mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-09 07:14:40 +08:00
Compare commits
1 Commits
ui-neutral
...
ui-scroll-
| Author | SHA1 | Date | |
|---|---|---|---|
|
431ea4ed6d |
2
.github/workflows/ci_weekly_report.yaml
vendored
2
.github/workflows/ci_weekly_report.yaml
vendored
@@ -38,7 +38,7 @@ jobs:
|
||||
report:
|
||||
needs: [ci_matrix_run]
|
||||
runs-on: ubuntu-latest
|
||||
if: always() && github.repository == 'commaai/openpilot'
|
||||
if: always()
|
||||
steps:
|
||||
- name: Get job results
|
||||
uses: actions/github-script@v7
|
||||
|
||||
151
.github/workflows/mici_raylib_ui_preview.yaml
vendored
151
.github/workflows/mici_raylib_ui_preview.yaml
vendored
@@ -1,151 +0,0 @@
|
||||
name: "mici raylib ui preview"
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [assigned, opened, synchronize, reopened, edited]
|
||||
branches:
|
||||
- 'master'
|
||||
paths:
|
||||
- 'selfdrive/assets/**'
|
||||
- 'selfdrive/ui/**'
|
||||
- 'system/ui/**'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
UI_JOB_NAME: "Create mici raylib UI Report"
|
||||
REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
|
||||
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
|
||||
MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
|
||||
# All report files are pushed here
|
||||
REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
|
||||
|
||||
jobs:
|
||||
preview:
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
name: preview
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
- name: Waiting for ui generation to end
|
||||
uses: lewagon/wait-on-check-action@v1.3.4
|
||||
with:
|
||||
ref: ${{ env.SHA }}
|
||||
check-name: ${{ env.UI_JOB_NAME }}
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success
|
||||
wait-interval: 20
|
||||
|
||||
- name: Getting workflow run ID
|
||||
id: get_run_id
|
||||
run: |
|
||||
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Getting proposed ui # filename: pr_ui/mici_ui_replay.mp4
|
||||
id: download-artifact
|
||||
uses: dawidd6/action-download-artifact@v6
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
run_id: ${{ steps.get_run_id.outputs.run_id }}
|
||||
search_artifacts: true
|
||||
name: mici-raylib-report-1-${{ env.REPORT_NAME }}
|
||||
path: ${{ github.workspace }}/pr_ui
|
||||
|
||||
- name: Getting master ui # filename: master_ui_raylib/mici_ui_replay.mp4
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_ui_raylib
|
||||
ref: ${{ env.MASTER_BRANCH_NAME }}
|
||||
|
||||
- name: Saving new master ui
|
||||
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
|
||||
working-directory: ${{ github.workspace }}/master_ui_raylib
|
||||
run: |
|
||||
git checkout --orphan=new_master_ui_mici_raylib
|
||||
git rm -rf *
|
||||
git branch -D ${{ env.MASTER_BRANCH_NAME }}
|
||||
git branch -m ${{ env.MASTER_BRANCH_NAME }}
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "mici raylib video for commit ${{ env.SHA }}"
|
||||
git push origin ${{ env.MASTER_BRANCH_NAME }} --force
|
||||
|
||||
- name: Setup FFmpeg
|
||||
uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
|
||||
|
||||
- name: Finding diff
|
||||
if: github.event_name == 'pull_request_target'
|
||||
id: find_diff
|
||||
run: |
|
||||
# Find the video file from PR
|
||||
pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
|
||||
mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
|
||||
|
||||
master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
|
||||
mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
|
||||
|
||||
# Run report
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
|
||||
diff_exit_code=0
|
||||
python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
|
||||
|
||||
# Copy diff report files
|
||||
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
|
||||
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
|
||||
|
||||
REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
|
||||
if [ $diff_exit_code -eq 0 ]; then
|
||||
DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
|
||||
else
|
||||
DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
|
||||
fi
|
||||
echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
if: github.event_name == 'pull_request_target'
|
||||
working-directory: ${{ github.workspace }}/master_ui_raylib
|
||||
run: |
|
||||
# Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git checkout --orphan=${{ env.BRANCH_NAME }}
|
||||
git rm -rf *
