\x00\x00\x00" if enabled else b"\x02\x10\x01\x00\x00\x00\x00"
|
||||
dat = lr_blindspot + dat
|
||||
|
||||
return CanData(0x750, dat, 0)
|
||||
|
||||
|
||||
def create_bsm_polling_status(lr_blindspot):
|
||||
return CanData(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
|
||||
|
||||
|
||||
# auto brake hold
|
||||
def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
|
||||
# forward PRE_COLLISION_2 when auto brake hold is not active
|
||||
values = {s: pre_collision_2[s] for s in [
|
||||
"DSS1GDRV",
|
||||
"DS1STAT2",
|
||||
"DS1STBK2",
|
||||
"PCSWAR",
|
||||
"PCSALM",
|
||||
"PCSOPR",
|
||||
"PCSABK",
|
||||
"PBATRGR",
|
||||
"PPTRGR",
|
||||
"IBTRGR",
|
||||
"CLEXTRGR",
|
||||
"IRLT_REQ",
|
||||
"BRKHLD",
|
||||
"AVSTRGR",
|
||||
"VGRSTRGR",
|
||||
"PREFILL",
|
||||
"PBRTRGR",
|
||||
"PCSDIS",
|
||||
"PBPREPMP",
|
||||
]}
|
||||
|
||||
if brake_hold_active:
|
||||
values = {
|
||||
"DSS1GDRV": 0x3FF,
|
||||
"PBRTRGR": frame % 730 < 727, # cut actuation for 3 frames
|
||||
}
|
||||
|
||||
return packer.make_can_msg("PRE_COLLISION_2", 0, values)
|
||||
|
||||
@@ -951,7 +951,7 @@ CM_ SG_ 1041 COUNTER_ALT "only increments on change";
|
||||
CM_ BO_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
|
||||
CM_ SG_ 1043 COUNTER_ALT "only increments on change";
|
||||
CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
|
||||
VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 53 GEAR 0 "P" 4 "S" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
|
||||
VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
|
||||
|
||||
@@ -1,79 +0,0 @@
|
||||
BO_ 1880 DEBUG: 8 XXX
|
||||
SG_ BLINDSPOTSIDE : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BLINDSPOT : 38|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ BLINDSPOTD1 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BLINDSPOTD2 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
|
||||
SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
|
||||
SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 713 HYBRID_POWERTRAIN: 8 XXX
|
||||
SG_ COAST_FUEL_CUT : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HYBRID_DRIVE_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 814 BRAKE_HYDRAULIC: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSURE_COPY1 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSURE_COPY2 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 971 MOTOR_SPEED_CLUSTER: 7 XXX
|
||||
SG_ CLUSTER_SPEED : 55|8@0+ (1,-21) [0|255] "km/h" XXX
|
||||
|
||||
BO_ 896 HYBRID_BATTERY: 8 XXX
|
||||
SG_ HV_SOC_PCT : 55|8@0+ (1,0) [0|100] "%" XXX
|
||||
|
||||
BO_ 1654 HV_POWER_INTEGRATOR: 8 XXX
|
||||
SG_ HV_POWER_ACCUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 975 HV_INVERTER: 5 XXX
|
||||
SG_ HV_VOLTAGE_LO : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ HV_CURRENT_LO : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 955 BRAKE_REDUNDANT: 8 XXX
|
||||
SG_ BRAKE_PRESSED_REDUNDANT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 918 VEHICLE_DRIVE_MODE: 8 XXX
|
||||
SG_ DRIVE_MODE_STATE : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "Sunnypilot Prius TSS2 reverse-engineered signals — route 550a71ee4c7a7fbe/0000038f--6b48497966, 2026-05-19. Confidence: high unless noted.";
|
||||
CM_ BO_ 713 "Hybrid powertrain status. 100Hz on bus 0.";
|
||||
CM_ SG_ 713 COAST_FUEL_CUT "byte0 bit5. 1 when accelerator lifted at speed -> ICE fuel cut / decel-fuel-cut active. P(=1|coast)=0.95, P(=1|accel)=0.008, P(=1|brake)=0.0. Use: lift detection for accel feedforward, EV-only mode hint.";
|
||||
CM_ SG_ 713 HYBRID_DRIVE_STATE "byte1 lower-nibble (bits 8-11). Enum (validated): 4=brake/regen-active, 5-8=coast/cruise levels, 10/12=ICE running active, 11=idle-stop. Not a scalar magnitude. Use: distinguish ICE-on vs EV for accel command shaping.";
|
||||
CM_ BO_ 814 "Brake hydraulic. 5Hz on bus 0. Bytes 0,2,4,6 are status/flag bytes (not yet decoded). Saturates 255 under hard brake.";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE "byte1. Master cylinder pressure proxy. 0 during coast, 33-45 mean during brake, 254-255 max. NOT same as BRAKE_MODULE.BRAKE_PRESSURE.";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE_COPY1 "byte3. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy (CRC/safety).";
|
||||
CM_ SG_ 814 BRAKE_PRESSURE_COPY2 "byte5. Identical to BRAKE_PRESSURE 90% of brake samples. Redundant copy.";
|
||||
CM_ BO_ 971 "Cluster speedometer feed. 10Hz on bus 0.";
|
||||
CM_ SG_ 971 CLUSTER_SPEED "byte6. Encoded as raw_byte = v_kph + 21. After (1,-21) factor/offset: km/h matching dashboard speedometer. Corr 0.998 w/ WHEEL_SPEEDS. ~5km/h higher than wheel mean = cluster display bias.";
|
||||
CM_ BO_ 896 "HV battery status. 5Hz on bus 0.";
|
||||
CM_ SG_ 896 HV_SOC_PCT "byte6. HV battery state-of-charge percent. Validated range 53-62% on route 0000038f (Prius hybrid SoC normal band 40-80%). Use: energy-aware planner — reduce regen demand at high SoC (>70%), lift accel demand at low SoC (<50%).";
|
||||
CM_ BO_ 1654 "HV power integrator. 1Hz on bus 0. Slow drift signal, semantic not fully confirmed.";
|
||||
CM_ SG_ 1654 HV_POWER_ACCUM "byte4. Slow-drifting integer 0-59, independent of HV_SOC_PCT. Hypothesis: HV power flow accumulator or charging-cycle counter. Needs more routes.";
|
||||
CM_ BO_ 975 "HV inverter telemetry. 10Hz on bus 0. 5-byte message.";
|
||||
CM_ SG_ 975 HV_VOLTAGE_LO "byte2. Sequential integer 40-53 range. Hypothesis: HV bus voltage low-byte scaled. Moderate corr w/ brake (regen-loaded voltage).";
|
||||
CM_ SG_ 975 HV_CURRENT_LO "byte4. Sequential integer 17-36 range. JUMPS -16 at brake-release (regen current cutoff signature). Use: real-time regen current readback for brake-blend tuning.";
|
||||
CM_ BO_ 955 "Brake redundant signal. 10Hz on bus 0.";
|
||||
CM_ SG_ 955 BRAKE_PRESSED_REDUNDANT "byte0 bit0. 99.9% agreement with BRAKE_MODULE.BRAKE_PRESSED. Safety-redundant copy. Use: cross-check brake state for fault detection.";
|
||||
CM_ BO_ 918 "Vehicle drive mode state. 5Hz on bus 0.";
|
||||
CM_ SG_ 918 DRIVE_MODE_STATE "byte0. 3 states observed: 185=parked-with-brake, 189=ready-to-drive, 191=ready-no-brake. Transitions on GEAR shifts + brake. Use: more reliable drive-state machine than gear+brake combo.";
|
||||
VAL_ 713 HYBRID_DRIVE_STATE 4 "brake_regen_active" 5 "coast_5" 6 "coast_6" 7 "coast_7" 8 "coast_cruise" 10 "ice_active_10" 11 "idle_stop" 12 "ice_active_12";
|
||||
VAL_ 918 DRIVE_MODE_STATE 185 "parked_brake" 189 "ready" 191 "ready_no_brake";
|
||||
@@ -234,7 +234,6 @@ BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -546,7 +545,6 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
|
||||
VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
|
||||
VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on";
|
||||
VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";
|
||||
VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines";
|
||||
|
||||
@@ -35,6 +35,14 @@ BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX
|
||||
SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM
|
||||
SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input";
|
||||
CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command";
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
CM_ "IMPORT _community.dbc";
|
||||
CM_ "IMPORT _toyota_2017.dbc";
|
||||
CM_ "IMPORT _toyota_adas_standard.dbc";
|
||||
CM_ "IMPORT _sp_debug_toyota.dbc";
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
|
||||
@@ -175,6 +175,7 @@ typedef struct {
|
||||
const bool ignore_counter; // counter check is not performed when set to true
|
||||
const uint8_t max_counter; // maximum value of the counter. 0 means that the counter check is skipped
|
||||
const bool ignore_quality_flag; // true if quality flag check is skipped
|
||||
const bool ignore_frequency_check; // true if minimum frequency enforcement is skipped
|
||||
} CanMsgCheck;
|
||||
|
||||
typedef struct {
|
||||
|
||||
@@ -173,7 +173,7 @@ static safety_config chrysler_init(uint16_t param) {
|
||||
{.msg = {{CHRYSLER_RAM_DT_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_DT_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static RxCheck chrysler_rx_checks[] = {
|
||||
@@ -182,7 +182,7 @@ static safety_config chrysler_init(uint16_t param) {
|
||||
{.msg = {{514, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_DAS_3, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_TRACTION_BUTTON, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_TRACTION_BUTTON, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static const CanMsg CHRYSLER_TX_MSGS[] = {
|
||||
@@ -205,7 +205,7 @@ static safety_config chrysler_init(uint16_t param) {
|
||||
{.msg = {{CHRYSLER_RAM_HD_ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
|
||||
{.msg = {{CHRYSLER_RAM_HD_Center_Stack_2, 0, 8, 1U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
|
||||
|
||||
@@ -47,6 +47,11 @@
|
||||
|
||||
static bool hyundai_canfd_alt_buttons = false;
|
||||
static bool hyundai_canfd_lka_steer_msg_alt = false;
|
||||
static bool hyundai_ccnc = false;
|
||||
|
||||
static bool get_hyundai_ccnc(void) {
|
||||
return hyundai_ccnc;
|
||||
}
|
||||
|
||||
static unsigned int hyundai_canfd_get_lka_addr(void) {
|
||||
return hyundai_canfd_lka_steer_msg_alt ? 0x110U : 0x50U;
|
||||
@@ -227,6 +232,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
|
||||
static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
|
||||
const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
|
||||
const uint16_t HYUNDAI_PARAM_CCNC = 1024;
|
||||
|
||||
static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
|
||||
HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
|
||||
@@ -271,11 +277,21 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
||||
{0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \
|
||||
|
||||
#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
|
||||
HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
|
||||
HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
|
||||
HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
|
||||
{0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
|
||||
{0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
|
||||
{0x7C4, 2, 8, .check_relay = true}, /* 0x7C4 */ \
|
||||
{0xEA, 2, 24, .check_relay = true}, /* MDPS */ \
|
||||
|
||||
hyundai_common_init(param);
|
||||
|
||||
gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
|
||||
hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
|
||||
hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);
|
||||
hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);
|
||||
|
||||
safety_config ret;
|
||||
if (hyundai_longitudinal) {
|
||||
@@ -300,6 +316,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
|
||||
};
|
||||
|
||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
|
||||
};
|
||||
|
||||
if (hyundai_canfd_alt_buttons) {
|
||||
SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
|
||||
} else {
|
||||
@@ -307,7 +327,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
}
|
||||
|
||||
if (hyundai_camera_scc) {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
if (get_hyundai_ccnc()) {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
||||
} else {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
}
|
||||
} else {
|
||||
SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
|
||||
}
|
||||
@@ -368,7 +392,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
|
||||
};
|
||||
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
|
||||
HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
|
||||
};
|
||||
|
||||
if (get_hyundai_ccnc()) {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
|
||||
} else {
|
||||
SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
|
||||
}
|
||||
|
||||
if (hyundai_canfd_alt_buttons) {
|
||||
SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
|
||||
|
||||
@@ -14,7 +14,7 @@
|
||||
{.msg = {{0x311, 0, 7, 10U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* UI_warning (blinkers, buckle switch & doors) */ \
|
||||
|
||||
#define TESLA_VEHICLE_BUS_ADDR_CHECK \
|
||||
{.msg = {{0x3DF, 1, 8, 2U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* UI_status2 */ \
|
||||
{.msg = {{0x3DF, 1, 8, 2U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .ignore_frequency_check = true}, { 0 }, { 0 }}}, /* UI_status2 */ \
|
||||
|
||||
static bool tesla_longitudinal = false;
|
||||
static bool tesla_fsd_14 = false;
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
// Stock longitudinal
|
||||
#define TOYOTA_BASE_TX_MSGS \
|
||||
{0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, {0x750, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */ \
|
||||
{0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false}, /* LKAS + LTA + PCM cancel cmd */ \
|
||||
|
||||
#define TOYOTA_COMMON_TX_MSGS \
|
||||
TOYOTA_BASE_TX_MSGS \
|
||||
@@ -386,35 +386,14 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
|
||||
// SP: auto brake hold https://github.com/AlexandreSato
|
||||
if ((msg->addr == 0x344U) && (alternative_experience & ALT_EXP_ALLOW_AEB)) {
|
||||
if (vehicle_moving || gas_pressed || !acc_main_on) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (msg->addr == 0x750U) {
|
||||
// this address is sub-addressed. only allow tester present to radar (0xF)
|
||||
bool invalid_uds_msg = (GET_BYTES(msg, 0, 4) != 0x003E020FU) || (GET_BYTES(msg, 4, 4) != 0x0U);
|
||||
// SP: Secret sauce from dp. (ask @rav4kumar prior to modifing)
|
||||
// Enhanced BSM
|
||||
bool sp_valid_uds_msgs = ((GET_BYTES(msg, 0, 4) == 0x10002141U) || // disable left BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x60100241U) || // enable left BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x69210241U) || // poll left BSM status
|
||||
(GET_BYTES(msg, 0, 4) == 0x10002142U) || // disable right BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x60100242U) || // enable right BSM debug
|
||||
(GET_BYTES(msg, 0, 4) == 0x69210242U)) // poll right BSM status
|
||||
&& (GET_BYTES(msg, 4, 4) == 0x0U);
|
||||
|
||||
sp_valid_uds_msgs |= (GET_BYTES(msg, 0, 4) == 0x11300540U) && // automatic door locking and unlocking
|
||||
((GET_BYTES(msg, 4, 4) == 0x00004000U) || // unlock
|
||||
(GET_BYTES(msg, 4, 4) == 0x00008000U)); // lock
|
||||
|
||||
if (invalid_uds_msg && !sp_valid_uds_msgs) {
|
||||
tx = false;
|
||||
if (invalid_uds_msg) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -587,22 +566,10 @@ static safety_config toyota_init(uint16_t param) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
static bool toyota_fwd_hook(int bus_num, int addr) {
|
||||
bool block_msg = false;
|
||||
if (bus_num == 2) {
|
||||
// SP: block AEB when auto brake hold is active, unblock AEB when auto brake hold is not active
|
||||
bool is_aeb_msg = (addr == 0x344);
|
||||
block_msg = (is_aeb_msg && (alternative_experience & ALT_EXP_ALLOW_AEB) && !vehicle_moving && !gas_pressed && acc_main_on);
|
||||
}
|
||||
|
||||
return block_msg;
|
||||
}
|
||||
|
||||
const safety_hooks toyota_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
.get_checksum = toyota_get_checksum,
|
||||
.compute_checksum = toyota_compute_checksum,
|
||||
.get_quality_flag_valid = toyota_get_quality_flag_valid,
|
||||
|
||||
@@ -332,7 +332,7 @@ void safety_tick(const safety_config *cfg) {
|
||||
}
|
||||
|
||||
// enforce minimum frequency for safety-relevant messages
|
||||
bool frequency_invalid = frequency < 10U;
|
||||
bool frequency_invalid = !cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].ignore_frequency_check && (frequency < 10U);
|
||||
if (lagging || frequency_invalid || !is_msg_valid(cfg->rx_checks, i)) {
|
||||
rx_checks_invalid = true;
|
||||
controls_allowed = false;
|
||||
|
||||
@@ -21,6 +21,13 @@ ALL_GAS_EV_HYBRID_COMBOS = [
|
||||
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
|
||||
]
|
||||
|
||||
ALL_GAS_EV_HYBRID_COMBOS_CCNC = [
|
||||
# Camera SCC
|
||||
{"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.CAMERA_SCC},
|
||||
{"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CAMERA_SCC},
|
||||
{"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
|
||||
]
|
||||
|
||||
|
||||
class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
|
||||
|
||||
@@ -308,5 +315,73 @@ class TestHyundaiCanfdLFASteeringLongAltButtons(TestHyundaiCanfdLFASteeringLongB
|
||||
pass
|
||||
|
||||
|
||||
@parameterized_class(ALL_GAS_EV_HYBRID_COMBOS_CCNC)
|
||||
class TestHyundaiCanfdLFASteeringCCNC(TestHyundaiCanfdLFASteeringBase):
|
||||
|
||||
TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2]]
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162), 2: (0x7C4, 0xEA)}
|
||||
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162], 0: [0x7C4, 0xEA]}
|
||||
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
if cls.__name__ == "TestHyundaiCanfdLFASteeringCCNC":
|
||||
cls.safety = None
|
||||
raise unittest.SkipTest
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("hyundai_canfd_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CCNC | self.SAFETY_PARAM)
|
||||
self.safety.init_tests()
|
||||
|
||||
def test_ccnc(self):
|
||||
self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x161", self.STEER_BUS, {})))
|
||||
self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x162", self.STEER_BUS, {})))
|
||||
|
||||
def test_tx_hook_on_wrong_safety_mode(self):
|
||||
from opendbc.safety.tests.common import make_msg
|
||||
import importlib
|
||||
for test_name in ["TestElm327"]:
|
||||
mod = importlib.import_module("opendbc.safety.tests.test_" + test_name.replace("Test", "").lower())
|
||||
tx_list = [m for m in getattr(mod, test_name).TX_MSGS if m[0] != 0x7C4] # skip overlapping 0x7C4 from Elm327
|
||||
for addr, bus in tx_list:
|
||||
if [addr, bus] not in self.TX_MSGS:
|
||||
self.assertFalse(self._tx(make_msg(bus, addr)), f"allowed TX {addr=:#x} {bus=}")
|
||||
|
||||
|
||||
@parameterized_class(ALL_GAS_EV_HYBRID_COMBOS_CCNC)
|
||||
class TestHyundaiCanfdLFASteeringLongCCNC(TestHyundaiCanfdLFASteeringLongBase):
|
||||
|
||||
TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2], [0x1A0, 0]]
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162, 0x1A0), 2: (0x7C4, 0xEA)}
|
||||
FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162, 0x1A0], 0: [0x7C4, 0xEA]}
|
||||
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
if cls.__name__ == "TestHyundaiCanfdLFASteeringLongCCNC":
|
||||
cls.safety = None
|
||||
raise unittest.SkipTest
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("hyundai_canfd_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, HyundaiSafetyFlags.CCNC | HyundaiSafetyFlags.LONG | self.SAFETY_PARAM)
|
||||
self.safety.init_tests()
|
||||
|
||||
def test_ccnc(self):
|
||||
self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x161", self.STEER_BUS, {})))
|
||||
self.assertTrue(self._tx(self.packer.make_can_msg_safety("CCNC_0x162", self.STEER_BUS, {})))
|
||||
|
||||
def test_tx_hook_on_wrong_safety_mode(self):
|
||||
from opendbc.safety.tests.common import make_msg
|
||||
import importlib
|
||||
for test_name in ["TestElm327"]:
|
||||
mod = importlib.import_module("opendbc.safety.tests.test_" + test_name.replace("Test", "").lower())
|
||||
tx_list = [m for m in getattr(mod, test_name).TX_MSGS if m[0] != 0x7C4] # skip overlapping 0x7C4 from Elm327
|
||||
for addr, bus in tx_list:
|
||||
if [addr, bus] not in self.TX_MSGS:
|
||||
self.assertFalse(self._tx(make_msg(bus, addr)), f"allowed TX {addr=:#x} {bus=}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -1603,6 +1603,16 @@
|
||||
],
|
||||
"package": "Highway Driving Assist"
|
||||
},
|
||||
"Hyundai Ioniq 5 N (with HDA II) 2024": {
|
||||
"platform": "HYUNDAI_IONIQ_5_N",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Ioniq 5 N (with HDA II)",
|
||||
"year": [
|
||||
"2024"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Ioniq 6 (with HDA II) 2023-24": {
|
||||
"platform": "HYUNDAI_IONIQ_6",
|
||||
"make": "Hyundai",
|
||||
@@ -1712,6 +1722,17 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona (without HDA II) 2024-25": {
|
||||
"platform": "HYUNDAI_KONA_2ND_GEN",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Kona (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Electric 2018-21": {
|
||||
"platform": "HYUNDAI_KONA_EV",
|
||||
"make": "Hyundai",
|
||||
@@ -1746,6 +1767,16 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Electric (without HDA II) 2024": {
|
||||
"platform": "HYUNDAI_KONA_EV_2ND_GEN",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Kona Electric (without HDA II)",
|
||||
"year": [
|
||||
"2024"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Electric Non-SCC 2019": {
|
||||
"platform": "HYUNDAI_KONA_EV_NON_SCC",
|
||||
"make": "Hyundai",
|
||||
@@ -1766,6 +1797,16 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Hybrid (without HDA II) 2024": {
|
||||
"platform": "HYUNDAI_KONA_HEV_2ND_GEN",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Kona Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2024"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Kona Non-SCC 2019": {
|
||||
"platform": "HYUNDAI_KONA_NON_SCC",
|
||||
"make": "Hyundai",
|
||||
@@ -1810,6 +1851,16 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Santa Cruz (without HDA II) 2025": {
|
||||
"platform": "HYUNDAI_SANTA_CRUZ_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Santa Cruz (without HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Santa Fe 2019-20": {
|
||||
"platform": "HYUNDAI_SANTA_FE",
|
||||
"make": "Hyundai",
|
||||
@@ -1879,6 +1930,17 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Sonata (without HDA II) 2024-25": {
|
||||
"platform": "HYUNDAI_SONATA_2024",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Sonata (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Sonata Hybrid 2020-23": {
|
||||
"platform": "HYUNDAI_SONATA_HYBRID",
|
||||
"make": "Hyundai",
|
||||
@@ -1892,6 +1954,17 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Sonata Hybrid (without HDA II) 2024-25": {
|
||||
"platform": "HYUNDAI_SONATA_HEV_2024",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Sonata Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Staria 2023": {
|
||||
"platform": "HYUNDAI_STARIA_4TH_GEN",
|
||||
"make": "Hyundai",
|
||||
@@ -1933,6 +2006,17 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Tucson (without HDA II) 2025-26": {
|
||||
"platform": "HYUNDAI_TUCSON_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Tucson (without HDA II)",
|
||||
"year": [
|
||||
"2025",
|
||||
"2026"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Tucson Diesel 2019": {
|
||||
"platform": "HYUNDAI_TUCSON",
|
||||
"make": "Hyundai",
|
||||
@@ -1955,6 +2039,17 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Tucson Hybrid (without HDA II) 2025-26": {
|
||||
"platform": "HYUNDAI_TUCSON_HEV_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Tucson Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2025",
|
||||
"2026"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Tucson Plug-in Hybrid 2024": {
|
||||
"platform": "HYUNDAI_TUCSON_4TH_GEN",
|
||||
"make": "Hyundai",
|
||||
@@ -1965,6 +2060,16 @@
|
||||
],
|
||||
"package": "All"
|
||||
},
|
||||
"Hyundai Tucson Plug-in Hybrid (without HDA II) 2025": {
|
||||
"platform": "HYUNDAI_TUCSON_PHEV_2025",
|
||||
"make": "Hyundai",
|
||||
"brand": "hyundai",
|
||||
"model": "Tucson Plug-in Hybrid (without HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Hyundai Veloster 2019-20": {
|
||||
"platform": "HYUNDAI_VELOSTER",
|
||||
"make": "Hyundai",
|
||||
@@ -2113,6 +2218,26 @@
|
||||
],
|
||||
"package": "No Smart Cruise Control (Non-SCC)"
|
||||
},
|
||||
"Kia K4 (with HDA II) 2025": {
|
||||
"platform": "KIA_K4_2025",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "K4 (with HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K4 (without HDA II) 2025": {
|
||||
"platform": "KIA_K4_2025",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "K4 (without HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K5 2021-24": {
|
||||
"platform": "KIA_K5_2021",
|
||||
"make": "Kia",
|
||||
@@ -2126,6 +2251,16 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K5 (without HDA II) 2025": {
|
||||
"platform": "KIA_K5_2025",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "K5 (without HDA II)",
|
||||
"year": [
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia K5 Hybrid 2020-22": {
|
||||
"platform": "KIA_K5_HEV_2020",
|
||||
"make": "Kia",
|
||||
@@ -2376,6 +2511,17 @@
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia Sorento (without HDA II) 2024-25": {
|
||||
"platform": "KIA_SORENTO_2024",
|
||||
"make": "Kia",
|
||||
"brand": "hyundai",
|
||||
"model": "Sorento (without HDA II)",
|
||||
"year": [
|
||||
"2024",
|
||||
"2025"
|
||||
],
|
||||
"package": "Smart Cruise Control (SCC)"
|
||||
},
|
||||
"Kia Sorento Hybrid 2021-23": {
|
||||
"platform": "KIA_SORENTO_HEV_4TH_GEN",
|
||||
"make": "Kia",
|
||||
|
||||
@@ -14,9 +14,6 @@ class ToyotaFlagsSP(IntFlag):
|
||||
ZSS = 4
|
||||
STOCK_LONGITUDINAL = 8
|
||||
STOP_AND_GO_HACK = 16
|
||||
SP_ENHANCED_BSM = 32
|
||||
SP_NEED_DEBUG_BSM = 64
|
||||
SP_AUTO_BRAKE_HOLD = 128
|
||||
|
||||
|
||||
class ToyotaSafetyFlagsSP:
|
||||
|
||||
Binary file not shown.
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@@ -10,7 +10,7 @@ from cereal import car, log, custom
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
|
||||
from openpilot.common.swaglog import cloudlog, ForwardingHandler
|
||||
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
||||
|
||||
from opendbc.car import DT_CTRL, structs
|
||||
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
@@ -121,13 +121,7 @@ class Car:
|
||||
self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
|
||||
self.RI = RI
|
||||
|
||||
# set alternative experiences from parameters
|
||||
sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
|
||||
self.CP.alternativeExperience = 0
|
||||
if sp_toyota_auto_brake_hold:
|
||||
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
|
||||
|
||||
|
||||
# mads
|
||||
set_alternative_experience(self.CP, self.CP_SP, self.params)
|
||||
set_car_specific_params(self.CP, self.CP_SP, self.params)
|
||||
|
||||
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
|
||||
from opendbc.car.fingerprints import MIGRATION
|
||||
from opendbc.car.honda.values import HondaFlags
|
||||
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
||||
from opendbc.car.structs import car
|
||||
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
|
||||
from opendbc.car.values import Platform, PLATFORMS
|
||||
@@ -358,7 +358,13 @@ class TestCarModelBase(unittest.TestCase):
|
||||
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
|
||||
|
||||
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
|
||||
self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
|
||||
brake_pressed = False
|
||||
|
||||
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
|
||||
|
||||
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
|
||||
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
|
||||
@@ -442,7 +448,12 @@ class TestCarModelBase(unittest.TestCase):
|
||||
checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
|
||||
angle_can < (self.safety.get_angle_meas_min() - 1))
|
||||
|
||||
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
|
||||
# TODO: remove this exception once this mismatch is resolved
|
||||
brake_pressed = CS.brakePressed
|
||||
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
|
||||
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
|
||||
brake_pressed = False
|
||||
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
|
||||
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
|
||||
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
|
||||
|
||||
|
||||
@@ -56,7 +56,7 @@ class DesireHelper:
|
||||
def get_lane_change_direction(CS):
|
||||
return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
|
||||
|
||||
def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
|
||||
def update(self, carstate, lateral_active, lane_change_prob):
|
||||
self.alc.update_params()
|
||||
self.lane_turn_controller.update_params()
|
||||
v_ego = carstate.vEgo
|
||||
@@ -88,8 +88,8 @@ class DesireHelper:
|
||||
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
|
||||
|
||||
blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
|
||||
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
|
||||
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
|
||||
|
||||
self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
|
||||
|
||||
|
||||
@@ -110,7 +110,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
|
||||
accel_clip = [ACCEL_MIN, self.accel.get_max_accel(v_ego)]
|
||||
accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
|
||||
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
|
||||
accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
|
||||
|
||||
@@ -138,7 +138,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
|
||||
self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
self.mpc.update(self.smooth_radarstate(sm['radarState']), v_cruise, personality=sm['selfdriveState'].personality)
|
||||
self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
|
||||
|
||||
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -160,8 +160,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
|
||||
output_should_stop_e2e = sm['modelV2'].action.shouldStop
|
||||
|
||||
is_e2e = self.is_e2e(sm)
|
||||
if is_e2e:
|
||||
if self.is_e2e(sm):
|
||||
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
|
||||
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
|
||||
if output_a_target < output_a_target_mpc:
|
||||
@@ -170,14 +169,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
|
||||
output_a_target = output_a_target_mpc
|
||||
self.output_should_stop = output_should_stop_mpc
|
||||
|
||||
# Acceleration Personality: early soft braking (never weaker than the plan). No-op when disabled.
|
||||
output_a_target = self.accel.smooth_target_accel(output_a_target, self.a_desired_trajectory, CONTROL_N_T_IDX,
|
||||
self.output_should_stop or force_slow_decel, reset=reset_state, stock_brake=is_e2e)
|
||||
|
||||
# Lower (braking) bound and the ceiling's downward slew stay at the stock rate; only the ceiling's
|
||||
# upward slew is tier-dependent (Acceleration Personality).
|
||||
accel_clip[0] = np.clip(accel_clip[0], self.prev_accel_clip[0] - 0.05, self.prev_accel_clip[0] + 0.05)
|
||||
accel_clip[1] = np.clip(accel_clip[1], self.prev_accel_clip[1] - 0.05, self.prev_accel_clip[1] + self.accel.get_rise_rate())
|
||||
for idx in range(2):
|
||||
accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
|
||||
self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
|
||||
self.prev_accel_clip = accel_clip
|
||||
|
||||
|
||||
@@ -28,7 +28,6 @@ from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path,
|
||||
|
||||
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
|
||||
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld"
|
||||
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
|
||||
@@ -224,7 +223,6 @@ def main(demo=False):
|
||||
prev_action = log.ModelDataV2.Action()
|
||||
|
||||
DH = DesireHelper()
|
||||
RELC = RoadEdgeLaneChangeController(DH)
|
||||
|
||||
while True:
|
||||
# Keep receiving frames until we are at least 1 frame ahead of previous extra frame
|
||||
@@ -327,10 +325,7 @@ def main(demo=False):
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
|
||||
mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
|
||||
mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
|
||||
Binary file not shown.
@@ -321,16 +321,9 @@ class SelfdriveD(CruiseHelper):
|
||||
# Handle lane change
|
||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
|
||||
direction = self.sm['modelV2'].meta.laneChangeDirection
|
||||
mdv2sp = self.sm['modelDataV2SP']
|
||||
|
||||
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
self.events.add(EventName.laneChangeBlocked)
|
||||
|
||||
elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
|
||||
(mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
|
||||
self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
|
||||
|
||||
else:
|
||||
if direction == LaneChangeDirection.left:
|
||||
self.events.add(EventName.preLaneChangeLeft)
|
||||
|
||||
@@ -31,15 +31,6 @@ DESCRIPTIONS = {
|
||||
"Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
|
||||
"without a turn signal activated while driving over 31 mph (50 km/h)."
|
||||
),
|
||||
"AccelPersonalityEnabled": tr_noop("Enable Eco/Normal/Sport acceleration profiles, including early soft braking."),
|
||||
"AccelPersonality": tr_noop(
|
||||
"Eco accelerates gently and brakes early and soft; Sport accelerates briskly. " +
|
||||
"Hard-braking authority is always preserved."
|
||||
),
|
||||
"RadarDistance": tr_noop(
|
||||
"Hold a lead through brief radar flicker/dropout so sunnypilot does not lose and re-grab it, " +
|
||||
"smoothing the hard/late brakes that radar drop-outs cause. Braking is never reduced below stock."
|
||||
),
|
||||
"AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot is not engaged."),
|
||||
'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
|
||||
"IsMetric": tr_noop("Display speed in km/h instead of mph."),
|
||||
@@ -73,12 +64,6 @@ class TogglesLayout(Widget):
|
||||
"disengage_on_accelerator.png",
|
||||
False,
|
||||
),
|
||||
"RadarDistance": (
|
||||
lambda: tr("Radar Distance"),
|
||||
DESCRIPTIONS["RadarDistance"],
|
||||
"speed_limit.png",
|
||||
False,
|
||||
),
|
||||
"IsLdwEnabled": (
|
||||
lambda: tr("Enable Lane Departure Warnings"),
|
||||
DESCRIPTIONS["IsLdwEnabled"],
|
||||
@@ -121,24 +106,6 @@ class TogglesLayout(Widget):
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._accel_personality_enabled = toggle_item(
|
||||
lambda: tr("Enable Acceleration Profiles"),
|
||||
lambda: tr(DESCRIPTIONS["AccelPersonalityEnabled"]),
|
||||
self._params.get_bool("AccelPersonalityEnabled"),
|
||||
callback=self._set_accel_personality_enabled,
|
||||
icon="speed_limit.png",
|
||||
)
|
||||
|
||||
self._accel_personality_setting = multiple_button_item(
|
||||
lambda: tr("Acceleration Profile"),
|
||||
lambda: tr(DESCRIPTIONS["AccelPersonality"]),
|
||||
buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
|
||||
button_width=300,
|
||||
callback=self._set_accel_personality,
|
||||
selected_index=self._params.get("AccelPersonality", return_default=True),
|
||||
icon="speed_limit.png"
|
||||
)
|
||||
|
||||
self._toggles = {}
|
||||
self._locked_toggles = set()
|
||||
for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
|
||||
@@ -168,11 +135,9 @@ class TogglesLayout(Widget):
|
||||
|
||||
self._toggles[param] = toggle
|
||||
|
||||
# insert longitudinal + acceleration personality after NDOG toggle
|
||||
# insert longitudinal personality after NDOG toggle
|
||||
if param == "DisengageOnAccelerator":
|
||||
self._toggles["LongitudinalPersonality"] = self._long_personality_setting
|
||||
self._toggles["AccelPersonalityEnabled"] = self._accel_personality_enabled
|
||||
self._toggles["AccelPersonality"] = self._accel_personality_setting
|
||||
|
||||
self._update_experimental_mode_icon()
|
||||
self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
|
||||
@@ -211,15 +176,11 @@ class TogglesLayout(Widget):
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(True)
|
||||
self._toggles["ExperimentalMode"].set_description(e2e_description)
|
||||
self._long_personality_setting.action_item.set_enabled(True)
|
||||
self._accel_personality_enabled.action_item.set_enabled(True)
|
||||
self._accel_personality_setting.action_item.set_enabled(True)
|
||||
else:
|
||||
# no long for now
|
||||
self._toggles["ExperimentalMode"].action_item.set_enabled(False)
|
||||
self._toggles["ExperimentalMode"].action_item.set_state(False)
|
||||
self._long_personality_setting.action_item.set_enabled(False)
|
||||
self._accel_personality_enabled.action_item.set_enabled(False)
|
||||
self._accel_personality_setting.action_item.set_enabled(False)
|
||||
self._params.remove("ExperimentalMode")
|
||||
|
||||
unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
|
||||
@@ -286,9 +247,3 @@ class TogglesLayout(Widget):
|
||||
|
||||
def _set_longitudinal_personality(self, button_index: int):
|
||||
self._params.put("LongitudinalPersonality", button_index, block=True)
|
||||
|
||||
def _set_accel_personality(self, button_index: int):
|
||||
self._params.put("AccelPersonality", button_index, block=True)
|
||||
|
||||
def _set_accel_personality_enabled(self, state: bool):
|
||||
self._params.put_bool("AccelPersonalityEnabled", state, block=True)
|
||||
|
||||
@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView
|
||||
|
||||
ONROAD_DELAY = 2.5 # seconds
|
||||
|
||||
@@ -119,15 +118,13 @@ class MiciMainLayout(Scroller):
|
||||
|
||||
# FIXME: these two pops can interrupt user interacting in the settings
|
||||
if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
|
||||
if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
self._onroad_time_delay = None
|
||||
|
||||
# When car leaves standstill, pop nav stack and scroll to onroad
|
||||
CS = ui_state.sm["carState"]
|
||||
if not CS.standstill and self._prev_standstill:
|
||||
if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
|
||||
self._prev_standstill = CS.standstill
|
||||
|
||||
def _on_interactive_timeout(self):
|
||||
|
||||
@@ -134,6 +134,11 @@ class SteeringLayout(Widget):
|
||||
|
||||
enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
|
||||
nnlc_enabled = self._nnlc_toggle.action_item.get_state()
|
||||
if enforce_torque_enabled and nnlc_enabled:
|
||||
self._torque_control_toggle.action_item.set_state(False)
|
||||
self._nnlc_toggle.action_item.set_state(False)
|
||||
enforce_torque_enabled = False
|
||||
nnlc_enabled = False
|
||||
self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
|
||||
self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
|
||||
self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
|
||||
|
||||
@@ -51,17 +51,11 @@ class LaneChangeSettingsLayout(Widget):
|
||||
description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
|
||||
"(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
|
||||
)
|
||||
self._road_edge_block = toggle_item_sp(
|
||||
param="RoadEdgeLaneChangeEnabled",
|
||||
title=lambda: tr("Block Lane Change: Road Edge Detection"),
|
||||
description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
|
||||
)
|
||||
|
||||
items = [
|
||||
self._lane_change_timer,
|
||||
LineSeparatorSP(40),
|
||||
self._bsm_delay,
|
||||
self._road_edge_block,
|
||||
]
|
||||
|
||||
return items
|
||||
|
||||
@@ -1,13 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
|
||||
|
||||
class MiciMainLayoutSP(MiciMainLayout):
|
||||
def _should_auto_scroll_to_onroad(self) -> bool:
|
||||
return not self._onroad_layout.is_on_info_panel()
|
||||
@@ -1,63 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
|
||||
|
||||
CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
|
||||
HORIZONTAL_SETTLE_PX = 5
|
||||
HORIZONTAL_RESET_RATIO = 0.5
|
||||
|
||||
|
||||
class OnroadViewContainerSP(ScrollerSP):
|
||||
def __init__(self, bookmark_callback=None):
|
||||
super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
|
||||
self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
|
||||
self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
|
||||
|
||||
self._scroller.add_widgets([
|
||||
self.road_view,
|
||||
self.onroad_info_panel,
|
||||
])
|
||||
self._scroller.set_reset_scroll_at_show(False)
|
||||
self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
|
||||
|
||||
for child in (self.road_view, self.onroad_info_panel):
|
||||
inner_touch_valid = child._touch_valid_callback
|
||||
child.set_touch_valid_callback(
|
||||
lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
|
||||
)
|
||||
|
||||
def set_rect(self, rect: rl.Rectangle):
|
||||
super().set_rect(rect)
|
||||
self.road_view.set_rect(rect)
|
||||
self.onroad_info_panel.set_rect(rect)
|
||||
return self
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
|
||||
|
||||
def set_click_callback(self, callback) -> None:
|
||||
self.road_view.set_click_callback(callback)
|
||||
self.onroad_info_panel.set_click_callback(callback)
|
||||
|
||||
def is_on_info_panel(self) -> bool:
|
||||
"""True when scrolled past halfway toward onroad_info_panel (used by main layout
|
||||
to skip auto-pop-back-to-camera while user is reading the info panel)."""