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "mici raylib video for PR #${{ github.event.number }}"
|
||||
git push origin ${{ env.BRANCH_NAME }} --force
|
||||
|
||||
# Append diff report to report files branch
|
||||
git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
|
||||
git add diff_pr_${{ github.event.number }}.html
|
||||
git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
|
||||
git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
|
||||
- name: Comment Video on PR
|
||||
if: github.event_name == 'pull_request_target'
|
||||
uses: thollander/actions-comment-pull-request@v2
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
|
||||
## mici raylib UI Preview
|
||||
${{ steps.find_diff.outputs.DIFF }}
|
||||
comment_tag: run_id_video_mici_raylib
|
||||
pr_number: ${{ github.event.number }}
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
21
.github/workflows/sunnypilot-build-prebuilt.yaml
vendored
21
.github/workflows/sunnypilot-build-prebuilt.yaml
vendored
@@ -200,28 +200,37 @@ jobs:
|
||||
sudo rm -rf ${OUTPUT_DIR}
|
||||
mkdir -p ${OUTPUT_DIR}
|
||||
rsync -am${RUNNER_DEBUG:+v} \
|
||||
--include='**/panda/board/' \
|
||||
--include='**/panda/board/obj' \
|
||||
--include='**/panda/board/obj/panda.bin.signed' \
|
||||
--include='**/panda/board/obj/panda_h7.bin.signed' \
|
||||
--include='**/panda/board/obj/bootstub.panda.bin' \
|
||||
--include='**/panda/board/obj/bootstub.panda_h7.bin' \
|
||||
--exclude='.sconsign.dblite' \
|
||||
--exclude='*.a' \
|
||||
--exclude='*.o' \
|
||||
--exclude='*.os' \
|
||||
--exclude='*.pyc' \
|
||||
--exclude='moc_*' \
|
||||
--exclude='__pycache__' \
|
||||
--exclude='*.cc' \
|
||||
--exclude='Jenkinsfile' \
|
||||
--exclude='supercombo.onnx' \
|
||||
--exclude='**/panda/board/*' \
|
||||
--exclude='**/panda/board/obj/**' \
|
||||
--exclude='**/panda/certs/' \
|
||||
--exclude='**/panda/crypto/' \
|
||||
--exclude='**/release/' \
|
||||
--exclude='**/.github/' \
|
||||
--exclude='**/selfdrive/ui/replay/' \
|
||||
--exclude='**/__pycache__/' \
|
||||
--exclude='**/selfdrive/ui/*.h' \
|
||||
--exclude='**/selfdrive/ui/**/*.h' \
|
||||
--exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
|
||||
--exclude='${{env.SCONS_CACHE_DIR}}' \
|
||||
--exclude='**/.git/' \
|
||||
--exclude='**/SConstruct' \
|
||||
--exclude='**/SConscript' \
|
||||
--exclude='**/.venv/' \
|
||||
--exclude='selfdrive/modeld/models/driving_vision.onnx' \
|
||||
--exclude='selfdrive/modeld/models/driving_policy.onnx' \
|
||||
--exclude='sunnypilot/modeld*/models/supercombo.onnx' \
|
||||
--exclude='third_party/*x86*' \
|
||||
--exclude='third_party/*Darwin*' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
${BUILD_DIR}/ ${OUTPUT_DIR}/
|
||||
|
||||
@@ -49,7 +49,6 @@ jobs:
|
||||
with:
|
||||
fetch-depth: 0 # Fetch all history for all branches
|
||||
token: ${{ secrets.GITHUB_TOKEN }}
|
||||
persist-credentials: false
|
||||
|
||||
- name: Wait for Tests
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
@@ -174,20 +173,11 @@ jobs:
|
||||
echo ' pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
|
||||
echo ' locksverify = false' >> .lfsconfig
|
||||
|
||||
- uses: actions/create-github-app-token@v2
|
||||
id: ci-token
|
||||
with:
|
||||
app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
|
||||
private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
|
||||
|
||||
- name: Push changes if there are diffs
|
||||
id: push-changes
|
||||
id: push-changes # Add an id so we can reference this step
|
||||
run: |
|
||||
TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
|
||||
# Use the App Token to set the remote URL with authentication
|
||||
git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
|
||||
|
||||
# Fetch the latest from remote
|
||||
git fetch origin $TARGET_BRANCH
|
||||
|
||||
@@ -198,7 +188,7 @@ jobs:
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# Push with the authenticated origin
|
||||
# If we get here, there are diffs, so push
|
||||
if ! git push origin $TARGET_BRANCH --force; then
|
||||
echo "Failed to push changes to $TARGET_BRANCH"
|
||||
exit 1
|
||||
|
||||
36
.github/workflows/tests.yaml
vendored
36
.github/workflows/tests.yaml
vendored
@@ -108,7 +108,6 @@ jobs:
|
||||
build_mac:
|
||||
name: build macOS
|
||||
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
|
||||
if: false # There'll be one day that this works. That day is not today.