|
||||
return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
|
||||
self._scroller.scroll_panel.set_offset(0)
|
||||
|
||||
vertical_offset = self._scroller.scroll_panel.get_offset()
|
||||
show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
|
||||
self.road_view.set_show_confidence_ball(show_ball)
|
||||
|
||||
super()._render(rect)
|
||||
@@ -1,324 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pyray as rl
|
||||
from dataclasses import dataclass
|
||||
from openpilot.common.constants import CV
|
||||
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, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.application import MousePos
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
|
||||
|
||||
METER_TO_KM = 0.001
|
||||
METER_TO_MILE = 0.000621371
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class OnroadInfoPanelColors:
|
||||
white: rl.Color = rl.WHITE
|
||||
black: rl.Color = rl.BLACK
|
||||
red: rl.Color = rl.Color(255, 0, 0, 255)
|
||||
green: rl.Color = rl.Color(0, 255, 0, 255)
|
||||
grey: rl.Color = rl.Color(190, 195, 190, 255)
|
||||
light_grey: rl.Color = rl.Color(200, 200, 200, 255)
|
||||
dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
|
||||
bg_dark: rl.Color = rl.Color(0, 0, 0, 255)
|
||||
card_bg: rl.Color = rl.Color(50, 50, 50, 200)
|
||||
badge_bg: rl.Color = rl.Color(60, 60, 60, 255)
|
||||
|
||||
|
||||
COLORS = OnroadInfoPanelColors()
|
||||
|
||||
|
||||
class OnroadInfoPanel(Widget):
|
||||
def __init__(self, bookmark_callback=None):
|
||||
super().__init__()
|
||||
self.speed_limit: float = 0.0
|
||||
self.speed_limit_valid: bool = False
|
||||
self.speed_limit_offset: float = 0.0
|
||||
self.next_speed_limit: float = 0.0
|
||||
self.next_speed_limit_distance: float = 0.0
|
||||
self.road_name: str = ""
|
||||
self.current_speed: float = 0.0
|
||||
self.set_speed: float = 0.0
|
||||
self.cruise_enabled: bool = False
|
||||
|
||||
self._sign_slide: float = 0.0
|
||||
|
||||
self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
|
||||
self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
|
||||
|
||||
self._marquee_offset: float = 0.0
|
||||
self._marquee_direction: int = 1
|
||||
self._marquee_pause_timer: float = 0.0
|
||||
self._marquee_speed: float = 40.0
|
||||
self._marquee_pause_duration: float = 1.5
|
||||
|
||||
self._alert_renderer = AlertRenderer()
|
||||
self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
|
||||
|
||||
self._bookmark_icon = BookmarkIcon(bookmark_callback)
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
return self._bookmark_icon.is_swiping_left()
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
|
||||
# Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
|
||||
if not self._bookmark_icon.interacting():
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
def _update_state(self) -> None:
|
||||
sm = ui_state.sm
|
||||
speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
|
||||
|
||||
if sm.valid["longitudinalPlanSP"]:
|
||||
lp_sp = sm["longitudinalPlanSP"]
|
||||
resolver = lp_sp.speedLimit.resolver
|
||||
self.speed_limit = resolver.speedLimit * speed_conv
|
||||
self.speed_limit_valid = resolver.speedLimitValid
|
||||
self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
|
||||
|
||||
if sm.valid["liveMapDataSP"]:
|
||||
lmd = sm["liveMapDataSP"]
|
||||
self.next_speed_limit = lmd.speedLimitAhead * speed_conv
|
||||
self.next_speed_limit_distance = lmd.speedLimitAheadDistance
|
||||
self.road_name = lmd.roadName
|
||||
|
||||
if sm.updated["carState"]:
|
||||
self.current_speed = sm["carState"].vEgo * speed_conv
|
||||
|
||||
if sm.valid["carState"] and sm.valid["controlsState"]:
|
||||
self.cruise_enabled = sm["carState"].cruiseState.enabled
|
||||
v_cruise_cluster = sm["carState"].vCruiseCluster
|
||||
set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
|
||||
self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
self._update_state()
|
||||
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
|
||||
margin = 20
|
||||
mid_y = rect.y + rect.height / 2
|
||||
|
||||
left_x = rect.x + margin
|
||||
|
||||
if self.cruise_enabled:
|
||||
unit = tr("MAX")
|
||||
display_speed = self.set_speed
|
||||
else:
|
||||
unit = tr("km/h") if ui_state.is_metric else tr("MPH")
|
||||
display_speed = self.current_speed
|
||||
|
||||
speed_val = str(round(display_speed))
|
||||
if self.speed_limit_valid and display_speed > self.speed_limit:
|
||||
speed_color = COLORS.red
|
||||
else:
|
||||
speed_color = COLORS.white
|
||||
|
||||
rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, mid_y - 95), 38, 0, COLORS.grey)
|
||||
rl.draw_text_ex(self._font_bold, speed_val, rl.Vector2(left_x, mid_y - 60), 110, 0, speed_color)
|
||||
|
||||
sign_width = 135
|
||||
sign_height = 135 if ui_state.is_metric else 175
|
||||
|
||||
has_next = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
|
||||
target_slide = 1.0 if has_next else 0.0
|
||||
slide_speed = 3.0 * rl.get_frame_time()
|
||||
if self._sign_slide < target_slide:
|
||||
self._sign_slide = min(self._sign_slide + slide_speed, target_slide)
|
||||
elif self._sign_slide > target_slide:
|
||||
self._sign_slide = max(self._sign_slide - slide_speed, target_slide)
|
||||
|
||||
next_w = int(sign_width * 0.7)
|
||||
next_h = int(sign_height * 0.7)
|
||||
next_peek = int(next_w * 0.85) + 5
|
||||
centered_x = rect.x + rect.width - sign_width - margin
|
||||
shifted_x = rect.x + rect.width - sign_width - margin - next_peek
|
||||
sign_x = centered_x + (shifted_x - centered_x) * self._sign_slide
|
||||
sign_y = rect.y + (rect.height - sign_height) / 2
|
||||
|
||||
road_y = mid_y + 55
|
||||
road_width = sign_x - left_x - margin
|
||||
self._draw_road_name(left_x, road_y, road_width)
|
||||
|
||||
if has_next and self._sign_slide > 0.01:
|
||||
next_val = str(round(self.next_speed_limit))
|
||||
dist_str = self._format_distance(self.next_speed_limit_distance)
|
||||
next_x = sign_x + sign_width - int(next_w * 0.15)
|
||||
next_y = sign_y + (sign_height - next_h) / 2
|
||||
|
||||
next_speed_color = COLORS.black
|
||||
if ui_state.is_metric:
|
||||
self._draw_vienna_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
|
||||
else:
|
||||
self._draw_mutcd_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
|
||||
|
||||
dist_size = measure_text_cached(self._font_medium, dist_str, 24)
|
||||
rl.draw_text_ex(self._font_medium, dist_str, rl.Vector2(next_x + next_w / 2 - dist_size.x / 2, next_y + next_h + 4), 24, 0, COLORS.grey)
|
||||
|
||||
self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
|
||||
|
||||
if self.speed_limit_offset != 0 and self.speed_limit_valid:
|
||||
offset_val = str(abs(round(self.speed_limit_offset)))
|
||||
badge_sz = 42
|
||||
badge_x = sign_x + sign_width - badge_sz * 0.85
|
||||
badge_y = sign_y - badge_sz * 0.25
|
||||
|
||||
if ui_state.is_metric:
|
||||
badge_r = badge_sz / 2
|
||||
badge_cx = badge_x + badge_r
|
||||
badge_cy = badge_y + badge_r
|
||||
rl.draw_circle(int(badge_cx), int(badge_cy), badge_r + 2, COLORS.dark_grey)
|
||||
rl.draw_circle(int(badge_cx), int(badge_cy), badge_r, COLORS.badge_bg)
|
||||
self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(badge_cx, badge_cy), COLORS.white)
|
||||
else:
|
||||
mutcd_badge_x = sign_x + sign_width - badge_sz * 0.65
|
||||
mutcd_badge_y = sign_y - badge_sz * 0.50
|
||||
badge_rect = rl.Rectangle(mutcd_badge_x, mutcd_badge_y, badge_sz, badge_sz)
|
||||
rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
|
||||
rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
|
||||
self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(mutcd_badge_x + badge_sz / 2, mutcd_badge_y + badge_sz / 2), COLORS.white)
|
||||
|
||||
# SCC
|
||||
speed_size = measure_text_cached(self._font_bold, speed_val, 110)
|
||||
scc_x = left_x + speed_size.x + 30
|
||||
scc_y = mid_y - 50
|
||||
self._draw_scc_icons(scc_x, scc_y)
|
||||
|
||||
self._bookmark_icon.render(rect)
|
||||
|
||||
if ui_state.started:
|
||||
alert_obj, no_alert = self._alert_renderer.will_render()
|
||||
self._alert_alpha_filter.update(0 if no_alert else 1)
|
||||
alpha = self._alert_alpha_filter.x
|
||||
if alpha > 0.01:
|
||||
rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
|
||||
self._alert_renderer.render(rect)
|
||||
|
||||
def _draw_scc_icons(self, x: float, y: float) -> None:
|
||||
sm = ui_state.sm
|
||||
if not sm.valid["longitudinalPlanSP"]:
|
||||
return
|
||||
scc = sm["longitudinalPlanSP"].smartCruiseControl
|
||||
|
||||
box_w, box_h = 100, 36
|
||||
gap = 6
|
||||
drawn = 0
|
||||
|
||||
for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
|
||||
if not active:
|
||||
continue
|
||||
bx = x
|
||||
by = y + drawn * (box_h + gap)
|
||||
rl.draw_rectangle_rounded(rl.Rectangle(bx, by, box_w, box_h), 0.3, 10, COLORS.green)
|
||||
self._draw_text_centered(self._font_bold, label, 20, rl.Vector2(bx + box_w / 2, by + box_h / 2), COLORS.black)
|
||||
drawn += 1
|
||||
|
||||
def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
|
||||
speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
|
||||
speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
|
||||
|
||||
if ui_state.is_metric:
|
||||
self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
|
||||
else:
|
||||
self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
|
||||
|
||||
def _draw_road_name(self, x: float, y: float, width: float) -> None:
|
||||
road_display = self.road_name if self.road_name else "--"
|
||||
font_size = 30
|
||||
road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
|
||||
text_width = road_size.x
|
||||
|
||||
if text_width <= width:
|
||||
self._marquee_offset = 0.0
|
||||
self._marquee_direction = 1
|
||||
self._marquee_pause_timer = 0.0
|
||||
rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
|
||||
else:
|
||||
overflow = text_width - width
|
||||
dt = rl.get_frame_time()
|
||||
|
||||
if self._marquee_pause_timer > 0:
|
||||
self._marquee_pause_timer -= dt
|
||||
else:
|
||||
self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
|
||||
|
||||
if self._marquee_offset >= overflow:
|
||||
self._marquee_offset = overflow
|
||||
self._marquee_direction = -1
|
||||
self._marquee_pause_timer = self._marquee_pause_duration
|
||||
elif self._marquee_offset <= 0:
|
||||
self._marquee_offset = 0
|
||||
self._marquee_direction = 1
|
||||
self._marquee_pause_timer = self._marquee_pause_duration
|
||||
|
||||
rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
|
||||
text_pos = rl.Vector2(x - self._marquee_offset, y)
|
||||
rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
|
||||
rl.end_scissor_mode()
|
||||
|
||||
def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
|
||||
center = rl.Vector2(x + width / 2, y + height / 2)
|
||||
outer_radius = min(width, height) / 2
|
||||
|
||||
rl.draw_circle_v(center, outer_radius, COLORS.white)
|
||||
ring_width = outer_radius * 0.18
|
||||
rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
|
||||
|
||||
font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
|
||||
text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
|
||||
text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
|
||||
|
||||
def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
|
||||
sign_rect = rl.Rectangle(x, y, width, height)
|
||||
rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
|
||||
|
||||
inset = max(4, width * 0.05)
|
||||
inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
|
||||
outer_radius = 0.35 * width / 2.0
|
||||
inner_radius = outer_radius - inset
|
||||
inner_roundness = inner_radius / (inner_rect.width / 2.0)
|
||||
rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
|
||||
|
||||
mid_x = x + width / 2
|
||||
label_size = max(18, int(width * 0.26))
|
||||
if is_upcoming:
|
||||
self._draw_text_centered(self._font_bold, tr("AHEAD"), label_size, rl.Vector2(mid_x, y + height * 0.27), COLORS.black)
|
||||
else:
|
||||
self._draw_text_centered(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black)
|
||||
self._draw_text_centered(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black)
|
||||
|
||||
speed_font_size = int(width * 0.52) if len(speed_str) >= 3 else int(width * 0.62)
|
||||
self._draw_text_centered(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color)
|
||||
|
||||
def _draw_text_centered(self, font, text, size, pos_center, color):
|
||||
sz = measure_text_cached(font, text, size)
|
||||
rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
|
||||
|
||||
def _format_distance(self, distance: float) -> str:
|
||||
if ui_state.is_metric:
|
||||
if distance < 50:
|
||||
return tr("Near")
|
||||
if distance >= 1000:
|
||||
return f"{distance * METER_TO_KM:.1f}" + tr("km")
|
||||
if distance < 200:
|
||||
rounded = max(10, int(distance / 10) * 10)
|
||||
else:
|
||||
rounded = int(distance / 100) * 100
|
||||
return str(rounded) + tr("m")
|
||||
else:
|
||||
distance_mi = distance * METER_TO_MILE
|
||||
if distance_mi < 0.1:
|
||||
return tr("Near")
|
||||
return f"{distance_mi:.1f}" + tr("mi")
|
||||
@@ -1,30 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
|
||||
|
||||
|
||||
class _SuppressedConfidenceBall:
|
||||
def render(self, *_):
|
||||
pass
|
||||
|
||||
|
||||
class AugmentedRoadViewSP(AugmentedRoadView):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
self._show_confidence_ball: bool = True
|
||||
self._real_confidence_ball = self._confidence_ball
|
||||
self._confidence_ball = _SuppressedConfidenceBall()
|
||||
|
||||
def set_show_confidence_ball(self, show: bool) -> None:
|
||||
self._show_confidence_ball = show
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
super()._render(rect)
|
||||
if self._show_confidence_ball:
|
||||
self._real_confidence_ball.render(self.rect)
|
||||
@@ -1,34 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.system.ui.lib.application import MouseEvent
|
||||
from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
|
||||
|
||||
|
||||
class GuiScrollPanel2SP(GuiScrollPanel2):
|
||||
"""Reject orthogonal-dominant drags so nested scrollers (outer horizontal +
|
||||
inner vertical) don't both engage on a slightly diagonal swipe.
|
||||
|
||||
Implemented as a post-super state rollback rather than reimplementing the
|
||||
PRESSED state machine — keeps stock behaviour authoritative."""
|
||||
|
||||
def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
|
||||
content_size: float) -> None:
|
||||
pre_state = self._state
|
||||
super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
|
||||
|
||||
if self._state == ScrollState.MANUAL_SCROLL and pre_state == ScrollState.PRESSED and \
|
||||
self._initial_click_event is not None:
|
||||
diff_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
|
||||
diff_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
|
||||
along = diff_x if self._horizontal else diff_y
|
||||
anti = diff_y if self._horizontal else diff_x
|
||||
if anti > along:
|
||||
self._state = ScrollState.STEADY
|
||||
self._velocity = 0.0
|
||||
self._velocity_buffer.clear()
|
||||
@@ -1,16 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
|
||||
|
||||
|
||||
class ScrollerSP(Scroller):
|
||||
def __init__(self, **kwargs):
|
||||
super().__init__(**kwargs)
|
||||
inner = self._scroller
|
||||
inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)
|
||||
@@ -179,6 +179,10 @@ class UIStateSP:
|
||||
CP = self.CP
|
||||
|
||||
if CP is not None:
|
||||
if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
|
||||
self.params.put_bool("EnforceTorqueControl", False, block=True)
|
||||
self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
|
||||
|
||||
# Angle steering: no torque-based lateral controls
|
||||
if CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
self.params.remove("EnforceTorqueControl")
|
||||
|
||||
@@ -10,9 +10,6 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
|
||||
from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
|
||||
|
||||
BIG_UI = gui_app.big_ui()
|
||||
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define SUNNYPILOT_VERSION "2026.06.18-4546"
|
||||
#define SUNNYPILOT_VERSION "2026.06.17-4545"
|
||||
|
||||
@@ -188,7 +188,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
n_frames = img_shape[1] // 6
|
||||
img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
|
||||
|
||||
npy_keys = {}
|
||||
numpy_keys = {}
|
||||
queue_keys = {}
|
||||
|
||||
for key, shape in input_shapes.items():
|
||||
@@ -196,7 +196,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
continue
|
||||
if len(shape) == 3 and shape[1] > 1:
|
||||
if key.startswith('desire'):
|
||||
npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
|
||||
queue_keys[f'{key}_q'] = Tensor(
|
||||
np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
@@ -205,24 +205,24 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
|
||||
np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
|
||||
device=device).contiguous().realize()
|
||||
else:
|
||||
npy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
elif len(shape) == 2:
|
||||
npy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
numpy_keys[key] = np.zeros(shape, dtype=np.float32)
|
||||
|
||||
if 'traffic_convention' not in npy_keys:
|
||||
if 'traffic_convention' not in numpy_keys:
|
||||
tc_shape = input_shapes.get('traffic_convention', (1, 2))
|
||||
npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
|
||||
|
||||
npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
|
||||
|
||||
input_queues = {
|
||||
'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
|
||||
**queue_keys,
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
|
||||
**{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
|
||||
}
|
||||
return input_queues, npy_keys
|
||||
return input_queues, numpy_keys
|
||||
|
||||
|
||||
def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
|
||||
|
||||
@@ -40,7 +40,6 @@ from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelp
|
||||
from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
|
||||
from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
|
||||
|
||||
@@ -63,11 +62,6 @@ def _find_driving_pkl(bundle):
|
||||
if _pkl_exists(pkl_path):
|
||||
return pkl_path
|
||||
|
||||
fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
|
||||
if _pkl_exists(fallback):
|
||||
return fallback
|
||||
return None
|
||||
|
||||
|
||||
class FrameMeta:
|
||||
frame_id: int = 0
|
||||
@@ -126,7 +120,7 @@ class ModelState(ModelStateBase):
|
||||
self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
|
||||
frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
|
||||
self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
|
||||
self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
|
||||
else:
|
||||
vision_metadata = metadata['vision']
|
||||
policy_keys = [k for k in metadata if k != 'vision']
|
||||
@@ -144,7 +138,7 @@ class ModelState(ModelStateBase):
|
||||
policy_input_shapes = first_policy_metadata['input_shapes']
|
||||
self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
|
||||
frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
|
||||
self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
|
||||
self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
|
||||
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
|
||||
from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
|
||||
@@ -184,7 +178,7 @@ class ModelState(ModelStateBase):
|
||||
|
||||
@property
|
||||
def desire_key(self) -> str:
|
||||
return next(k for k in self.npy if k.startswith('desire'))
|
||||
return next(k for k in self.numpy_inputs if k.startswith('desire'))
|
||||
|
||||
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
|
||||
inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
|
||||
@@ -200,16 +194,16 @@ class ModelState(ModelStateBase):
|
||||
|
||||
desire_key = self.desire_key
|
||||
inputs[desire_key][0] = 0
|
||||
self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
|
||||
self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
|
||||
self.prev_desire[:] = inputs[desire_key]
|
||||
for key in ('traffic_convention', 'lateral_control_params'):
|
||||
if key in self.npy and key in inputs:
|
||||
self.npy[key][:] = inputs[key]
|
||||
if key in self.numpy_inputs and key in inputs:
|
||||
self.numpy_inputs[key][:] = inputs[key]
|
||||
|
||||
road_key = next(n for n in bufs if 'big' not in n)
|
||||
wide_key = next(n for n in bufs if 'big' in n)
|
||||
self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
|
||||
self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
|
||||
|
||||
if prepare_only:
|
||||
self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
|
||||
@@ -237,8 +231,8 @@ class ModelState(ModelStateBase):
|
||||
if 'planplus' in outputs and 'plan' in outputs:
|
||||
outputs['plan'] = outputs['plan'] + outputs['planplus']
|
||||
|
||||
if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
|
||||
buf = self.npy['prev_desired_curv']
|
||||
if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
|
||||
buf = self.numpy_inputs['prev_desired_curv']
|
||||
buf[0, :-1] = buf[0, 1:]
|
||||
buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
|
||||
|
||||
@@ -330,7 +324,6 @@ def main(demo=False):
|
||||
prev_action = log.ModelDataV2.Action()
|
||||
|
||||
DH = DesireHelper()
|
||||
RELC = RoadEdgeLaneChangeController(DH)
|
||||
meta_constants = load_meta_constants()
|
||||
|
||||
while True:
|
||||
@@ -411,7 +404,7 @@ def main(demo=False):
|
||||
'traffic_convention': traffic_convention,
|
||||
}
|
||||
|
||||
if 'lateral_control_params' in model.npy:
|
||||
if 'lateral_control_params' in model.numpy_inputs:
|
||||
inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
|
||||
|
||||
mt1 = time.perf_counter()
|
||||
@@ -435,10 +428,7 @@ def main(demo=False):
|
||||
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
|
||||
r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
|
||||
lane_change_prob = l_lane_change_prob + r_lane_change_prob
|
||||
RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
|
||||
mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
|
||||
mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
|
||||
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
|
||||
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
|
||||
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
|
||||
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
## Neural networks in openpilot
|
||||
To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
|
||||
|
||||
## Supercombo
|
||||
### Supercombo input format (Full size: 799906 x float32)
|
||||
* **image stream**
|
||||
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
|
||||
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **wide image stream**
|
||||
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
|
||||
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
|
||||
* Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
|
||||
* Channel 4 represents the half-res U channel
|
||||
* Channel 5 represents the half-res V channel
|
||||
* **desire**
|
||||
* one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
|
||||
* **traffic convention**
|
||||
* one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
|
||||
* **feature buffer**
|
||||
* A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
|
||||
|
||||
|
||||
### Supercombo output format (Full size: XXX x float32)
|
||||
Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
|
||||
|
||||
|
||||
## Driver Monitoring Model
|
||||
* .onnx model can be run with onnx runtimes
|
||||
* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
|
||||
|
||||
### input format
|
||||
* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
|
||||
* full input size is 1440 * 960 = 1382400
|
||||
* normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
|
||||
* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
|
||||
|
||||
### output format
|
||||
* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
|
||||
* for each person in the front seats (2 * 41)
|
||||
* face pose: 12 = 6 + 6
|
||||
* face orientation [pitch, yaw, roll] in camera frame: 3
|
||||
* face position [dx, dy] relative to image center: 2
|
||||
* normalized face size: 1
|
||||
* standard deviations for above outputs: 6
|
||||
* face visible probability: 1
|
||||
* eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
|
||||
* eye position and size, and their standard deviations: 8
|
||||
* eye visible probability: 1
|
||||
* eye closed probability: 1
|
||||
* wearing sunglasses probability: 1
|
||||
* face occluded probability: 1
|
||||
* touching wheel probability: 1
|
||||
* paying attention probability: 1
|
||||
* (deprecated) distracted probabilities: 2
|
||||
* using phone probability: 1
|
||||
* distracted probability: 1
|
||||
* common outputs 2
|
||||
* poor camera vision probability: 1
|
||||
* left hand drive probability: 1
|
||||
@@ -1,101 +0,0 @@
|
||||
// clang++ -O2 repro.cc && ./a.out
|
||||
|
||||
#include <sched.h>
|
||||
#include <sys/types.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <ctime>
|
||||
|
||||
static inline double millis_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
|
||||
}
|
||||
|
||||
#define MODEL_WIDTH 320
|
||||
#define MODEL_HEIGHT 640
|
||||
|
||||
// null function still breaks it
|
||||
#define input_lambda(x) x
|
||||
|
||||
// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
|
||||
void inner(uint8_t *resized_buf, float *net_input_buf) {
|
||||
int resized_width = MODEL_WIDTH;
|
||||
int resized_height = MODEL_HEIGHT;
|
||||
|
||||
// one shot conversion, O(n) anyway
|
||||
// yuvframe2tensor, normalize
|
||||
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
|
||||
for (int c = 0; c < MODEL_WIDTH/2; c++) {
|
||||
// Y_ul
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
|
||||
// Y_ur
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
|
||||
// Y_dl
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
|
||||
// Y_dr
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
|
||||
// U
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
|
||||
// V
|
||||
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float trial() {
|
||||
int resized_width = MODEL_WIDTH;
|
||||
int resized_height = MODEL_HEIGHT;
|
||||
|
||||
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
|
||||
|
||||
// allocate the buffers
|
||||
uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
|
||||
float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
|
||||
printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
|
||||
|
||||
// test for bad buffers
|
||||
static int CNT = 20;
|
||||
float avg = 0.0;
|
||||
for (int i = 0; i < CNT; i++) {
|
||||
double s4 = millis_since_boot();
|
||||
inner(resized_buf, net_input_buf);
|
||||
double s5 = millis_since_boot();
|
||||
avg += s5-s4;
|
||||
}
|
||||
avg /= CNT;
|
||||
|
||||
// once it's bad, it's reliably bad
|
||||
if (avg > 10) {
|
||||
printf("HIT %f\n", avg);
|
||||
printf("BAD\n");
|
||||
|
||||
for (int i = 0; i < 200; i++) {
|
||||
double s4 = millis_since_boot();
|
||||
inner(resized_buf, net_input_buf);
|
||||
double s5 = millis_since_boot();
|
||||
printf("%.2f ", s5-s4);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
// don't free so we get a different buffer each time
|
||||
//free(resized_buf);
|
||||
//free(net_input_buf);
|
||||
|
||||
return avg;
|
||||
}
|
||||
|
||||
int main() {
|
||||
while (true) {
|
||||
float ret = trial();
|
||||
printf("got %f\n", ret);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -46,16 +46,6 @@ class TestFindDrivingPkl:
|
||||
assert result is not None
|
||||
assert 'driving_fof_tinygrad.pkl' in result
|
||||
|
||||
def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
|
||||
(tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
|
||||
from openpilot.system.hardware import hw
|
||||
monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
|
||||
|
||||
bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
|
||||
result = _find_driving_pkl(bundle)
|
||||
assert result is not None
|
||||
assert 'driving_tinygrad.pkl' in result
|
||||
|
||||
|
||||
# Init — assertion guard
|
||||
|
||||
@@ -84,8 +74,8 @@ class TestStockEquivalence:
|
||||
skip_keys = {'action_t'}
|
||||
assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
|
||||
f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
|
||||
assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
|
||||
f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
|
||||
assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
|
||||
f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
|
||||
|
||||
def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
|
||||
from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
|
||||
@@ -188,16 +178,16 @@ class TestInputQueueCreation:
|
||||
def test_npy_contains_transforms(self, archetype_name, model_state_factory):
|
||||
arch = ARCHETYPES[archetype_name]
|
||||
state = model_state_factory(arch)
|
||||
assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
|
||||
assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
|
||||
assert state.npy['tfm'].shape == (3, 3)
|
||||
assert state.npy['big_tfm'].shape == (3, 3)
|
||||
assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
|
||||
assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
|
||||
assert state.numpy_inputs['tfm'].shape == (3, 3)
|
||||
assert state.numpy_inputs['big_tfm'].shape == (3, 3)
|
||||
|
||||
@pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
|
||||
def test_npy_contains_desire(self, archetype_name, model_state_factory):
|
||||
arch = ARCHETYPES[archetype_name]
|
||||
state = model_state_factory(arch)
|
||||
assert arch.expected_desire_key in state.npy, \
|
||||
assert arch.expected_desire_key in state.numpy_inputs, \
|
||||
f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
|
||||
|
||||
|
||||
|
||||
@@ -1,2 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
|
||||
@@ -1,69 +0,0 @@
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include "tensorflow/c/c_api.h"
|
||||
|
||||
void* read_file(const char* path, size_t* out_len) {
|
||||
FILE* f = fopen(path, "r");
|
||||
if (!f) {
|
||||
return NULL;
|
||||
}
|
||||
fseek(f, 0, SEEK_END);
|
||||
long f_len = ftell(f);
|
||||
rewind(f);
|
||||
|
||||
char* buf = (char*)calloc(f_len, 1);
|
||||
assert(buf);
|
||||
|
||||
size_t num_read = fread(buf, f_len, 1, f);
|
||||
fclose(f);
|
||||
|
||||
if (num_read != 1) {
|
||||
free(buf);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (out_len) {
|
||||
*out_len = f_len;
|
||||
}
|
||||
|
||||
return buf;
|
||||
}
|
||||
|
||||
static void DeallocateBuffer(void* data, size_t) {
|
||||
free(data);
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
TF_Buffer* buf;
|
||||
TF_Graph* graph;
|
||||
TF_Status* status;
|
||||
char *path = argv[1];
|
||||
|
||||
// load model
|
||||
{
|
||||
size_t model_size;
|
||||
char tmp[1024];
|
||||
snprintf(tmp, sizeof(tmp), "%s.pb", path);
|
||||
printf("loading model %s\n", tmp);
|
||||
uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
|
||||
buf = TF_NewBuffer();
|
||||
buf->data = model_data;
|
||||
buf->length = model_size;
|
||||
buf->data_deallocator = DeallocateBuffer;
|
||||
printf("loaded model of size %d\n", model_size);
|
||||
}
|
||||
|
||||
// import graph
|
||||
status = TF_NewStatus();
|
||||
graph = TF_NewGraph();
|
||||
TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
|
||||
TF_GraphImportGraphDef(graph, buf, opts, status);
|
||||
TF_DeleteImportGraphDefOptions(opts);
|
||||
TF_DeleteBuffer(buf);
|
||||
if (TF_GetCode(status) != TF_OK) {
|
||||
printf("FAIL: %s\n", TF_Message(status));
|
||||
} else {
|
||||
printf("SUCCESS\n");
|
||||
}
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import tensorflow as tf
|
||||
|
||||
with open(sys.argv[1], "rb") as f:
|
||||
graph_def = tf.compat.v1.GraphDef()
|
||||
graph_def.ParseFromString(f.read())
|
||||
#tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
|
||||
@@ -1,38 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import os
|
||||
import time
|
||||
import numpy as np
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
|
||||
|
||||
N = int(os.getenv("N", "5"))
|
||||
TIME = int(os.getenv("TIME", "30"))
|
||||
|
||||
if __name__ == "__main__":
|
||||
sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
|
||||
|
||||
execution_times = []
|
||||
|
||||
for _ in range(N):
|
||||
os.environ['LOGPRINT'] = 'debug'
|
||||
managed_processes['modeld'].start()
|
||||
time.sleep(5)
|
||||
|
||||
t = []
|
||||
start = time.monotonic()
|
||||
while time.monotonic() - start < TIME:
|
||||
msgs = messaging.drain_sock(sock, wait_for_one=True)
|
||||
for m in msgs:
|
||||
t.append(m.modelV2.modelExecutionTime)
|
||||
|
||||
execution_times.append(np.array(t[10:]) * 1000)
|
||||
managed_processes['modeld'].stop()
|
||||
|
||||
print("\n\n")
|
||||
print(f"ran modeld {N} times for {TIME}s each")
|
||||
for _, t in enumerate(execution_times):
|
||||
print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
|
||||
print("\n\n")
|
||||
+117
-85
@@ -6,80 +6,138 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
import hashlib
|
||||
import os
|
||||
import pickle
|
||||
from pathlib import Path
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from cereal import custom
|
||||
from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from pathlib import Path
|
||||
|
||||
# see the README.md for more details on the model selector versioning
|
||||
CURRENT_SELECTOR_VERSION = 15
|
||||
REQUIRED_MIN_SELECTOR_VERSION = 14
|
||||
|
||||
# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
|
||||
REQUIRED_JSON_VERSION = 15
|
||||
|
||||
CUSTOM_MODEL_PATH = Paths.model_root()
|
||||
METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
|
||||
|
||||
ModelManager = custom.ModelManagerSP
|
||||
_LAST_VALIDATED_RAW = None
|
||||
|
||||
|
||||
def _compute_hash(file_path: str) -> str | None:
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
try:
|
||||
return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
|
||||
except FileNotFoundError:
|
||||
return None
|
||||
|
||||
|
||||
async def verify_file(file_path: str, expected_hash: str) -> bool:
|
||||
from openpilot.common.file_chunker import read_file_chunked
|
||||
try:
|
||||
data = read_file_chunked(file_path)
|
||||
except FileNotFoundError:
|
||||
return False
|
||||
return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
|
||||
file_hash = _compute_hash(file_path)
|
||||
return file_hash == expected_hash.lower() if file_hash else False
|
||||
|
||||
|
||||
def _verify_file(file_path: str, expected_hash: str) -> bool:
|
||||
file_hash = _compute_hash(file_path)
|
||||
return file_hash == expected_hash.lower() if file_hash else False
|
||||
|
||||
|
||||
def is_bundle_version_compatible(bundle: dict) -> bool:
|
||||
"""
|
||||
Checks whether the model bundle is compatible with the current selector version constraints.
|
||||
|
||||
The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
|
||||
The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
|
||||
required to load the model. This function ensures that:
|
||||
|
||||
1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
|
||||
2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
|
||||
|
||||
This allows the selector to enforce both a minimum and maximum range of supported models,
|
||||
even if a model would otherwise be compatible.
|
||||
|
||||
:param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
|
||||
:type bundle: Dict
|
||||
:return: True if the selector version is within the accepted range for the bundle; otherwise False.
|
||||
:rtype: Bool
|
||||
the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
|
||||
"""
|
||||
return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
|
||||
return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
|
||||
|
||||
|
||||
def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
|
||||
"""Gets the active model bundle from cache"""
|
||||
if params is None:
|
||||
params = Params()
|
||||
def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
|
||||
artifacts = []
|
||||
for model in getattr(bundle, 'models', []) or []:
|
||||
for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
|
||||
if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
|
||||
sha256 = getattr(artifact.downloadUri, 'sha256', None)
|
||||
if sha256:
|
||||
artifacts.append((artifact.fileName, sha256))
|
||||
return artifacts
|
||||
|
||||
|
||||
def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
|
||||
model_root = Paths.model_root()
|
||||
return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
|
||||
for file_name, expected_hash in _bundle_artifacts(bundle))
|
||||
|
||||
|
||||
def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
|
||||
if active_bundle is None:
|
||||
return False
|
||||
|
||||
if available_bundles is not None:
|
||||
matching_bundle = None
|
||||
for bundle in available_bundles:
|
||||
if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
|
||||
if active_bundle.ref == bundle.ref:
|
||||
matching_bundle = bundle
|
||||
break
|
||||
elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
|
||||
matching_bundle = bundle
|
||||
break
|
||||
|
||||
if matching_bundle is None:
|
||||
return True
|
||||
if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
|
||||
return True
|
||||
|
||||
active_runner = getattr(active_bundle, 'runner', None)
|
||||
matching_runner = getattr(matching_bundle, 'runner', None)
|
||||
if active_runner is not None and matching_runner is not None:
|
||||
if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
|
||||
return True
|
||||
if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
|
||||
return True
|
||||
|
||||
return not _bundle_is_valid_locally(active_bundle)
|
||||
|
||||
|
||||
def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
|
||||
global _LAST_VALIDATED_RAW
|
||||
|
||||
raw_bundle = params.get("ModelManager_ActiveBundle")
|
||||
if not raw_bundle:
|
||||
return
|
||||
|
||||
if raw_bundle == _LAST_VALIDATED_RAW:
|
||||
return
|
||||
|
||||
active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
|
||||
if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
|
||||
cloudlog.warning("Active model bundle invalid; resetting to default")
|
||||
params.remove("ModelManager_ActiveBundle")
|
||||
params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
|
||||
_LAST_VALIDATED_RAW = None
|
||||
else:
|
||||
_LAST_VALIDATED_RAW = raw_bundle
|
||||
|
||||
|
||||
def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
|
||||
params = params or Params()
|
||||
try:
|
||||
if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
|
||||
return custom.ModelManagerSP.ModelBundle(**active_bundle)
|
||||
active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
|
||||
if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
|
||||
return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
return None
|
||||
|
||||
|
||||
def get_active_model_runner(params: Params = None, force_check=False) -> int:
|
||||
if params is None:
|
||||
params = Params()
|
||||
|
||||
def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
|
||||
params = params or Params()
|
||||
cached_runner_type = params.get("ModelRunnerTypeCache")
|
||||
if cached_runner_type is not None and not force_check:
|
||||
return cached_runner_type
|
||||
|
||||
runner_type = custom.ModelManagerSP.Runner.stock
|
||||
|
||||
if active_bundle := get_active_bundle(params):
|
||||
runner_type = active_bundle.runner.raw
|
||||
|
||||
@@ -88,66 +146,40 @@ def get_active_model_runner(params: Params = None, force_check=False) -> int:
|
||||
|
||||
return runner_type
|
||||
|
||||
|
||||
def _get_model():
|
||||
if bundle := get_active_bundle():
|
||||
drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
|
||||
return drive_model
|
||||
|
||||
return None
|
||||
|
||||
def load_metadata():
|
||||
metadata_path = METADATA_PATH
|
||||
|
||||
if model := _get_model():
|
||||
metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
|
||||
def load_metadata():
|
||||
model = _get_model()
|
||||
metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
|
||||
|
||||
with open(metadata_path, 'rb') as f:
|
||||
return pickle.load(f)
|
||||
|
||||
|
||||
def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
|
||||
# img buffers are managed in openCL transform code so we don't pass them as inputs
|
||||
inputs = {
|
||||
k: np.zeros(v, dtype=np.float32).flatten()
|
||||
for k, v in model_metadata['input_shapes'].items()
|
||||
if 'img' not in k
|
||||
def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
|
||||
return {
|
||||
key: np.zeros(shape, dtype=np.float32).flatten()
|
||||
for key, shape in model_metadata['input_shapes'].items()
|
||||
if 'img' not in key
|
||||
}
|
||||
|
||||
return inputs
|
||||
|
||||
def load_meta_constants(model_metadata: dict):
|
||||
""" Loads the appropriate meta model class based on key shapes"""
|
||||
if 'sim_pose' in model_metadata['input_shapes']:
|
||||
return MetaSimPose
|
||||
|
||||
def load_meta_constants(model_metadata):
|
||||
"""
|
||||
Determines and loads the appropriate meta model class based on the metadata provided. The function checks
|
||||
specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
|
||||
model class to return.
|
||||
meta_slice = model_metadata['output_slices']['meta']
|
||||
if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
|
||||
return MetaTombRaider
|
||||
|
||||
:param model_metadata: Dictionary containing metadata about the model. It includes
|
||||
details such as input shapes, output slices, and other configurations for identifying
|
||||
metadata-dependent meta model classes.
|
||||
:type model_metadata: dict
|
||||
:return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
|
||||
based on the conditions and metadata provided.
|
||||
:rtype: type
|
||||
"""
|
||||
meta = Meta # Default Meta
|
||||
|
||||
if 'sim_pose' in model_metadata['input_shapes'].keys():
|
||||
# Meta for models with sim_pose input
|
||||
meta = MetaSimPose
|
||||
else:
|
||||
# Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
|
||||
meta_slice = model_metadata['output_slices']['meta']
|
||||
meta_tf_slice = slice(5868, 5921, None)
|
||||
|
||||
if (
|
||||
meta_slice.start == meta_tf_slice.start and
|
||||
meta_slice.stop == meta_tf_slice.stop and
|
||||
meta_slice.step == meta_tf_slice.step
|
||||
):
|
||||
meta = MetaTombRaider
|
||||
|
||||
return meta
|
||||
return Meta
|
||||
|
||||
|
||||
# The following method(s) are modeld helper methods
|
||||
|
||||
@@ -17,7 +17,7 @@ from openpilot.system.hardware.hw import Paths
|
||||
|
||||
from cereal import messaging, custom
|
||||
from openpilot.sunnypilot.models.fetcher import ModelFetcher
|
||||
from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
|
||||
from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
|
||||
|
||||
|
||||
class ModelManagerSP:
|
||||
@@ -239,6 +239,7 @@ class ModelManagerSP:
|
||||
while True:
|
||||
try:
|
||||
self.available_models = self.model_fetcher.get_available_bundles()
|
||||
validate_active_bundle(self.params, self.available_models)
|
||||
self.active_bundle = get_active_bundle(self.params)
|
||||
|
||||
if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
|
||||
@@ -252,8 +253,8 @@ class ModelManagerSP:
|
||||
self.selected_bundle = None
|
||||
|
||||
if self.params.get("ModelManager_ClearCache"):
|
||||
self.clear_model_cache()
|
||||
self.params.remove("ModelManager_ClearCache")
|
||||
self.clear_model_cache()
|
||||
self.params.remove("ModelManager_ClearCache")
|
||||
|
||||
self._report_status()
|
||||
rk.keep_time()
|
||||
|
||||
@@ -1,239 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from collections.abc import Sequence
|
||||
|
||||
import numpy as np
|
||||
|
||||
from cereal import messaging
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot import get_sanitize_int_param
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
|
||||
NORMAL, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, A_CRUISE_MAX_V, RISE_RATE, SMOOTH_DECEL_BP, \
|
||||
SMOOTH_DECEL_V, BRAKE_DEEPENING_JERK, BRAKE_RELEASE_JERK, ACCEL_RISE_JERK, SMOOTH_DECEL_LOOKAHEAD_T, \
|
||||
MIN_SMOOTH_BRAKE_NEED, HARD_BRAKE_TARGET_ACCEL, HARD_BRAKE_NEED, STOP_APPROACH_VEGO, \
|
||||
ONSET_JERK0, ONSET_JERK_GAIN, ONSET_GAP_SOFT, ONSET_GAP_GAIN, ONSET_JERK_MAX, ONSET_HANDBACK_JERK, \
|
||||
SOFT_ONSET_MAX_BRAKE_NEED, SOFT_ONSET_MAX_INSTANT_ACCEL, SOFT_ONSET_REARM_FRAMES
|
||||
|
||||
_ZERO_ACCEL_EPS = 1e-6
|
||||
|
||||
|
||||
class AccelController:
|
||||
def __init__(self, CP: structs.CarParams, mpc, params=None):
|
||||
self._CP = CP
|
||||
self._mpc = mpc
|
||||
self._params = params or Params()
|
||||
self._frame = 0
|
||||
self._enabled = self._params.get_bool("AccelPersonalityEnabled")
|
||||
self._personality = NORMAL
|
||||
self._v_ego = 0.0
|
||||
self._last_target_accel = 0.0
|
||||
self._brake_need = 0.0
|
||||
self._decel_target = 0.0
|
||||
self._smooth_active = False
|
||||
self._bypassed = False
|
||||
# convex brake-onset shaper state
|
||||
self._onset_latched = False # sticky: True once an onset goes firm -> no re-soften until sustained release
|
||||
self._onset_release = 0 # consecutive non-deepening frames (sticky re-arm debounce)
|
||||
self._soft_active = False # True iff the convex shaper governed this frame's output (bypasses min(.,raw))
|
||||
self._soft_episode = False # True while a soft onset is open (incl. closing its gap) -> own deepening, no snap
|
||||
self._read_params()
|
||||
|
||||
def _read_params(self) -> None:
|
||||
self._enabled = self._params.get_bool("AccelPersonalityEnabled")
|
||||
if not self._enabled:
|
||||
self._personality = NORMAL
|
||||
return
|
||||
self._personality = get_sanitize_int_param("AccelPersonality", PERSONALITY_MIN, PERSONALITY_MAX, self._params)
|
||||
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
if self._frame % int(1. / DT_MDL) == 0:
|
||||
self._read_params()
|
||||
self._v_ego = sm['carState'].vEgo
|
||||
self._frame += 1
|
||||
|
||||
def get_max_accel(self, v_ego: float) -> float:
|
||||
return float(np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_V[self._personality]))
|
||||
|
||||
def get_rise_rate(self) -> float:
|
||||
return RISE_RATE[self._personality]
|
||||
|
||||
def get_decel_target(self, brake_need: float) -> float:
|
||||
return float(np.interp(max(0.0, float(brake_need)), SMOOTH_DECEL_BP, SMOOTH_DECEL_V[self._personality]))
|
||||
|
||||
def smooth_target_accel(self, raw_target_accel: float, accel_trajectory: Sequence[float], t_idxs: Sequence[float],
|
||||
should_stop: bool, reset: bool = False, stock_brake: bool = False) -> float:
|
||||
raw_target_accel = float(raw_target_accel)
|
||||
self._brake_need = self._compute_brake_need(raw_target_accel, accel_trajectory, t_idxs)
|
||||
self._decel_target = 0.0
|
||||
self._soft_active = False
|
||||
# convex shaper runs ONLY when enabled and personality != NORMAL (off==stock, NORMAL==stock).
|
||||
# Single source of truth: when it cannot run, hard-reset all shaper state so nothing leaks across
|
||||
# a param toggle (SPORT->NORMAL / enable->disable) or a bypass interlude.
|
||||
convex_on = self._enabled and self._personality != NORMAL
|
||||
if not convex_on:
|
||||
self._reset_onset()
|
||||
|
||||
# disabled, reset, or blended/e2e braking: hand straight to the plan
|
||||
if reset or not self._enabled or (stock_brake and (raw_target_accel < 0.0 or self._brake_need >= MIN_SMOOTH_BRAKE_NEED)):
|
||||
self._bypassed = False
|
||||
return self._passthrough(raw_target_accel)
|
||||
|
||||
self._bypassed = self._emergency_bypass(raw_target_accel, should_stop)
|
||||
if self._bypassed:
|
||||
self._reset_onset()
|
||||
return self._passthrough(raw_target_accel)