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
@@ -116,13 +115,14 @@ jobs:
|
||||
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
|
||||
- name: Homebrew cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
if: false # disabling the cache for now because it is breaking macos builds...
|
||||
with:
|
||||
save: false # No need save here if we manually save it later conditionally
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
restore-keys: |
|
||||
brew-macos-${{ hashFiles('tools/Brewfile') }}
|
||||
brew-macos-
|
||||
brew-macos-${{ env.CACHE_COMMIT_DATE }}
|
||||
brew-macos
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
env:
|
||||
@@ -133,7 +133,7 @@ jobs:
|
||||
if: github.ref == 'refs/heads/master'
|
||||
with:
|
||||
path: ~/Library/Caches/Homebrew
|
||||
key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
|
||||
key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
|
||||
- run: git lfs pull
|
||||
- name: Getting scons cache
|
||||
uses: ./.github/workflows/auto-cache
|
||||
@@ -297,29 +297,3 @@ jobs:
|
||||
with:
|
||||
name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
|
||||
|
||||
create_mici_raylib_ui_report:
|
||||
name: Create mici raylib UI Report
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: true
|
||||
- uses: ./.github/workflows/setup-with-retry
|
||||
- name: Build openpilot
|
||||
run: ${{ env.RUN }} "scons -j$(nproc)"
|
||||
- name: Create mici raylib UI Report
|
||||
run: >
|
||||
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
|
||||
source selfdrive/test/setup_xvfb.sh &&
|
||||
WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
|
||||
- name: Upload Raylib UI Report
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
path: selfdrive/ui/tests/diff/report
|
||||
|
||||
@@ -1,12 +1,3 @@
|
||||
Version 0.10.3 (2025-12-17)
|
||||
========================
|
||||
* New driving model #36249
|
||||
* New temporal policy architecture
|
||||
* New on-policy training physics noise model
|
||||
* New driver monitoring model #36409
|
||||
* Trained on a new dataset, including comma four data
|
||||
* Improved inter-process communication memory efficiency
|
||||
|
||||
Version 0.10.2 (2025-11-19)
|
||||
========================
|
||||
* comma four support
|
||||
|
||||
@@ -130,7 +130,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
|
||||
userBookmark @95;
|
||||
excessiveActuation @96;
|
||||
audioFeedback @97;
|
||||
neutralGear @98;
|
||||
|
||||
soundsUnavailableDEPRECATED @47;
|
||||
}
|
||||
@@ -2525,10 +2524,13 @@ struct Event {
|
||||
controlsState @7 :ControlsState;
|
||||
selfdriveState @130 :SelfdriveState;
|
||||
gyroscope @99 :SensorEventData;
|
||||
gyroscope2 @100 :SensorEventData;
|
||||
accelerometer @98 :SensorEventData;
|
||||
accelerometer2 @101 :SensorEventData;
|
||||
magnetometer @95 :SensorEventData;
|
||||
lightSensor @96 :SensorEventData;
|
||||
temperatureSensor @97 :SensorEventData;
|
||||
temperatureSensor2 @123 :SensorEventData;
|
||||
pandaStates @81 :List(PandaState);
|
||||
peripheralState @80 :PeripheralState;
|
||||
radarState @13 :RadarState;
|
||||
@@ -2691,8 +2693,5 @@ struct Event {
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
|
||||
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
|
||||
gyroscope2DEPRECATED @100 :SensorEventData;
|
||||
accelerometer2DEPRECATED @101 :SensorEventData;
|
||||
temperatureSensor2DEPRECATED @123 :SensorEventData;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
|
||||
set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
|
||||
from msgq.ipc_pyx import MultiplePublishersError, IpcError
|
||||
from msgq import fake_event_handle, drain_sock_raw
|
||||
from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
|
||||
import msgq
|
||||
|
||||
import os
|
||||
@@ -18,20 +18,6 @@ from openpilot.common.util import MovingAverage
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.pub_sock(endpoint, segment_size)
|
||||
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
service = SERVICE_LIST.get(endpoint)
|
||||
segment_size = service.queue_size if service else 0
|
||||
return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