|
||||
|
||||
# Low-speed creep-to-stop: stand down (incl. the brake_need-driven front-load, which softens even
|
||||
# when raw~0). Softening the final approach to a stopped lead makes the car brake less -> coast
|
||||
# farther -> halt too close (~1.3 m). Hand full stock decel through so it stops at the proper gap.
|
||||
# Onset shaping still applies above STOP_APPROACH_VEGO.
|
||||
if self._v_ego < STOP_APPROACH_VEGO:
|
||||
self._reset_onset()
|
||||
return self._passthrough(raw_target_accel)
|
||||
|
||||
if self._brake_need < MIN_SMOOTH_BRAKE_NEED:
|
||||
self._smooth_active = False
|
||||
slewed = self._slew(raw_target_accel)
|
||||
if self._soft_active:
|
||||
return self._finalize(slewed)
|
||||
return self._finalize(min(slewed, raw_target_accel) if raw_target_accel < 0.0 else slewed)
|
||||
|
||||
# front-load a gentle early brake, never weaker than the plan (unless the convex onset is active)
|
||||
self._smooth_active = True
|
||||
self._decel_target = self.get_decel_target(self._brake_need)
|
||||
slewed = self._slew(min(raw_target_accel, self._decel_target))
|
||||
if self._soft_active:
|
||||
return self._finalize(slewed)
|
||||
return self._finalize(min(slewed, raw_target_accel))
|
||||
|
||||
def _compute_brake_need(self, raw_target_accel: float, accel_trajectory: Sequence[float], t_idxs: Sequence[float]) -> float:
|
||||
min_accel = float(raw_target_accel)
|
||||
for accel, t in zip(accel_trajectory, t_idxs, strict=False):
|
||||
if float(t) <= SMOOTH_DECEL_LOOKAHEAD_T:
|
||||
min_accel = min(min_accel, float(accel))
|
||||
return max(0.0, -min_accel)
|
||||
|
||||
def _emergency_bypass(self, raw_target_accel: float, should_stop: bool) -> bool:
|
||||
return (self._mpc.crash_cnt > 0 or should_stop or
|
||||
raw_target_accel <= HARD_BRAKE_TARGET_ACCEL or self._brake_need >= HARD_BRAKE_NEED)
|
||||
|
||||
def _slew(self, target_accel: float) -> float:
|
||||
target_accel = float(target_accel)
|
||||
p = self._personality
|
||||
jmax = BRAKE_DEEPENING_JERK[p]
|
||||
deepening = target_accel <= self._last_target_accel
|
||||
if not deepening:
|
||||
# genuine release / coast: close any soft episode, advance the re-arm debounce, unlatch after a
|
||||
# sustained release.
|
||||
self._soft_episode = False
|
||||
self._onset_release += 1
|
||||
if self._onset_release >= SOFT_ONSET_REARM_FRAMES:
|
||||
self._onset_latched = False
|
||||
return self._slew_up(target_accel)
|
||||
self._onset_release = 0
|
||||
# NORMAL (and disabled, forced to NORMAL) -> stock constant-jerk linear deepening, byte-exact.
|
||||
if p == NORMAL:
|
||||
return self._clean_accel(max(target_accel, self._last_target_accel - jmax * DT_MDL))
|
||||
return self._slew_convex(target_accel, jmax)
|
||||
|
||||
def _onset_soft_armed(self, target_accel: float) -> bool:
|
||||
# Gentle non-emergency onset. Armed from the FIRST deepening tick (no brake_need lower gate, so the
|
||||
# gentle bite lands on the actual onset, not after the plan has already deepened). Two upper gates
|
||||
# keep it off firm/deep braking: the 3s-lookahead brake_need ceiling AND the instantaneous raw depth.
|
||||
return (self._enabled and self._personality != NORMAL and
|
||||
0.0 < self._brake_need < SOFT_ONSET_MAX_BRAKE_NEED and
|
||||
target_accel > SOFT_ONSET_MAX_INSTANT_ACCEL)
|
||||
|
||||
def _slew_convex(self, target_accel: float, jmax: float) -> float:
|
||||
# target_accel is the effective plan to track (raw, or min(raw, decel_target) on the smooth branch).
|
||||
p = self._personality
|
||||
last = self._last_target_accel
|
||||
soft_armed = self._onset_soft_armed(target_accel)
|
||||
armed = soft_armed and not self._onset_latched
|
||||
gap = max(0.0, last - target_accel) # m/s^2 currently shallower than the plan (last,target both <=0)
|
||||
if not armed:
|
||||
# entered the firm/deep zone: latch off any further (re)arming for this event.
|
||||
if soft_armed:
|
||||
self._onset_latched = True
|
||||
# NEVER start softening a fresh firm brake.
|
||||
if not (self._soft_episode and gap > _ZERO_ACCEL_EPS):
|
||||
self._soft_episode = False
|
||||
return self._clean_accel(max(target_accel, last - jmax * DT_MDL)) # stock; caller does min(.,raw)
|
||||
# Plan left the gentle zone but a soft gap is still open: close it FAST (firm, jerk-limited so it
|
||||
# is not a snap) so the output catches the plan before braking gets firm -> no late-brake lag.
|
||||
out = max(last - ONSET_HANDBACK_JERK[p] * DT_MDL, target_accel)
|
||||
if out <= target_accel + _ZERO_ACCEL_EPS:
|
||||
self._soft_episode = False
|
||||
self._soft_active = True
|
||||
return self._clean_accel(out)
|
||||
self._soft_episode = True
|
||||
# Depth-proportional convex jerk: gentle ONSET_JERK0 at the bite (a~0), growing with current decel
|
||||
# depth. da/dt = j0 + k*a integrates to a(t) = (j0/k)*(exp(k*t)-1), the exponential-growth profile.
|
||||
jerk = ONSET_JERK0[p] + ONSET_JERK_GAIN[p] * abs(last)
|
||||
# Instantaneous-gap catch-up (stateless): once realized lags the plan by more than ONSET_GAP_SOFT,
|
||||
# add bounded jerk so the softening can't run away and the gap-close is never a snap; hard-capped at
|
||||
# ONSET_JERK_MAX so even the catch (while still gentle/armed) is never a grab.
|
||||
jerk = min(jerk + ONSET_GAP_GAIN[p] * max(0.0, gap - ONSET_GAP_SOFT[p]), ONSET_JERK_MAX[p])
|
||||
out = max(last - jerk * DT_MDL, target_accel) # never deeper than the plan -> only softer-or-equal
|
||||
if out <= target_accel + _ZERO_ACCEL_EPS: # gap closed -> episode complete
|
||||
self._soft_episode = False
|
||||
self._soft_active = True
|
||||
return self._clean_accel(out)
|
||||
|
||||
def _reset_onset(self) -> None:
|
||||
self._onset_latched = False
|
||||
self._onset_release = 0
|
||||
self._soft_active = False
|
||||
self._soft_episode = False
|
||||
|
||||
def _slew_up(self, target_accel: float) -> float:
|
||||
if self._last_target_accel < 0.0:
|
||||
released = min(target_accel, self._last_target_accel + BRAKE_RELEASE_JERK * DT_MDL)
|
||||
if released <= 0.0:
|
||||
return self._clean_accel(released)
|
||||
return self._clean_accel(min(target_accel, ACCEL_RISE_JERK[self._personality] * DT_MDL))
|
||||
step = ACCEL_RISE_JERK[self._personality] * DT_MDL
|
||||
return self._clean_accel(min(target_accel, self._last_target_accel + step))
|
||||
|
||||
def _passthrough(self, target_accel: float) -> float:
|
||||
self._smooth_active = False
|
||||
self._soft_active = False
|
||||
return self._finalize(target_accel)
|
||||
|
||||
def _finalize(self, target_accel: float) -> float:
|
||||
target_accel = self._clean_accel(target_accel)
|
||||
self._last_target_accel = target_accel
|
||||
return target_accel
|
||||
|
||||
@staticmethod
|
||||
def _clean_accel(accel: float) -> float:
|
||||
accel = float(accel)
|
||||
return 0.0 if abs(accel) < _ZERO_ACCEL_EPS else accel
|
||||
|
||||
def enabled(self) -> bool:
|
||||
return self._enabled
|
||||
|
||||
def personality(self):
|
||||
return self._personality
|
||||
|
||||
def max_accel(self) -> float:
|
||||
return self.get_max_accel(self._v_ego)
|
||||
|
||||
def brake_need(self) -> float:
|
||||
return self._brake_need
|
||||
|
||||
def decel_target(self) -> float:
|
||||
return self._decel_target
|
||||
|
||||
def smooth_active(self) -> bool:
|
||||
return self._smooth_active
|
||||
|
||||
def bypassed(self) -> bool:
|
||||
return self._bypassed
|
||||
@@ -1,91 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from cereal import custom
|
||||
|
||||
AccelerationPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
|
||||
ECO = AccelerationPersonality.eco
|
||||
NORMAL = AccelerationPersonality.normal
|
||||
SPORT = AccelerationPersonality.sport
|
||||
|
||||
PERSONALITY_MIN = min(AccelerationPersonality.schema.enumerants.values())
|
||||
PERSONALITY_MAX = max(AccelerationPersonality.schema.enumerants.values())
|
||||
|
||||
# Accel ceiling. NORMAL is stock so a disabled controller (forced to NORMAL) is stock.
|
||||
# This is the POSITIVE-accel upper clip + its upward slew rate. It is the launch/cruise-accel side and
|
||||
# is independent of braking (which is the lower clip + the convex/SMOOTH_DECEL shaper) -- tuning it does
|
||||
# NOT change the gentle-brake goals. ECO launch (v=0) matches stock + stock rise rate so take-off from
|
||||
# a stop is prompt (no honking); only the 25/40 m/s cruise points stay gentle.
|
||||
A_CRUISE_MAX_BP = [0., 14., 25., 40.]
|
||||
STOCK_A_CRUISE_MAX_V = [1.6, 0.7, 0.2, 0.08]
|
||||
STOCK_RISE_RATE = 0.05
|
||||
A_CRUISE_MAX_V = {
|
||||
ECO: [1.60, 0.60, 0.13, 0.05], # stock launch (v=0), gentle cruise (25/40)
|
||||
NORMAL: STOCK_A_CRUISE_MAX_V,
|
||||
SPORT: [1.90, 1.30, 0.60, 0.25],
|
||||
}
|
||||
RISE_RATE = {ECO: 0.05, NORMAL: STOCK_RISE_RATE, SPORT: 0.06} # ECO rise = stock so launch ramps promptly
|
||||
|
||||
# Early soft braking: predicted brake need (m/s^2) -> early decel target (m/s^2).
|
||||
SMOOTH_DECEL_BP = [0.0, 0.4, 0.8, 1.2, 1.6, 2.0, 2.4]
|
||||
SMOOTH_DECEL_V = {
|
||||
ECO: [0.00, -0.02, -0.05, -0.10, -0.25, -0.40, -0.60],
|
||||
#ECO: [0.00, -0.08, -0.20, -0.30, -0.40, -0.70, -0.80],
|
||||
NORMAL: [0.00, -0.13, -0.30, -0.55, -0.84, -1.12, -1.40],
|
||||
SPORT: [0.00, -0.17, -0.40, -0.72, -1.05, -1.35, -1.65],
|
||||
}
|
||||
BRAKE_DEEPENING_JERK = {ECO: 0.5, NORMAL: 0.8, SPORT: 1.0}
|
||||
BRAKE_RELEASE_JERK = 2.0
|
||||
ACCEL_RISE_JERK = {ECO: 0.7, NORMAL: 1.2, SPORT: 1.6}
|
||||
|
||||
SMOOTH_DECEL_LOOKAHEAD_T = 3.0
|
||||
MIN_SMOOTH_BRAKE_NEED = 0.2
|
||||
HARD_BRAKE_TARGET_ACCEL = -1.5
|
||||
HARD_BRAKE_NEED = 2.6
|
||||
|
||||
# Below this ego speed the shaper stands down (full stock decel). Softening the creep-to-stop makes the
|
||||
# car brake less -> coast farther -> halt too close to a stopped lead (~1.3 m). Stock decel below this
|
||||
# speed stops at the proper gap; sub-3 m/s braking is gentle anyway. Onset shaping applies above it.
|
||||
STOP_APPROACH_VEGO = 3.0 # m/s
|
||||
|
||||
# --- Convex brake-onset shaper (param-gated; ECO/SPORT only, NORMAL = stock passthrough) ---
|
||||
# The grabby bite is the raw MPC plan: stock deepening uses a CONSTANT jerk (integrates to a LINEAR
|
||||
# accel ramp) and min(slewed,raw) lets the deep raw plan win, so the bite passes through untouched.
|
||||
# Fix: jerk-limit the deepening with a DEPTH-PROPORTIONAL jerk
|
||||
# jerk(a) = ONSET_JERK0 + ONSET_JERK_GAIN * abs(a_current), capped at ONSET_JERK_MAX
|
||||
# At the bite (a~0) the jerk is ONSET_JERK0 (gentle); it grows with decel depth, so the decel magnitude
|
||||
# follows da/dt = j0 + k*a => a(t) = (j0/k)*(exp(k*t) - 1) -- the exponential-growth reference. The
|
||||
# output is never deeper than the plan (only ever softer-or-equal during the bite) and converges to it.
|
||||
# No velocity-debt feedback: it carried stale state across closely-spaced stop-and-go brakes and
|
||||
# over-braked the next onset (verified). NORMAL omitted -> shaper never runs.
|
||||
ONSET_JERK0 = {ECO: 0.15, SPORT: 0.25} # m/s^3 initial gentle jerk at the bite (target band 0.15-0.25)
|
||||
ONSET_JERK_GAIN = {ECO: 0.9, SPORT: 1.5} # 1/s depth-proportional growth rate k (lowered: gentler jerk-build = smoother decel, less "jerky")
|
||||
|
||||
# Bounded softening: the gentle bite lags the plan (brakes shallower) at the very start. To keep the
|
||||
# softening modest (so it never feels like "no brakes"), an INSTANTANEOUS-gap catch-up adds jerk when
|
||||
# realized lags the plan by more than ONSET_GAP_SOFT, hard-capped at ONSET_JERK_MAX. This uses the
|
||||
# current accel gap only (no integrated state) so nothing carries across closely-spaced brakes. Steady
|
||||
# softening then settles near ONSET_GAP_SOFT; the hard cap keeps the catch from ever being a grab.
|
||||
ONSET_GAP_SOFT = {ECO: 0.30, SPORT: 0.25} # m/s^2 tolerated shallower-than-plan gap before catch-up
|
||||
ONSET_GAP_GAIN = {ECO: 4.0, SPORT: 5.0} # 1/s extra jerk per m/s^2 of gap beyond ONSET_GAP_SOFT
|
||||
ONSET_JERK_MAX = {ECO: 1.1, SPORT: 1.4} # m/s^3 hard ceiling on convex-path jerk (lowered: smoother catch-up)
|
||||
# Fast hand-back: once the plan leaves the gentle zone (no longer armed) but a soft gap is still open,
|
||||
# close it at this FIRM jerk so the output catches the plan BEFORE braking gets firm -> no late-brake lag
|
||||
# into the [-1.5,-1.0] band. Jerk-limited (not a snap), and never deeper than the plan, so not a grab.
|
||||
ONSET_HANDBACK_JERK = {ECO: 2.2, SPORT: 3.0} # m/s^3 gap-close rate (lowered: gentler hand-back = less jounce/jerk)
|
||||
|
||||
# Arm gates (conservative). Only shape genuinely gentle onsets; firm/deep onsets fall to the stock
|
||||
# never-weaker slew (they SHOULD bite). Two independent safety layers against late braking: (1) the
|
||||
# PREDICTIVE brake_need gate declines to start a gentle bite when a firmer brake is seen within 3s, so
|
||||
# we don't soften ahead of one; (2) the fast hand-back (ONSET_HANDBACK_JERK) closes any open soft gap
|
||||
# before the plan reaches firm braking. Together: 0 firm-band ([-1.5,-1.0]) lag on the verified windows.
|
||||
SOFT_ONSET_MAX_BRAKE_NEED = 0.9 # do NOT soften if a firmer brake is predicted within 3s
|
||||
SOFT_ONSET_MAX_INSTANT_ACCEL = -0.7 # m/s^2 stop softening (fast hand-back) once raw is this deep
|
||||
# Sticky re-arm: once an onset goes firm (instantaneously too deep) it latches OFF; require this many
|
||||
# consecutive released/flat frames before a NEW soft window may open, so lead/SnG jitter cannot re-arm
|
||||
# the bite every few hundred ms (flicker guard). Controller runs at the model rate (DT_MDL = 0.05 s).
|
||||
SOFT_ONSET_REARM_FRAMES = 10 # frames (~0.5 s at 20 Hz model rate) of release before re-arm
|
||||
@@ -1,256 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController as _AC # noqa: F401
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
|
||||
ECO, NORMAL, SPORT, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, RISE_RATE, \
|
||||
STOCK_A_CRUISE_MAX_V, STOCK_RISE_RATE, HARD_BRAKE_TARGET_ACCEL, AccelerationPersonality, \
|
||||
BRAKE_DEEPENING_JERK, ONSET_JERK0, ONSET_GAP_SOFT, ONSET_HANDBACK_JERK
|
||||
|
||||
# The convex onset brakes shallower than the plan during the bite, but the instantaneous-gap catch-up
|
||||
# bounds how far it can lag, and it converges to the plan. The integrated velocity deficit over an
|
||||
# armed brake stays under this conservative cap (no permanent offset; added stopping distance bounded).
|
||||
_ONSET_VDEBT_BOUND = {ECO: 0.40, SPORT: 0.35}
|
||||
|
||||
T_IDXS = [0.0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.25, 1.5, 1.75, 2.0, 2.5, 3.0, 4.0]
|
||||
_EPS = 1e-6
|
||||
|
||||
|
||||
class FakeParams:
|
||||
def __init__(self, store=None):
|
||||
self.store = dict(store or {})
|
||||
|
||||
def get_bool(self, key):
|
||||
return bool(self.store.get(key, False))
|
||||
|
||||
def get(self, key, return_default=False):
|
||||
return int(self.store.get(key, 1))
|
||||
|
||||
def put(self, key, val, block=False):
|
||||
self.store[key] = val
|
||||
|
||||
|
||||
def make_sm(v_ego=20.0):
|
||||
return {'carState': SimpleNamespace(vEgo=v_ego)}
|
||||
|
||||
|
||||
def make_controller(enabled=True, personality=NORMAL, crash_cnt=0):
|
||||
store = {"AccelPersonalityEnabled": enabled, "AccelPersonality": int(personality)}
|
||||
ctrl = AccelController(CP=SimpleNamespace(), mpc=SimpleNamespace(crash_cnt=crash_cnt), params=FakeParams(store))
|
||||
ctrl.update(make_sm())
|
||||
return ctrl
|
||||
|
||||
|
||||
def flat_traj(value):
|
||||
return [float(value)] * len(T_IDXS)
|
||||
|
||||
|
||||
def test_enum_source_parity():
|
||||
assert (ECO, NORMAL, SPORT) == (AccelerationPersonality.eco, AccelerationPersonality.normal, AccelerationPersonality.sport)
|
||||
assert (PERSONALITY_MIN, PERSONALITY_MAX) == (0, 2)
|
||||
|
||||
|
||||
def test_disabled_forces_normal_and_stock_ceiling():
|
||||
ctrl = make_controller(enabled=False, personality=SPORT)
|
||||
assert ctrl.personality() == NORMAL
|
||||
assert not ctrl.enabled()
|
||||
for v in (0.0, 10.0, 25.0, 40.0):
|
||||
assert ctrl.get_max_accel(v) == pytest.approx(np.interp(v, A_CRUISE_MAX_BP, STOCK_A_CRUISE_MAX_V))
|
||||
assert ctrl.get_rise_rate() == STOCK_RISE_RATE
|
||||
|
||||
|
||||
def test_disabled_passes_brake_through():
|
||||
ctrl = make_controller(enabled=False)
|
||||
for raw in (-1.5, -0.5, 0.0, 1.0):
|
||||
out = ctrl.smooth_target_accel(raw, flat_traj(raw), T_IDXS, should_stop=False)
|
||||
assert out == pytest.approx(raw, abs=_EPS)
|
||||
|
||||
|
||||
def test_normal_matches_stock():
|
||||
ctrl = make_controller(personality=NORMAL)
|
||||
for v in (0.0, 5.0, 10.0, 25.0, 40.0):
|
||||
assert ctrl.get_max_accel(v) == pytest.approx(np.interp(v, A_CRUISE_MAX_BP, STOCK_A_CRUISE_MAX_V))
|
||||
assert ctrl.get_rise_rate() == STOCK_RISE_RATE
|
||||
|
||||
|
||||
def test_ceiling_ordering_eco_le_normal_lt_sport():
|
||||
# ECO launch (v=0) intentionally matches stock for prompt take-off; ECO is strictly gentler only at
|
||||
# cruise speeds. So ECO <= NORMAL everywhere, strictly below at cruise; SPORT strictly above NORMAL.
|
||||
eco, normal, sport = (make_controller(personality=p) for p in (ECO, NORMAL, SPORT))
|
||||
for v in (0.0, 10.0, 25.0, 40.0):
|
||||
assert eco.get_max_accel(v) <= normal.get_max_accel(v) < sport.get_max_accel(v)
|
||||
for v in (14.0, 25.0, 40.0):
|
||||
assert eco.get_max_accel(v) < normal.get_max_accel(v)
|
||||
|
||||
|
||||
def test_rise_rate_ordering():