|
||||
timeout=timeout, segment_size=segment_size)
|
||||
|
||||
|
||||
def reset_context():
|
||||
msgq.context = Context()
|
||||
|
||||
|
||||
@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
|
||||
assert(services.count(std::string(name)) > 0);
|
||||
|
||||
service serv = services.at(std::string(name));
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
|
||||
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
|
||||
assert(socket != 0);
|
||||
bool is_polled = inList(poll, name) || poll.empty();
|
||||
if (is_polled) poller_->registerSocket(socket);
|
||||
@@ -187,8 +187,7 @@ SubMaster::~SubMaster() {
|
||||
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
|
||||
for (auto name : service_list) {
|
||||
assert(services.count(name) > 0);
|
||||
service serv = services.at(std::string(name));
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
|
||||
PubSocket *socket = PubSocket::create(message_context.context(), name);
|
||||
assert(socket);
|
||||
sockets_[name] = socket;
|
||||
}
|
||||
|
||||
@@ -1,44 +1,37 @@
|
||||
#!/usr/bin/env python3
|
||||
from enum import IntEnum
|
||||
from typing import Optional
|
||||
|
||||
|
||||
# TODO: this should be automatically determined using the capnp schema
|
||||
class QueueSize(IntEnum):
|
||||
BIG = 10 * 1024 * 1024 # 10MB - video frames, large AI outputs
|
||||
MEDIUM = 2 * 1024 * 1024 # 2MB - high freq (CAN), livestream
|
||||
SMALL = 250 * 1024 # 250KB - most services
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
|
||||
queue_size: QueueSize = QueueSize.SMALL):
|
||||
def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
self.queue_size = queue_size
|
||||
|
||||
|
||||
_services: dict[str, tuple] = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"gyroscope": (True, 104., 104),
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 25.),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 2., 200),
|
||||
"temperatureSensor2": (True, 2., 200),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"touch": (True, 20., 1),
|
||||
"can": (True, 100., 2053, QueueSize.BIG), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10, QueueSize.MEDIUM),
|
||||
"can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment
|
||||
"controlsState": (True, 100., 10),
|
||||
"selfdriveState": (True, 100., 10),
|
||||
"pandaStates": (True, 10., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139, QueueSize.MEDIUM),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
@@ -50,7 +43,7 @@ _services: dict[str, tuple] = {
|
||||
"carOutput": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 10),
|
||||
"driverAssistance": (True, 20., 20),
|
||||
"procLog": (True, 0.5, 15, QueueSize.BIG),
|
||||
"procLog": (True, 0.5, 15),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
@@ -72,7 +65,7 @@ _services: dict[str, tuple] = {
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"drivingModelData": (True, 20., 10),
|
||||
"modelV2": (True, 20., None, QueueSize.BIG),
|
||||
"modelV2": (True, 20.),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
@@ -84,14 +77,10 @@ _services: dict[str, tuple] = {
|
||||
"rawAudioData": (False, 20.),
|
||||
"bookmarkButton": (True, 0., 1),
|
||||
"audioFeedback": (True, 0., 1),
|
||||
"roadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"driverEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
"qRoadEncodeData": (False, 20., None, QueueSize.BIG),
|
||||
|
||||
# sunnypilot
|
||||
"modelManagerSP": (False, 1., 1, QueueSize.BIG),
|
||||
"backupManagerSP": (False, 1., 1, QueueSize.BIG),
|
||||
"modelManagerSP": (False, 1., 1),
|
||||
"backupManagerSP": (False, 1., 1),
|
||||
"selfdriveStateSP": (True, 100., 10),
|
||||
"longitudinalPlanSP": (True, 20., 10),
|
||||
"onroadEventsSP": (True, 1., 1),
|
||||
@@ -99,19 +88,23 @@ _services: dict[str, tuple] = {
|
||||
"carControlSP": (True, 100., 10),
|
||||
"carStateSP": (True, 100., 10),
|
||||
"liveMapDataSP": (True, 1., 1),
|
||||
"modelDataV2SP": (True, 20., None, QueueSize.BIG),
|
||||
"modelDataV2SP": (True, 20.),
|
||||
"liveLocationKalman": (True, 20.),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"alertDebug": (True, 20., 5),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