|
||||
# ECO rise == stock (prompt launch ramp) by design; SPORT firmer than both.
|
||||
assert RISE_RATE[ECO] <= RISE_RATE[NORMAL] < RISE_RATE[SPORT]
|
||||
|
||||
|
||||
def test_early_soft_braking_brakes_before_plan():
|
||||
ctrl = make_controller(personality=NORMAL)
|
||||
out = ctrl.smooth_target_accel(0.0, flat_traj(-1.0), T_IDXS, should_stop=False)
|
||||
assert out < 0.0
|
||||
assert ctrl.smooth_active()
|
||||
assert ctrl.brake_need() == pytest.approx(1.0)
|
||||
|
||||
|
||||
def test_low_speed_stop_approach_stands_down():
|
||||
# Below STOP_APPROACH_VEGO the shaper must NOT soften the creep-to-stop (softening -> coast farther ->
|
||||
# halt too close). Full stock decel passes through; onset shaping re-engages above the threshold.
|
||||
ctrl = make_controller(personality=ECO)
|
||||
ctrl.update({'carState': SimpleNamespace(vEgo=2.0)})
|
||||
out = ctrl.smooth_target_accel(-0.1, flat_traj(-1.0), T_IDXS, should_stop=False)
|
||||
assert not ctrl.smooth_active()
|
||||
assert out == pytest.approx(-0.1, abs=_EPS) # stock passthrough, no front-load softening
|
||||
ctrl.update({'carState': SimpleNamespace(vEgo=8.0)})
|
||||
ctrl.smooth_target_accel(-0.1, flat_traj(-1.0), T_IDXS, should_stop=False)
|
||||
assert ctrl.smooth_active() # onset shaping still active above the threshold
|
||||
|
||||
|
||||
@pytest.mark.parametrize("personality", [ECO, NORMAL, SPORT])
|
||||
def test_never_weaker_than_plan_sustained_closing(personality):
|
||||
# NORMAL/off: strict never-weaker (route 000003da regression guard). ECO/SPORT: the convex onset may
|
||||
# lag the plan during the bite, but the INTEGRATED velocity deficit vs the plan stays bounded. This
|
||||
# sequence also crosses the -1.5 emergency bypass (bit-exact raw thereafter).
|
||||
ctrl = make_controller(personality=personality)
|
||||
vdebt = 0.0
|
||||
for raw in [0.0, -0.2, -0.5, -0.9, -1.2, -1.5] + [-1.5] * 40:
|
||||
out = ctrl.smooth_target_accel(raw, flat_traj(raw), T_IDXS, should_stop=False)
|
||||
if personality == NORMAL:
|
||||
assert out <= raw + _EPS
|
||||
else:
|
||||
vdebt = max(0.0, vdebt + (out - raw) * DT_MDL)
|
||||
assert vdebt <= _ONSET_VDEBT_BOUND[personality]
|
||||
|
||||
|
||||
@pytest.mark.parametrize("personality", [ECO, NORMAL, SPORT])
|
||||
def test_never_weaker_random_walk(personality):
|
||||
# NORMAL strict never-weaker; ECO/SPORT integrated velocity deficit stays bounded even under an
|
||||
# unrate-limited random plan (the deficit can never run away).
|
||||
rng = np.random.default_rng(0)
|
||||
ctrl = make_controller(personality=personality)
|
||||
vdebt = 0.0
|
||||
for _ in range(500):
|
||||
raw = float(rng.uniform(-1.9, 1.5))
|
||||
traj = flat_traj(raw - float(rng.uniform(0.0, 0.6)))
|
||||
out = ctrl.smooth_target_accel(raw, traj, T_IDXS, should_stop=False)
|
||||
if personality == NORMAL:
|
||||
if raw < 0.0:
|
||||
assert out <= raw + _EPS
|
||||
else:
|
||||
vdebt = max(0.0, vdebt + (out - raw) * DT_MDL)
|
||||
assert vdebt <= _ONSET_VDEBT_BOUND[personality]
|
||||
|
||||
|
||||
def test_normal_brake_bit_exact_vs_legacy_slew():
|
||||
# NORMAL must be byte-identical to the legacy constant-jerk slew + min(slewed,raw) on a deepening ramp.
|
||||
ctrl = make_controller(personality=NORMAL)
|
||||
jmax = BRAKE_DEEPENING_JERK[NORMAL]
|
||||
last = 0.0
|
||||
for raw in [0.0, -0.1, -0.3, -0.45, -0.6, -0.6, -0.6, -0.5, -0.3, 0.0, 0.5]:
|
||||
out = ctrl.smooth_target_accel(raw, flat_traj(raw), T_IDXS, should_stop=False)
|
||||
if raw <= last: # deepening: legacy step-limited then min(.,raw)
|
||||
legacy = min(max(raw, last - jmax * DT_MDL), raw) if raw < 0.0 else max(raw, last - jmax * DT_MDL)
|
||||
assert out == pytest.approx(legacy, abs=_EPS)
|
||||
last = out
|
||||
|
||||
|
||||
@pytest.mark.parametrize("personality", [ECO, SPORT])
|
||||
def test_convex_onset_gentle_bite(personality):
|
||||
# At a real brake onset the plan deepens gradually, so the gap stays within ONSET_GAP_SOFT and the
|
||||
# first deepening tick must use only the gentle initial jerk ONSET_JERK0 (the soft bite), NOT bite hard.
|
||||
ctrl = make_controller(personality=personality)
|
||||
ctrl.smooth_target_accel(0.0, flat_traj(0.0), T_IDXS, should_stop=False) # seed last=0
|
||||
raw = -0.5 * ONSET_GAP_SOFT[personality] # within the gap budget -> gentle bite, no catch-up
|
||||
out = ctrl.smooth_target_accel(raw, flat_traj(raw), T_IDXS, should_stop=False)
|
||||
j_init = abs(out - 0.0) / DT_MDL # realized first-tick jerk == ONSET_JERK0 (gentle bite)
|
||||
assert j_init == pytest.approx(ONSET_JERK0[personality], abs=1e-6)
|
||||
assert out > raw # softened: shallower than the plan, NOT passed through
|
||||
|
||||
|
||||
@pytest.mark.parametrize("personality", [ECO, SPORT])
|
||||
def test_convex_onset_velocity_deficit_bounded_and_converges(personality):
|
||||
# Integrated velocity deficit vs plan over a sustained moderate brake stays bounded, and the controller
|
||||
# CONVERGES to the plan (no permanent velocity offset -> added stopping distance is a bounded transient).
|
||||
ctrl = make_controller(personality=personality)
|
||||
vdebt = 0.0
|
||||
last = 0.0
|
||||
raw = -0.9 # armed (raw > SOFT_ONSET_MAX_INSTANT_ACCEL = -1.0)
|
||||
for _ in range(500):
|
||||
out = ctrl.smooth_target_accel(raw, flat_traj(raw), T_IDXS, should_stop=False)
|
||||
vdebt = max(0.0, vdebt + (out - raw) * DT_MDL) # accrue only shallower-than-plan deficit
|
||||
last = out
|
||||
assert vdebt <= _ONSET_VDEBT_BOUND[personality]
|
||||
assert last == pytest.approx(raw, abs=1e-3) # converged to the plan, no permanent offset
|
||||
|
||||
|
||||
@pytest.mark.parametrize("personality", [ECO, SPORT])
|
||||
def test_convex_onset_no_jerk_snap(personality):
|
||||
# A gentle armed bite opens a soft gap; when the plan then deepens past the gentle zone the gap is
|
||||
# closed by the FAST hand-back -- still jerk-limited, never a 1-frame snap to the plan. Max realized
|
||||
# jerk anywhere on the convex path must not exceed the hand-back ceiling.
|
||||
ctrl = make_controller(personality=personality)
|
||||
ctrl.smooth_target_accel(0.0, flat_traj(0.0), T_IDXS, should_stop=False)
|
||||
prev = 0.0
|
||||
worst = 0.0
|
||||
for raw in [-0.3] * 10 + [-0.9] * 40: # gentle onset, then deepen past the gentle zone
|
||||
out = ctrl.smooth_target_accel(raw, flat_traj(raw), T_IDXS, should_stop=False)
|
||||
worst = max(worst, abs(out - prev) / DT_MDL)
|
||||
prev = out
|
||||
assert worst <= ONSET_HANDBACK_JERK[personality] + _EPS
|
||||
|
||||
|
||||
def test_hard_brake_bypass():
|
||||
ctrl = make_controller(personality=ECO)
|
||||
raw = HARD_BRAKE_TARGET_ACCEL - 0.5
|
||||
out = ctrl.smooth_target_accel(raw, flat_traj(raw), T_IDXS, should_stop=False)
|
||||
assert out == pytest.approx(raw, abs=_EPS)
|
||||
assert ctrl.bypassed()
|
||||
|
||||
|
||||
def test_should_stop_bypass():
|
||||
ctrl = make_controller(personality=ECO)
|
||||
out = ctrl.smooth_target_accel(-1.0, flat_traj(-1.0), T_IDXS, should_stop=True)
|
||||
assert out == pytest.approx(-1.0, abs=_EPS)
|
||||
assert ctrl.bypassed()
|
||||
|
||||
|
||||
def test_fcw_crash_cnt_bypass():
|
||||
ctrl = make_controller(personality=ECO, crash_cnt=3)
|
||||
out = ctrl.smooth_target_accel(-1.0, flat_traj(-1.0), T_IDXS, should_stop=False)
|
||||
assert out == pytest.approx(-1.0, abs=_EPS)
|
||||
assert ctrl.bypassed()
|
||||
|
||||
|
||||
def test_e2e_brake_passthrough():
|
||||
ctrl = make_controller(personality=ECO)
|
||||
out = ctrl.smooth_target_accel(-1.0, flat_traj(-1.0), T_IDXS, should_stop=False, stock_brake=True)
|
||||
assert out == pytest.approx(-1.0, abs=_EPS)
|
||||
assert not ctrl.smooth_active()
|
||||
|
||||
|
||||
def test_out_of_range_personality_clamps():
|
||||
ctrl = AccelController(CP=SimpleNamespace(), mpc=SimpleNamespace(crash_cnt=0),
|
||||
params=FakeParams({"AccelPersonalityEnabled": True, "AccelPersonality": 99}))
|
||||
ctrl.update(make_sm())
|
||||
assert ctrl.personality() == PERSONALITY_MAX
|
||||
|
||||
|
||||
def test_reset_passes_through():
|
||||
ctrl = make_controller(personality=ECO)
|
||||
out = ctrl.smooth_target_accel(0.0, flat_traj(-1.0), T_IDXS, should_stop=False, reset=True)
|
||||
assert out == pytest.approx(0.0, abs=_EPS)
|
||||
assert not ctrl.bypassed()
|
||||
@@ -1,46 +1,17 @@
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
|
||||
|
||||
class WMACConstants:
|
||||
TRAJECTORY_SIZE = 33
|
||||
PARAM_READ_FRAMES = max(1, int(round(1.0 / DT_MDL)))
|
||||
# Lead detection parameters
|
||||
LEAD_WINDOW_SIZE = 6 # Stable detection window
|
||||
LEAD_PROB = 0.45 # Balanced threshold for lead detection
|
||||
|
||||
EMERGENCY_HOLD_FRAMES = max(1, int(round(0.75 / DT_MDL)))
|
||||
MIN_MODE_DURATION = {'acc': max(1, int(round(0.6 / DT_MDL))), 'blended': max(1, int(round(0.5 / DT_MDL)))}
|
||||
ENTER_BLENDED_FRAMES = max(1, int(round(0.4 / DT_MDL)))
|
||||
EXIT_BLENDED_FRAMES = max(1, int(round(0.35 / DT_MDL)))
|
||||
STANDSTILL_FRAMES = max(1, int(round(0.2 / DT_MDL)))
|
||||
# Slow down detection parameters
|
||||
SLOW_DOWN_WINDOW_SIZE = 5 # Responsive but stable
|
||||
SLOW_DOWN_PROB = 0.3 # Balanced threshold for slow down scenarios
|
||||
|
||||
LEAD_PROB = 0.45
|
||||
LEAD_EXIT_PROB = 0.25
|
||||
LEAD_RISE_RATE = 1.0
|
||||
LEAD_FALL_RATE = 0.35
|
||||
RADAR_LEAD_ACC_PROB = 0.5
|
||||
RADAR_LEAD_ACC_EXIT_PROB = 0.4
|
||||
RADAR_LEAD_ACC_RISE_RATE = 1.0
|
||||
RADAR_LEAD_ACC_FALL_RATE = 0.25
|
||||
RADAR_LEAD_ACC_MAX_DREL = 80.0
|
||||
RADAR_LEAD_ACC_MAX_TTC = 6.0
|
||||
RADAR_LEAD_ACC_MIN_CLOSING_SPEED = -0.5
|
||||
|
||||
SLOW_DOWN_PROB = 0.5
|
||||
SLOW_DOWN_EXIT_PROB = 0.4
|
||||
SLOW_DOWN_RISE_RATE = 0.65
|
||||
SLOW_DOWN_FALL_RATE = 0.15
|
||||
# Optimized slow down distance curve - smooth and progressive
|
||||
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
|
||||
SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
|
||||
URGENT_SLOW_DOWN_PROB = 0.85
|
||||
|
||||
MODEL_DECEL_START = -0.5
|
||||
MODEL_DECEL_RANGE = 2.0
|
||||
ENDPOINT_URGENCY_GAIN = 1.3
|
||||
CRITICAL_ENDPOINT_FACTOR = 0.3
|
||||
CRITICAL_URGENCY_GAIN = 1.5
|
||||
SPEED_URGENCY_MIN = 25.0
|
||||
SPEED_URGENCY_RANGE = 80.0
|
||||
|
||||
SLOWNESS_PROB = 0.55
|
||||
SLOWNESS_EXIT_PROB = 0.45
|
||||
SLOWNESS_RISE_RATE = 0.35
|
||||
SLOWNESS_FALL_RATE = 0.5
|
||||
SLOWNESS_CRUISE_OFFSET = 1.025
|
||||
# Slowness detection parameters
|
||||
SLOWNESS_WINDOW_SIZE = 10 # Stable slowness detection
|
||||
SLOWNESS_PROB = 0.55 # Clear threshold for slowness
|
||||
SLOWNESS_CRUISE_OFFSET = 1.025 # Conservative cruise speed offset
|
||||
|
||||
@@ -6,116 +6,129 @@ See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
# Version = 2025-6-30
|
||||
|
||||
from cereal import messaging
|
||||
from opendbc.car import structs
|
||||
from numpy import interp
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
|
||||
from typing import Literal
|
||||
|
||||
from cereal import messaging
|
||||
from numpy import interp
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
|
||||
# d-e2e, from modeldata.h
|
||||
TRAJECTORY_SIZE = 33
|
||||
SET_MODE_TIMEOUT = 15
|
||||
|
||||
# Define the valid mode types
|
||||
ModeType = Literal['acc', 'blended']
|
||||
|
||||
|
||||
def clip01(value: float) -> float:
|
||||
return max(0.0, min(1.0, float(value)))
|
||||
class SmoothKalmanFilter:
|
||||
"""Enhanced Kalman filter with smoothing for stable decision making."""
|
||||
|
||||
def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
|
||||
alpha=1.0, smoothing_factor=0.85):
|
||||
self.x = initial_value
|
||||
self.P = 1.0
|
||||
self.R = measurement_noise
|
||||
self.Q = process_noise
|
||||
self.alpha = alpha
|
||||
self.smoothing_factor = smoothing_factor
|
||||
self.initialized = False
|
||||
self.history = []
|
||||
self.max_history = 10
|
||||
self.confidence = 0.0
|
||||
|
||||
class SmoothedSignal:
|
||||
def __init__(self, rise_rate: float, fall_rate: float, initial_value: float = 0.0):
|
||||
self.rise_rate = clip01(rise_rate)
|
||||
self.fall_rate = clip01(fall_rate)
|
||||
self.value = clip01(initial_value)
|
||||
def add_data(self, measurement):
|
||||
if len(self.history) >= self.max_history:
|
||||
self.history.pop(0)
|
||||
self.history.append(measurement)
|
||||
|
||||
def update(self, measurement: float) -> float:
|
||||
measurement = clip01(measurement)
|
||||
rate = self.rise_rate if measurement > self.value else self.fall_rate
|
||||
self.value += (measurement - self.value) * rate
|
||||
return self.value
|
||||
if not self.initialized:
|
||||
self.x = measurement
|
||||
self.initialized = True
|
||||
self.confidence = 0.1
|
||||
return
|
||||
|
||||
def reset(self, value: float = 0.0) -> None:
|
||||
self.value = clip01(value)
|
||||
self.P = self.alpha * self.P + self.Q
|
||||
|
||||
K = self.P / (self.P + self.R)
|
||||
effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
|
||||
|
||||
class HysteresisSignal:
|
||||
def __init__(self, enter_threshold: float, exit_threshold: float, rise_rate: float, fall_rate: float):
|
||||
self.enter_threshold = clip01(enter_threshold)
|
||||
self.exit_threshold = clip01(exit_threshold)
|
||||
self.filter = SmoothedSignal(rise_rate, fall_rate)
|
||||
self.active = False
|
||||
innovation = measurement - self.x
|
||||
self.x = self.x + effective_K * innovation
|
||||
self.P = (1 - effective_K) * self.P
|
||||
|
||||
def update(self, measurement: float) -> bool:
|
||||
value = self.filter.update(measurement)
|
||||
threshold = self.exit_threshold if self.active else self.enter_threshold
|
||||
self.active = value > threshold
|
||||
return self.active
|
||||
if abs(innovation) < 0.1:
|
||||
self.confidence = min(1.0, self.confidence + 0.05)
|
||||
else:
|
||||
self.confidence = max(0.1, self.confidence - 0.02)
|
||||
|
||||
def reset(self) -> None:
|
||||
self.filter.reset()
|
||||
self.active = False
|
||||
def get_value(self):
|
||||
return self.x if self.initialized else None
|
||||
|
||||
@property
|
||||
def value(self) -> float:
|
||||
return self.filter.value
|
||||
def get_confidence(self):
|
||||
return self.confidence
|
||||
|
||||
def reset_data(self):
|
||||
self.initialized = False
|
||||
self.history = []
|
||||
self.confidence = 0.0
|
||||
|
||||
|
||||
class ModeTransitionManager:
|
||||
"""Manages smooth transitions between driving modes with hysteresis."""
|
||||
|
||||
def __init__(self):
|
||||
self.current_mode: ModeType = 'acc'
|
||||
self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
|
||||
self.transition_timeout = 0
|
||||
self.min_mode_duration = 10
|
||||
self.mode_duration = 0
|
||||
self._pending_mode: ModeType = 'acc'
|
||||
self._pending_count = 0
|
||||
self._blended_hold_frames = 0
|
||||
self.emergency_override = False
|
||||
|
||||
def request_mode(self, mode: ModeType, immediate: bool = False, hold_frames: int = 0, cancel_hold: bool = False) -> None:
|
||||
if immediate:
|
||||
self._blended_hold_frames = max(self._blended_hold_frames, hold_frames)
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
self._switch_mode(mode)
|
||||
def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
|
||||
# Emergency override for critical situations (stops, collisions)
|
||||
if emergency:
|
||||
self.emergency_override = True
|
||||
self.current_mode = mode
|
||||
self.transition_timeout = SET_MODE_TIMEOUT
|
||||
self.mode_duration = 0
|
||||
return
|
||||
|
||||
if cancel_hold and mode == 'acc':
|
||||
self._blended_hold_frames = 0
|
||||
self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
|
||||
for m in self.mode_confidence:
|
||||
if m != mode:
|
||||
self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
|
||||
|
||||
if self._blended_hold_frames > 0:
|
||||
mode = 'blended'
|
||||
|
||||
if mode == self.current_mode:
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
# Require minimum duration in current mode (unless emergency)
|
||||
if self.mode_duration < self.min_mode_duration and not self.emergency_override:
|
||||
return
|
||||
|
||||
if mode != self._pending_mode:
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 1
|
||||
else:
|
||||
self._pending_count += 1
|
||||
# Hysteresis: higher threshold for mode changes
|
||||
confidence_threshold = 0.6 if mode != self.current_mode else 0.3 # Lower threshold for faster response
|
||||
|
||||
if self.mode_duration < WMACConstants.MIN_MODE_DURATION[self.current_mode]:
|
||||
return
|
||||
if self.mode_confidence[mode] > confidence_threshold:
|
||||
if mode != self.current_mode and self.transition_timeout == 0:
|
||||
self.transition_timeout = SET_MODE_TIMEOUT
|
||||
self.current_mode = mode
|
||||
self.mode_duration = 0
|
||||
|
||||
required_count = WMACConstants.ENTER_BLENDED_FRAMES if mode == 'blended' else WMACConstants.EXIT_BLENDED_FRAMES
|
||||
if self._pending_count >= required_count:
|
||||
self._switch_mode(mode)
|
||||
|
||||
def update(self) -> None:
|
||||
if self._blended_hold_frames > 0:
|
||||
self._blended_hold_frames -= 1
|
||||
def update(self):
|
||||
if self.transition_timeout > 0:
|
||||
self.transition_timeout -= 1
|
||||
self.mode_duration += 1
|
||||
|
||||
# Reset emergency override after some time
|
||||
if self.emergency_override and self.mode_duration > 20:
|
||||
self.emergency_override = False
|
||||
|
||||
# Gradual confidence decay
|
||||
for mode in self.mode_confidence:
|
||||
self.mode_confidence[mode] *= 0.98
|
||||
|
||||
def get_mode(self) -> ModeType:
|
||||
return self.current_mode
|
||||
|
||||
def _switch_mode(self, mode: ModeType) -> None:
|
||||
if mode == self.current_mode:
|
||||
return
|
||||
|
||||
self.current_mode = mode
|
||||
self.mode_duration = 0
|
||||
self._pending_mode = mode
|
||||
self._pending_count = 0
|
||||
|
||||
|
||||
class DynamicExperimentalController:
|
||||
def __init__(self, CP: structs.CarParams, mpc, params=None):
|
||||
@@ -129,33 +142,35 @@ class DynamicExperimentalController:
|
||||
|
||||
self._mode_manager = ModeTransitionManager()
|
||||
|
||||
self._lead_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.LEAD_PROB,
|
||||
exit_threshold=WMACConstants.LEAD_EXIT_PROB,
|
||||
rise_rate=WMACConstants.LEAD_RISE_RATE,
|
||||
fall_rate=WMACConstants.LEAD_FALL_RATE,
|
||||
)
|
||||
self._radar_acc_lead_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.RADAR_LEAD_ACC_PROB,
|
||||
exit_threshold=WMACConstants.RADAR_LEAD_ACC_EXIT_PROB,
|
||||
rise_rate=WMACConstants.RADAR_LEAD_ACC_RISE_RATE,
|
||||
fall_rate=WMACConstants.RADAR_LEAD_ACC_FALL_RATE,
|
||||
)
|
||||
self._slow_down_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.SLOW_DOWN_PROB,
|
||||
exit_threshold=WMACConstants.SLOW_DOWN_EXIT_PROB,
|
||||
rise_rate=WMACConstants.SLOW_DOWN_RISE_RATE,
|
||||
fall_rate=WMACConstants.SLOW_DOWN_FALL_RATE,
|
||||
)
|
||||
self._slowness_tracker = HysteresisSignal(
|
||||
enter_threshold=WMACConstants.SLOWNESS_PROB,
|
||||
exit_threshold=WMACConstants.SLOWNESS_EXIT_PROB,
|
||||
rise_rate=WMACConstants.SLOWNESS_RISE_RATE,
|
||||
fall_rate=WMACConstants.SLOWNESS_FALL_RATE,
|
||||
# Smooth filters for stable decision making with faster response for critical scenarios
|
||||
self._lead_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.15,
|
||||
process_noise=0.05,
|
||||
alpha=1.02,
|
||||
smoothing_factor=0.8
|
||||
)
|
||||
|
||||
self._slow_down_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.1,
|
||||
process_noise=0.1,
|
||||
alpha=1.05,
|
||||
smoothing_factor=0.7
|
||||
)
|
||||
|
||||
self._slowness_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.1,
|
||||
process_noise=0.06,
|
||||
alpha=1.015,
|
||||
smoothing_factor=0.92
|
||||
)
|
||||
|
||||
self._mpc_fcw_filter = SmoothKalmanFilter(
|
||||
measurement_noise=0.2,
|
||||
process_noise=0.1,
|
||||
alpha=1.1,
|
||||
smoothing_factor=0.5
|
||||
)
|
||||
self._has_lead_filtered = False
|
||||
self._has_radar_acc_lead = False
|
||||
self._has_slow_down = False
|
||||
self._has_slowness = False
|
||||
self._has_mpc_fcw = False
|
||||
@@ -164,14 +179,13 @@ class DynamicExperimentalController:
|
||||
self._has_standstill = False
|
||||
self._mpc_fcw_crash_cnt = 0
|
||||
self._standstill_count = 0
|
||||
|
||||
# debug
|
||||
self._endpoint_x = float('inf')
|
||||
self._expected_distance = 0.0
|
||||
self._trajectory_valid = False
|
||||
self._raw_urgency = 0.0
|
||||
|
||||
def _read_params(self) -> None:
|
||||
if self._frame % WMACConstants.PARAM_READ_FRAMES == 0:
|
||||
if self._frame % int(1. / DT_MDL) == 0:
|
||||
self._enabled = self._params.get_bool("DynamicExperimentalControl")
|
||||
|
||||
def mode(self) -> str:
|
||||
@@ -184,6 +198,7 @@ class DynamicExperimentalController:
|
||||
return self._active
|
||||
|
||||
def set_mpc_fcw_crash_cnt(self) -> None:
|
||||
"""Set MPC FCW crash count"""
|
||||
self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
|
||||
|
||||
def _update_calculations(self, sm: messaging.SubMaster) -> None:
|
||||
@@ -195,109 +210,179 @@ class DynamicExperimentalController:
|
||||
self._v_cruise_kph = car_state.vCruise
|
||||
self._has_standstill = car_state.standstill
|
||||
|
||||
# standstill detection
|
||||
if self._has_standstill:
|
||||
self._standstill_count = min(WMACConstants.STANDSTILL_FRAMES * 3, self._standstill_count + 1)
|
||||
self._standstill_count = min(20, self._standstill_count + 1)
|
||||
else:
|
||||
self._standstill_count = max(0, self._standstill_count - 1)
|
||||
|
||||
self._has_lead_filtered = self._lead_tracker.update(float(lead_one.status))
|
||||
self._has_radar_acc_lead = self._radar_acc_lead_tracker.update(self._radar_acc_lead_score(lead_one))
|
||||
self._has_mpc_fcw = self._mpc_fcw_crash_cnt > 0
|
||||
# Lead detection
|
||||
self._lead_filter.add_data(float(lead_one.status))
|
||||
lead_value = self._lead_filter.get_value() or 0.0
|
||||
self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
|
||||
|
||||
# MPC FCW detection
|
||||
fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
|
||||
self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
|
||||
self._has_mpc_fcw = fcw_filtered_value > 0.5
|
||||
|
||||
# Slow down detection
|
||||
self._calculate_slow_down(md)
|
||||
|
||||
if self._standstill_count > WMACConstants.STANDSTILL_FRAMES or self._has_slow_down:
|
||||
self._slowness_tracker.reset()
|
||||
self._has_slowness = False
|
||||
else:
|
||||
# Slowness detection
|
||||
if not (self._standstill_count > 5) and not self._has_slow_down:
|
||||
current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
|
||||
self._has_slowness = self._slowness_tracker.update(current_slowness)
|
||||
self._slowness_filter.add_data(current_slowness)
|
||||
slowness_value = self._slowness_filter.get_value() or 0.0
|
||||
|
||||
def _calculate_slow_down(self, md) -> None:
|
||||
# Hysteresis for slowness
|
||||
threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
|
||||
self._has_slowness = slowness_value > threshold
|
||||
|
||||
def _calculate_slow_down(self, md):
|
||||
"""Calculate urgency based on trajectory endpoint vs expected distance."""
|
||||
|
||||
# Reset to safe defaults
|
||||
urgency = 0.0
|
||||
self._endpoint_x = float('inf')
|
||||
self._expected_distance = 0.0
|
||||
self._trajectory_valid = False
|
||||
|
||||
urgency = self._model_action_urgency(md)
|
||||
position_valid = len(md.position.x) == WMACConstants.TRAJECTORY_SIZE
|
||||
#Require exact trajectory size
|
||||
position_valid = len(md.position.x) == TRAJECTORY_SIZE
|
||||
orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
|
||||
|
||||
if position_valid:
|
||||
self._trajectory_valid = True
|
||||
self._endpoint_x = md.position.x[WMACConstants.TRAJECTORY_SIZE - 1]
|
||||
self._expected_distance = interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST)
|
||||
urgency = max(urgency, self._endpoint_urgency(self._endpoint_x, self._expected_distance))
|
||||
if not (position_valid and orientation_valid):
|
||||
# Invalid trajectory - this itself might indicate a stop scenario
|
||||
# Apply moderate urgency for incomplete trajectories at speed
|
||||
if self._v_ego_kph > 20.0:
|
||||
urgency = 0.3
|
||||
|
||||
self._raw_urgency = clip01(urgency)
|
||||
self._has_slow_down = self._slow_down_tracker.update(self._raw_urgency)
|
||||
self._urgency = self._slow_down_tracker.value
|
||||
self._slow_down_filter.add_data(urgency)
|
||||
urgency_filtered = self._slow_down_filter.get_value() or 0.0
|
||||
self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
|
||||
self._urgency = urgency_filtered
|
||||
return
|
||||
|
||||
def _radar_acc_lead_score(self, lead_one) -> float:
|
||||
if not lead_one.status:
|
||||
return 0.0
|
||||
# We have a valid full trajectory
|
||||
self._trajectory_valid = True
|
||||
|
||||
d_rel = float(getattr(lead_one, 'dRel', float('inf')))
|
||||
v_rel = float(getattr(lead_one, 'vRel', 0.0))
|
||||
if d_rel <= WMACConstants.RADAR_LEAD_ACC_MAX_DREL:
|
||||
return 1.0
|
||||
if v_rel <= WMACConstants.RADAR_LEAD_ACC_MIN_CLOSING_SPEED and d_rel / max(-v_rel, 0.1) <= WMACConstants.RADAR_LEAD_ACC_MAX_TTC:
|
||||
return 1.0
|
||||
return 0.0
|
||||
# Use the exact endpoint (33rd point, index 32)
|
||||
endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
|
||||
self._endpoint_x = endpoint_x
|
||||
|
||||
def _model_action_urgency(self, md) -> float:
|
||||
action = getattr(md, 'action', None)
|
||||
if action is None:
|
||||
return 0.0
|
||||
# Get expected distance based on current speed using tuned constants
|
||||
expected_distance = interp(self._v_ego_kph,
|
||||
WMACConstants.SLOW_DOWN_BP,
|
||||
WMACConstants.SLOW_DOWN_DIST)
|
||||
self._expected_distance = expected_distance
|
||||
|
||||
urgency = 1.0 if getattr(action, 'shouldStop', False) else 0.0
|
||||
desired_accel = getattr(action, 'desiredAcceleration', 0.0)
|
||||
if desired_accel < WMACConstants.MODEL_DECEL_START:
|
||||
urgency = max(urgency, min(1.0, (WMACConstants.MODEL_DECEL_START - desired_accel) / WMACConstants.MODEL_DECEL_RANGE))
|
||||
return urgency
|
||||
# Calculate urgency based on trajectory shortage
|
||||
if endpoint_x < expected_distance:
|
||||
shortage = expected_distance - endpoint_x
|
||||
shortage_ratio = shortage / expected_distance
|
||||
|
||||
def _endpoint_urgency(self, endpoint_x: float, expected_distance: float) -> float:
|
||||
if endpoint_x >= expected_distance:
|
||||
return 0.0
|
||||
# Base urgency on shortage ratio
|
||||
urgency = min(1.0, shortage_ratio * 2.0)
|
||||
|
||||
shortage_ratio = (expected_distance - endpoint_x) / expected_distance
|
||||
urgency = min(1.0, shortage_ratio * WMACConstants.ENDPOINT_URGENCY_GAIN)
|
||||
# Increase urgency for very short trajectories (imminent stops)
|
||||
critical_distance = expected_distance * 0.3
|
||||
if endpoint_x < critical_distance:
|
||||
urgency = min(1.0, urgency * 2.0)
|
||||
|
||||
if endpoint_x < expected_distance * WMACConstants.CRITICAL_ENDPOINT_FACTOR:
|
||||
urgency = min(1.0, urgency * WMACConstants.CRITICAL_URGENCY_GAIN)
|
||||
# Speed-based urgency adjustment
|
||||
if self._v_ego_kph > 25.0:
|
||||
speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
|
||||
urgency = min(1.0, urgency * speed_factor)
|
||||
|
||||
if self._v_ego_kph > WMACConstants.SPEED_URGENCY_MIN:
|
||||
speed_factor = 1.0 + (self._v_ego_kph - WMACConstants.SPEED_URGENCY_MIN) / WMACConstants.SPEED_URGENCY_RANGE
|
||||
urgency = min(1.0, urgency * speed_factor)
|
||||
# Apply filtering but with less smoothing for stops
|
||||
self._slow_down_filter.add_data(urgency)
|
||||
urgency_filtered = self._slow_down_filter.get_value() or 0.0
|
||||
|
||||
return urgency
|
||||
# Update state with lower threshold for better stop detection
|
||||
self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
|
||||
self._urgency = urgency_filtered
|
||||
|
||||
def _desired_mode(self) -> tuple[ModeType, bool]:
|
||||
if not self._CP.radarUnavailable and self._has_radar_acc_lead:
|
||||
return 'acc', False
|
||||
def _radarless_mode(self) -> None:
|
||||
"""Radarless mode decision logic with emergency handling."""
|
||||
|
||||
# EMERGENCY: MPC FCW - immediate blended mode
|
||||
if self._has_mpc_fcw:
|
||||
return 'blended', True
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
return
|
||||
|
||||
standstill = self._standstill_count > WMACConstants.STANDSTILL_FRAMES
|
||||
urgent_slow_down = self._has_slow_down and self._raw_urgency > WMACConstants.URGENT_SLOW_DOWN_PROB
|
||||
# Standstill: use blended
|
||||
if self._standstill_count > 3:
|
||||
self._mode_manager.request_mode('blended', confidence=0.9)
|
||||
return
|
||||
|
||||
if self._CP.radarUnavailable:
|
||||
if standstill or self._has_slow_down:
|
||||
return 'blended', urgent_slow_down
|
||||
return 'acc', False
|
||||
# Slow down scenarios: emergency for high urgency, normal for lower urgency
|
||||
if self._has_slow_down:
|
||||
if self._urgency > 0.7:
|
||||
# Emergency: immediate blended mode for high urgency stops
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
else:
|
||||
# Normal: blended with urgency-based confidence
|
||||
confidence = min(1.0, self._urgency * 1.5)
|
||||
self._mode_manager.request_mode('blended', confidence=confidence)
|
||||
return
|
||||
|
||||
if standstill or self._has_slow_down:
|
||||
return 'blended', urgent_slow_down
|
||||
# Driving slow: use ACC (but not if actively slowing down)
|
||||
if self._has_slowness and not self._has_slow_down:
|
||||
self._mode_manager.request_mode('acc', confidence=0.8)
|
||||
return
|
||||
|
||||
return 'acc', False
|
||||
# Default: ACC
|
||||
self._mode_manager.request_mode('acc', confidence=0.7)
|
||||
|
||||
def _radar_mode(self) -> None:
|
||||
"""Radar mode with emergency handling."""
|
||||
|
||||
# EMERGENCY: MPC FCW - immediate blended mode
|
||||
if self._has_mpc_fcw:
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
return
|
||||
|
||||
# If lead detected and not in standstill: always use ACC
|
||||
if self._has_lead_filtered and not (self._standstill_count > 3):
|
||||
self._mode_manager.request_mode('acc', confidence=1.0)
|
||||
return
|
||||
|
||||
# Slow down scenarios: emergency for high urgency, normal for lower urgency
|
||||
if self._has_slow_down:
|
||||
if self._urgency > 0.7:
|
||||
# Emergency: immediate blended mode for high urgency stops
|
||||
self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
|
||||
else:
|
||||
# Normal: blended with urgency-based confidence
|
||||
confidence = min(1.0, self._urgency * 1.3)
|
||||
self._mode_manager.request_mode('blended', confidence=confidence)
|
||||
return
|
||||
|
||||
# Standstill: use blended
|
||||
if self._standstill_count > 3:
|
||||
self._mode_manager.request_mode('blended', confidence=0.9)
|
||||
return
|
||||
|
||||
# Driving slow: use ACC (but not if actively slowing down)
|
||||
if self._has_slowness and not self._has_slow_down:
|
||||
self._mode_manager.request_mode('acc', confidence=0.8)
|
||||
return
|
||||
|
||||
# Default: ACC
|
||||
self._mode_manager.request_mode('acc', confidence=0.7)
|
||||
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
self._read_params()
|
||||
|
||||
self.set_mpc_fcw_crash_cnt()
|
||||
|
||||
self._update_calculations(sm)
|
||||
|
||||
mode, immediate = self._desired_mode()
|
||||
self._mode_manager.request_mode(mode, immediate=immediate, hold_frames=WMACConstants.EMERGENCY_HOLD_FRAMES,
|
||||
cancel_hold=self._has_radar_acc_lead)
|
||||
self._mode_manager.update()
|
||||
if self._CP.radarUnavailable:
|
||||
self._radarless_mode()
|
||||
else:
|
||||
self._radar_mode()
|
||||
|
||||
self._mode_manager.update()
|
||||
self._active = sm['selfdriveState'].experimentalMode and self._enabled
|
||||
self._frame += 1
|
||||
|
||||
@@ -0,0 +1,94 @@
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
|
||||
|
||||
class MockLeadOne:
|
||||
def __init__(self, status=0.0):
|
||||
self.status = status
|
||||
|
||||
class MockRadarState:
|
||||
def __init__(self, status=0.0):
|
||||
self.leadOne = MockLeadOne(status=status)
|
||||
|
||||
class MockCarState:
|
||||
def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
|
||||
self.vEgo = vEgo
|
||||
self.vCruise = vCruise
|
||||
self.standstill = standstill
|
||||
|
||||
class MockModelData:
|
||||
def __init__(self, valid=True):
|
||||
size = 33 if valid else 10 # incomplete if invalid
|
||||
self.position = type("Pos", (), {"x": [0.0] * size})()
|
||||
self.orientation = type("Ori", (), {"x": [0.0] * size})()
|
||||
|
||||
class MockSelfDriveState:
|
||||
def __init__(self, experimentalMode=False):
|
||||
self.experimentalMode = experimentalMode
|
||||
|
||||
class MockParams:
|
||||
def get_bool(self, name):
|
||||
return True
|
||||
|
||||
@pytest.fixture
|
||||
def default_sm():
|
||||
sm = {
|
||||
'carState': MockCarState(vEgo=10.0, vCruise=20.0),
|
||||
'radarState': MockRadarState(status=1.0),
|
||||
'modelV2': MockModelData(valid=True),
|
||||
'selfdriveState': MockSelfDriveState(experimentalMode=True),
|
||||
}
|
||||
return sm
|
||||
|
||||
@pytest.fixture
|
||||
def mock_cp():
|
||||
class CP:
|
||||
radarUnavailable = False
|
||||
return CP()
|
||||
|
||||
@pytest.fixture
|
||||
def mock_mpc():
|
||||
class MPC:
|
||||
crash_cnt = 0
|
||||
return MPC()
|
||||
|
||||
# Fake Kalman Filter that always returns a given value
|
||||
class FakeKalman:
|
||||
def __init__(self, value=1.0):
|
||||
self.value = value
|
||||
def add_data(self, v): pass
|
||||
def get_value(self): return self.value
|
||||
def get_confidence(self): return 1.0
|
||||
def reset_data(self): pass
|
||||
|
||||
def test_initial_mode_is_acc(mock_cp, mock_mpc):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['carState'].standstill = True
|
||||
for _ in range(10):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
mock_mpc.crash_cnt = 1 # simulate FCW
|
||||
for _ in range(2):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
|
||||
# Force conditions to simulate slowdown
|
||||
controller._slow_down_filter = FakeKalman(value=1.0) # Ensure urgency triggers slowdown
|
||||
controller._v_ego_kph = 35.0
|
||||
default_sm['modelV2'] = MockModelData(valid=False) # Incomplete trajectory
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller.mode() == "blended"
|
||||
@@ -1,235 +0,0 @@
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, HysteresisSignal
|
||||
|
||||
|
||||
class MockLeadOne:
|
||||
def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
|
||||
self.status = status
|
||||
self.dRel = dRel
|
||||
self.vRel = vRel
|
||||
|
||||
|
||||
class MockRadarState:
|
||||
def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
|
||||
self.leadOne = MockLeadOne(status=status, dRel=dRel, vRel=vRel)
|
||||
|
||||
|
||||
class MockCarState:
|
||||
def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
|
||||
self.vEgo = vEgo
|
||||
self.vCruise = vCruise
|
||||
self.standstill = standstill
|
||||
|
||||
|
||||
class MockAction:
|
||||
def __init__(self, desiredAcceleration=0.0, shouldStop=False):
|
||||
self.desiredAcceleration = desiredAcceleration
|
||||
self.shouldStop = shouldStop
|
||||
|
||||
|
||||
class MockModelData:
|
||||
def __init__(self, valid=True, endpoint_x=200.0, orientation_valid=None, desired_acceleration=0.0, should_stop=False):
|
||||
position_size = 33 if valid else 10
|
||||
orientation_size = position_size if orientation_valid is None else (33 if orientation_valid else 10)
|
||||
position_x = [0.0] * position_size
|
||||
if position_x:
|
||||
position_x[-1] = endpoint_x
|
||||
self.position = type("Pos", (), {"x": position_x})()
|
||||
self.orientation = type("Ori", (), {"x": [0.0] * orientation_size})()
|
||||
self.acceleration = type("Accel", (), {"x": [0.0] * position_size})()
|
||||
self.action = MockAction(desired_acceleration, should_stop)
|
||||
|
||||
|
||||
class MockSelfDriveState:
|
||||
def __init__(self, experimentalMode=False):
|
||||
self.experimentalMode = experimentalMode
|
||||
|
||||
|
||||
class MockParams:
|
||||
def get_bool(self, name):
|
||||
return True
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def default_sm():
|
||||
sm = {
|
||||
'carState': MockCarState(vEgo=10.0, vCruise=20.0),
|
||||
'radarState': MockRadarState(status=1.0),
|
||||
'modelV2': MockModelData(valid=True),
|
||||
'selfdriveState': MockSelfDriveState(experimentalMode=True),
|
||||
}
|
||||
return sm
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_cp():
|
||||
class CP:
|
||||
radarUnavailable = False
|
||||
return CP()
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def mock_mpc():
|
||||
class MPC:
|
||||
crash_cnt = 0
|
||||
return MPC()
|
||||
|
||||
|
||||
def test_initial_mode_is_acc(mock_cp, mock_mpc):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['carState'].standstill = True
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
mock_mpc.crash_cnt = 1
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_valid_position_with_missing_orientation_can_trigger_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, orientation_valid=False)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._trajectory_valid
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_incomplete_position_does_not_trigger_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=False, endpoint_x=0.0)
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._trajectory_valid
|
||||
assert not controller._has_slow_down
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_slowdown_hysteresis_prevents_threshold_chatter():
|
||||
signal = HysteresisSignal(enter_threshold=0.5, exit_threshold=0.4, rise_rate=1.0, fall_rate=1.0)
|
||||
|
||||
assert signal.update(0.55)
|
||||
assert signal.update(0.45)
|
||||
assert not signal.update(0.35)
|
||||
|
||||
|
||||
def test_model_should_stop_triggers_blended_without_valid_trajectory(mock_cp, mock_mpc, default_sm):
|
||||
mock_cp.radarUnavailable = True
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert not controller._trajectory_valid
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_radar_lead_keeps_acc_over_model_slowdown(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
for _ in range(3):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_slow_down
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_far_radar_lead_allows_blended_until_acc_relevant(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert not controller._has_radar_acc_lead
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
|
||||
def test_relevant_radar_lead_smoothly_returns_to_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
assert controller.mode() == "blended"
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=45.0, vRel=0.0)
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_closing_far_radar_lead_returns_to_acc(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=-25.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
|
||||
for _ in range(20):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_radar_acc_lead
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_radar_lead_keeps_acc_over_fcw_and_standstill(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
default_sm['carState'].standstill = True
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, should_stop=True)
|
||||
mock_mpc.crash_cnt = 1
|
||||
|
||||
for _ in range(10):
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert controller._has_mpc_fcw
|
||||
assert controller.mode() == "acc"
|
||||
|
||||
|
||||
def test_lead_flicker_hold_prevents_one_frame_mode_flip(mock_cp, mock_mpc, default_sm):
|
||||
controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
|
||||
default_sm['radarState'] = MockRadarState(status=1.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
default_sm['radarState'] = MockRadarState(status=0.0)
|
||||
default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
|
||||
controller.update(default_sm)
|
||||
|
||||
assert controller._has_lead_filtered
|
||||
assert controller.mode() == "acc"
|
||||
@@ -9,8 +9,6 @@ from cereal import messaging, custom
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import RadarDistanceController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
|
||||
@@ -28,8 +26,6 @@ class LongitudinalPlannerSP:
|
||||
self.events_sp = EventsSP()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.dec = DynamicExperimentalController(CP, mpc)
|
||||
self.accel = AccelController(CP, mpc)
|
||||
self.radar_distance = RadarDistanceController(CP)
|
||||
self.scc = SmartCruiseControl()
|
||||
self.resolver = SpeedLimitResolver()
|
||||
self.sla = SpeedLimitAssist(CP, CP_SP)
|
||||
@@ -80,13 +76,8 @@ class LongitudinalPlannerSP:
|
||||
def update(self, sm: messaging.SubMaster) -> None:
|
||||
self.events_sp.clear()
|
||||
self.dec.update(sm)
|
||||
self.accel.update(sm)
|
||||
self.radar_distance.update(sm)
|
||||
self.e2e_alerts_helper.update(sm, self.events_sp)
|
||||
|
||||
def smooth_radarstate(self, radarstate):
|
||||
return self.radar_distance.smooth_radarstate(radarstate)
|
||||
|
||||
def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
|
||||
plan_sp_send = messaging.new_message('longitudinalPlanSP')
|
||||
|
||||
@@ -147,15 +138,4 @@ class LongitudinalPlannerSP:
|
||||
e2eAlerts.greenLightAlert = self.e2e_alerts_helper.green_light_alert
|
||||
e2eAlerts.leadDepartAlert = self.e2e_alerts_helper.lead_depart_alert
|
||||
|
||||
# Acceleration Personality
|
||||
acceleration = longitudinalPlanSP.acceleration
|
||||
acceleration.personality = self.accel.personality()
|
||||
acceleration.enabled = self.accel.enabled()
|
||||
acceleration.maxAccel = float(self.accel.max_accel())
|
||||
acceleration.brakeNeed = float(self.accel.brake_need())
|
||||
acceleration.decelTarget = float(self.accel.decel_target())
|
||||
acceleration.smoothActive = self.accel.smooth_active()
|
||||
acceleration.bypassed = bool(self.accel.bypassed())
|
||||
|
||||
|
||||
pm.send('longitudinalPlanSP', plan_sp_send)
|
||||
|
||||
@@ -1,107 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
|
||||
Radar Distance: hold a just-dropped, recently-sustained lead alive through radar flicker so the MPC does
|
||||
not lose+regain it. Obstacle-monotone (held obstacle <= last real <= stock) -> braking is always >= stock,
|
||||
never less. Wall-clock bounded, flicker-proof. Default off => stock passthrough.
|
||||
"""
|
||||
|
||||
from opendbc.car import structs
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
|
||||
HOLD_MAX_FRAMES = 10 # ~0.5s cap, measured since the last SUSTAINED lead (not reset by 1-frame flicker)
|
||||
SUSTAIN_FRAMES = 2 # consecutive valid frames to (re)arm and reset the wall-clock
|
||||
DROPOUT_DREL = 1.0
|
||||
MIN_PROB = 0.2
|
||||
FCW_PROB_CAP = 0.9 # held lead can't reach the FCW gate (>0.9) -> no false FCW
|
||||
MIN_HELD_DREL = 0.5
|
||||
|
||||
|
||||
class _HeldLead:
|
||||
__slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'vLeadK', 'aLeadK', 'aLeadTau', 'modelProb')
|
||||
|
||||
def __init__(self, dRel, vRel, vLead, aLeadK, aLeadTau, modelProb):
|
||||
self.status = True
|
||||
self.dRel = dRel
|
||||
self.vRel = vRel
|
||||
self.vLead = vLead
|
||||
self.vLeadK = vLead
|
||||
self.aLeadK = aLeadK
|
||||
self.aLeadTau = aLeadTau
|
||||
self.modelProb = modelProb
|
||||
self.yRel = 0.0
|
||||
|
||||
|
||||
class _RadarStateProxy:
|
||||
__slots__ = ('leadOne', 'leadTwo')
|
||||
|
||||
def __init__(self, lead_one, lead_two):
|
||||
self.leadOne = lead_one
|
||||
self.leadTwo = lead_two
|
||||
|
||||
|
||||
class _LeadHold:
|
||||
def __init__(self):
|
||||
self._last = None
|
||||
self._sustained = 0
|
||||
self._since_real = 0
|
||||
self._armed = False
|
||||
self._held_dRel = 0.0
|
||||
|
||||
def reset(self):
|
||||
self.__init__()
|
||||
|
||||
def step(self, raw):
|
||||
if raw.status and raw.dRel > DROPOUT_DREL and raw.modelProb > MIN_PROB:
|
||||
self._last = (raw.dRel, raw.vRel, raw.vLead, raw.aLeadK, raw.aLeadTau, raw.modelProb)
|
||||
self._sustained += 1
|
||||
if self._sustained >= SUSTAIN_FRAMES:
|
||||
self._since_real = 0
|
||||
self._armed = True
|
||||
return raw
|
||||
|
||||
self._sustained = 0
|
||||
self._since_real += 1
|
||||
if self._armed and self._last is not None and self._since_real <= HOLD_MAX_FRAMES:
|
||||
dRel0, vRel0, vLead0, aLeadK0, aLeadTau0, prob0 = self._last
|
||||
if self._since_real == 1:
|
||||
self._held_dRel = dRel0
|
||||
self._held_dRel = max(MIN_HELD_DREL, self._held_dRel - max(-vRel0, 0.0) * DT_MDL)
|
||||
return _HeldLead(self._held_dRel, vRel0, vLead0, min(aLeadK0, 0.0), aLeadTau0, min(prob0, FCW_PROB_CAP))
|
||||
|
||||
self._armed = False
|
||||
return raw
|
||||
|
||||
|
||||
class RadarDistanceController:
|
||||
def __init__(self, CP: structs.CarParams, params=None):
|
||||
self._CP = CP
|
||||
self._params = params or Params()
|
||||
self._frame = 0
|
||||
self._enabled = self._params.get_bool("RadarDistance")
|
||||
self._one = _LeadHold()
|
||||
self._two = _LeadHold()
|
||||
|
||||
def _read_params(self) -> None:
|
||||
enabled = self._params.get_bool("RadarDistance")
|
||||
if enabled and not self._enabled:
|
||||
self._one.reset()
|
||||
self._two.reset()
|
||||
self._enabled = enabled
|
||||
|
||||
def update(self, sm) -> None:
|
||||
if self._frame % int(1. / DT_MDL) == 0:
|
||||
self._read_params()
|
||||
self._frame += 1
|
||||
|
||||
def enabled(self) -> bool:
|
||||
return self._enabled
|
||||
|
||||
def smooth_radarstate(self, radarstate):
|
||||
if not self._enabled:
|
||||
return radarstate
|
||||
return _RadarStateProxy(self._one.step(radarstate.leadOne), self._two.step(radarstate.leadTwo))
|
||||
@@ -1,117 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
|
||||
from types import SimpleNamespace
|
||||
|
||||
import pytest
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import \
|
||||
RadarDistanceController, HOLD_MAX_FRAMES, FCW_PROB_CAP
|
||||
|
||||
COMFORT_BRAKE = 2.5
|
||||
|
||||
|
||||
class FakeParams:
|
||||
def __init__(self, store=None):
|
||||
self.store = dict(store or {})
|
||||
|
||||
def get_bool(self, key):
|
||||
return bool(self.store.get(key, False))
|
||||
|
||||
|
||||
def lead(status=True, dRel=40.0, vRel=-2.0, vLead=18.0, aLeadK=0.0, aLeadTau=1.5, modelProb=0.95):
|
||||
return SimpleNamespace(status=status, dRel=dRel, yRel=0.0, vRel=vRel, vLead=vLead, vLeadK=vLead,
|
||||
aLeadK=aLeadK, aLeadTau=aLeadTau, modelProb=modelProb)
|
||||
|
||||
|
||||
def rs(one, two=None):
|
||||
return SimpleNamespace(leadOne=one, leadTwo=two or lead(status=False, dRel=0.0, modelProb=0.0))
|
||||
|
||||
|
||||
def obstacle(ld):
|
||||
return ld.dRel + ld.vLead ** 2 / (2 * COMFORT_BRAKE)
|
||||
|
||||
|
||||
def ctrl(enabled=True):
|
||||
return RadarDistanceController(CP=SimpleNamespace(), params=FakeParams({'RadarDistance': enabled}))
|
||||
|
||||
|
||||
def test_disabled_is_identity():
|
||||
c = ctrl(enabled=False)
|
||||
r = rs(lead())
|
||||
assert c.smooth_radarstate(r) is r # byte-stock passthrough
|
||||
|
||||
|
||||
def test_valid_lead_passthrough():
|
||||
c = ctrl()
|
||||
one = lead(dRel=40.0)
|
||||
out = c.smooth_radarstate(rs(one))
|
||||
assert out.leadOne is one
|
||||
|
||||
|
||||
def test_holds_after_sustained_dropout():
|
||||
c = ctrl()
|
||||
for _ in range(3): # sustain (>= SUSTAIN_FRAMES)
|
||||
c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-4.0, vLead=16.0)))
|
||||
out = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
|
||||
held = out.leadOne
|
||||
assert held.status is True
|
||||
assert held.dRel < 30.0 # dead-reckoned closer
|
||||
assert held.dRel == pytest.approx(30.0 - 4.0 * 0.05, abs=1e-6)
|
||||
|
||||
|
||||
def test_obstacle_monotone_during_hold():
|
||||
c = ctrl()
|
||||
for _ in range(3):
|
||||
c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-4.0, vLead=16.0)))
|
||||
last_obs = obstacle(lead(dRel=30.0, vLead=16.0))
|
||||
prev = last_obs
|
||||
for _ in range(HOLD_MAX_FRAMES):
|
||||
held = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))).leadOne
|
||||
if not held.status:
|
||||
break
|
||||
o = obstacle(held)
|
||||
assert o <= last_obs + 1e-6 # never farther than the last real obstacle (brakes >= last real)
|
||||
assert o <= prev + 1e-6 # monotonically non-increasing -> brakes more over the hold
|
||||
prev = o
|
||||
|
||||
|
||||
def test_releases_after_hold_cap():
|
||||
c = ctrl()
|
||||
for _ in range(3):
|
||||
c.smooth_radarstate(rs(lead(dRel=30.0)))
|
||||
statuses = [c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))).leadOne.status
|
||||
for _ in range(HOLD_MAX_FRAMES + 3)]
|
||||
assert all(statuses[:HOLD_MAX_FRAMES]) # held through the cap
|
||||
assert statuses[HOLD_MAX_FRAMES] is False # released after
|
||||
|
||||
|
||||
def test_no_hold_without_sustained_lead():
|
||||
c = ctrl()
|
||||
c.smooth_radarstate(rs(lead(dRel=30.0))) # single valid frame (< SUSTAIN_FRAMES)
|
||||
out = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
|
||||
assert out.leadOne.status is False # not armed -> no hold
|
||||
|
||||
|
||||
def test_flicker_does_not_reset_wall_clock():
|
||||
c = ctrl()
|
||||
for _ in range(3):
|
||||
c.smooth_radarstate(rs(lead(dRel=30.0)))
|
||||
# 1/0/1/0 flicker: lone valid frames must NOT reset the wall-clock (sustained < SUSTAIN_FRAMES)
|
||||
for _ in range(4):
|
||||
c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))) # dropout
|
||||
c.smooth_radarstate(rs(lead(dRel=31.0))) # lone valid
|
||||
assert c._one._since_real > 0 # wall-clock kept climbing through the flicker
|
||||
|
||||
|
||||
def test_fcw_prob_capped_and_aleadk_not_positive():
|
||||
c = ctrl()
|
||||
for _ in range(3):
|
||||
c.smooth_radarstate(rs(lead(dRel=30.0, aLeadK=1.0, modelProb=0.99)))
|
||||
held = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))).leadOne
|
||||
assert held.modelProb <= FCW_PROB_CAP # no false FCW from a held phantom
|
||||
assert held.aLeadK <= 0.0 # never project the held lead as accelerating
|
||||
@@ -1,84 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import numpy as np
|
||||
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.common.params import Params
|
||||
|
||||
NEARSIDE_PROB = 0.2
|
||||
EDGE_PROB = 0.35
|
||||
EDGE_REACTION_TIME = 1.0
|
||||
EDGE_CLEAR_TIME = 0.3
|
||||
MIN_SPEED = 20 * CV.MPH_TO_MS
|
||||
|
||||
|
||||
class RoadEdgeLaneChangeController:
|
||||
def __init__(self, desire_helper):
|
||||
self.DH = desire_helper
|
||||
self.params = Params()
|
||||
self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
|
||||
self.param_read_counter = 0
|
||||
self.left_edge_detected = False
|
||||
self.right_edge_detected = False
|
||||
self.left_edge_timer = 0.0
|
||||
self.right_edge_timer = 0.0
|
||||
self.left_clear_timer = 0.0
|
||||
self.right_clear_timer = 0.0
|
||||
|
||||
def read_params(self) -> None:
|
||||
self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
|
||||
|
||||
def update_params(self) -> None:
|
||||
if self.param_read_counter % 50 == 0:
|
||||
self.read_params()
|
||||
self.param_read_counter += 1
|
||||
|
||||
def reset(self) -> None:
|
||||
self.left_edge_detected = False
|
||||
self.right_edge_detected = False
|
||||
self.left_edge_timer = 0.0
|
||||
self.right_edge_timer = 0.0
|
||||
self.left_clear_timer = 0.0
|
||||
self.right_clear_timer = 0.0
|
||||
|
||||
def update(self, road_edge_stds, lane_line_probs, v_ego: float) -> None:
|
||||
self.update_params()
|
||||
|
||||
if not self.enabled or v_ego < MIN_SPEED:
|
||||
self.reset()
|
||||
return
|
||||
|
||||
left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
|
||||
right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
|
||||
left_lane_prob = lane_line_probs[0]
|
||||
right_lane_prob = lane_line_probs[3]
|
||||
|
||||
left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and right_lane_prob >= left_lane_prob
|
||||
right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and left_lane_prob >= right_lane_prob
|
||||
|
||||
if left_cond:
|
||||
self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
|
||||
self.left_clear_timer = 0.0
|
||||
if self.left_edge_timer > EDGE_REACTION_TIME:
|
||||
self.left_edge_detected = True
|
||||
else:
|
||||
self.left_clear_timer += DT_MDL
|
||||
if self.left_clear_timer > EDGE_CLEAR_TIME:
|
||||
self.left_edge_timer = 0.0
|
||||
self.left_edge_detected = False
|
||||
|
||||
if right_cond:
|
||||
self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
|
||||
self.right_clear_timer = 0.0
|
||||
if self.right_edge_timer > EDGE_REACTION_TIME:
|
||||
self.right_edge_detected = True
|
||||
else:
|
||||
self.right_clear_timer += DT_MDL
|
||||
if self.right_clear_timer > EDGE_CLEAR_TIME:
|
||||
self.right_edge_timer = 0.0
|
||||
self.right_edge_detected = False
|
||||
@@ -5,8 +5,6 @@ from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
|
||||
|
||||
|
||||
TurnDirection = custom.ModelDataV2SP.TurnDirection
|
||||
|
||||
@@ -109,11 +107,7 @@ def set_lane_turn_params():
|
||||
])
|
||||
def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
|
||||
dh = DesireHelper()
|
||||
relc = RoadEdgeLaneChangeController(dh)
|
||||
relc.enabled = True
|
||||
dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
|
||||
for _ in range(10):
|
||||
dh.update(carstate, lateral_active, lane_change_prob,
|
||||
left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
|
||||
dh.update(carstate, lateral_active, lane_change_prob)
|
||||
assert dh.desire == expected_desire # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
|
||||
|
||||
|
||||
@@ -1,99 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
import pytest
|
||||
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
|
||||
RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
|
||||
)
|
||||
|
||||
V_HIGH = MIN_SPEED + 2.0
|
||||
V_LOW = MIN_SPEED - 1.0
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def relc(mocker):
|
||||
mock_params = mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
|
||||
mock_params.return_value.get_bool.return_value = True
|
||||
controller = RoadEdgeLaneChangeController(DesireHelper())
|
||||
controller.enabled = True
|
||||
return controller
|
||||
|
||||
|
||||
def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH):
|
||||
for _ in range(int(seconds / DT_MDL) + 1):
|
||||
controller.update(road_edge_stds, lane_line_probs, v_ego)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
|
||||
([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
|
||||
([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
|
||||
])
|
||||
def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
|
||||
drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
|
||||
assert getattr(relc, attr)
|
||||
|
||||
|
||||
def test_edge_detection_requires_time(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_both_edges_detected(relc):
|
||||
drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
assert relc.right_edge_detected
|
||||
|
||||
|
||||
def test_noise_doesnt_clear(relc):
|
||||
edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
|
||||
clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
|
||||
|
||||
drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.update(*clear, V_HIGH)
|
||||
relc.update(*edge, V_HIGH)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
|
||||
def test_clears_after_window(relc):
|
||||
edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
|
||||
clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
|
||||
|
||||
drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
|
||||
assert not relc.left_edge_detected
|
||||
assert relc.left_edge_timer == 0.0
|
||||
|
||||
|
||||
def test_low_speed_skips(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
|
||||
assert not relc.left_edge_detected
|
||||
assert relc.left_edge_timer == 0.0
|
||||
|
||||
|
||||
def test_speed_drop_resets(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW)
|
||||
assert not relc.left_edge_detected
|
||||
|
||||
|
||||
def test_param_off_resets(relc):
|
||||
drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
|
||||
assert relc.left_edge_detected
|
||||
|
||||
relc.params.get_bool.return_value = False
|
||||
relc.read_params()
|
||||
relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH)
|
||||
assert not relc.left_edge_detected
|
||||
assert not relc.right_edge_detected
|
||||
Binary file not shown.
@@ -243,12 +243,4 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
|
||||
},
|
||||
|
||||
EventNameSP.laneChangeRoadEdge: {
|
||||
ET.WARNING: Alert(
|
||||
"Lane Change Unavailable: Road Edge",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
|
||||
},
|
||||
}
|
||||
|
||||
@@ -41,7 +41,6 @@ LOCAL_PORT_WHITELIST = {8022}
|
||||
SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
|
||||
SUNNYLINK_RECONNECT_TIMEOUT_S = 70 # FYI changing this will also would require a change on sidebar.cc
|
||||
DISALLOW_LOG_UPLOAD = threading.Event()
|
||||
METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
|
||||
|
||||
params = Params()
|
||||
|
||||
@@ -170,39 +169,6 @@ def getParamsAllKeys() -> list[str]:
|
||||
return keys
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsAllKeysV1() -> dict[str, str]:
|
||||
try:
|
||||
with open(METADATA_PATH) as f:
|
||||
metadata = json.load(f)
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
|
||||
metadata = {}
|
||||
|
||||
try:
|
||||
available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
|
||||
|
||||
params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
|
||||
for key in available_keys:
|
||||
value = get_param_as_byte(key, get_default=True)
|
||||
|
||||
param_entry = {
|
||||
"key": key,
|
||||
"type": int(params.get_type(key).value),
|
||||
"default_value": base64.b64encode(value).decode('utf-8') if value else None,
|
||||
}
|
||||
|
||||
if key in metadata:
|
||||
meta_copy = metadata[key].copy()
|
||||
param_entry["_extra"] = meta_copy
|
||||
|
||||
params_dict["params"].append(param_entry)
|
||||
return {"keys": json.dumps(params_dict.get("params", []))}
|
||||
except Exception:
|
||||
cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
|
||||
raise
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getParamsMetadata() -> str:
|
||||
"""Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user