"livestreamWideRoadEncodeIdx": (False, 20.),
|
||||
"livestreamRoadEncodeIdx": (False, 20.),
|
||||
"livestreamDriverEncodeIdx": (False, 20.),
|
||||
"livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
|
||||
"livestreamWideRoadEncodeData": (False, 20.),
|
||||
"livestreamRoadEncodeData": (False, 20.),
|
||||
"livestreamDriverEncodeData": (False, 20.),
|
||||
"customReservedRawData0": (True, 0.),
|
||||
"customReservedRawData1": (True, 0.),
|
||||
"customReservedRawData2": (True, 0.),
|
||||
@@ -129,13 +122,13 @@ def build_header():
|
||||
h += "#include <map>\n"
|
||||
h += "#include <string>\n"
|
||||
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
|
||||
h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
|
||||
h += "static std::map<std::string, service> services = {\n"
|
||||
for k, v in SERVICE_LIST.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { "%s", {"%s", %s, %f, %d, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation, v.queue_size)
|
||||
h += ' { "%s", {"%s", %s, %f, %d}},\n' % \
|
||||
(k, k, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
|
||||
h += "#endif\n"
|
||||
|
||||
@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
|
||||
|
||||
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
def get_key_pair():
|
||||
return CommaConnectApi(None).get_key_pair()
|
||||
|
||||
@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.version import get_version
|
||||
|
||||
# name: jwt signature algorithm
|
||||
KEYS = {"id_rsa": "RS256",
|
||||
"id_ecdsa": "ES256"}
|
||||
# name : jwt signature algorithm
|
||||
KEYS = {"id_rsa" : "RS256",
|
||||
"id_ecdsa" : "ES256"}
|
||||
|
||||
|
||||
class BaseApi:
|
||||
@@ -62,7 +62,7 @@ class BaseApi:
|
||||
return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
|
||||
|
||||
@staticmethod
|
||||
def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
|
||||
def get_key_pair():
|
||||
for key in KEYS:
|
||||
if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
|
||||
with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "Dark Souls 2 (Default)"
|
||||
#define DEFAULT_MODEL "The Cool People (Default)"
|
||||
|
||||
@@ -71,7 +71,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"LastGPSPosition", {PERSISTENT, STRING}},
|
||||
{"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
|
||||
{"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
|
||||
@@ -139,7 +138,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}}, // MPH or km/h
|
||||
{"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
|
||||
{"CarList", {PERSISTENT, JSON}},
|
||||
{"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
|
||||
{"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
|
||||
{"CarParamsSPPersistent", {PERSISTENT, BYTES}},
|
||||
@@ -213,7 +211,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
{"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
|
||||
self.create_dirs_on_enter = create_dirs_on_enter
|
||||
self.clean_dirs_on_exit = clean_dirs_on_exit
|
||||
self.shared_download_cache = shared_download_cache
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
from uuid import uuid4
|
||||
|
||||
from openpilot.common.utils import atomic_write
|
||||
from openpilot.common.utils import atomic_write_in_dir
|
||||
|
||||
|
||||
class TestFileHelpers:
|
||||
@@ -15,5 +15,5 @@ class TestFileHelpers:
|
||||
assert f.read() == "test"
|
||||
os.remove(path)
|
||||
|
||||
def test_atomic_write(self):
|
||||
self.run_atomic_write_func(atomic_write)
|
||||
def test_atomic_write_in_dir(self):
|
||||
self.run_atomic_write_func(atomic_write_in_dir)
|
||||
|
||||
@@ -32,8 +32,8 @@ class CallbackReader:
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
|
||||
overwrite: bool = False):
|
||||
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
|
||||
overwrite: bool = False):
|
||||
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
|
||||
dir_name = os.path.dirname(path)
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.10.3"
|
||||
#define COMMA_VERSION "0.10.2"
|
||||
|
||||
249
docs/CARS.md
249
docs/CARS.md
@@ -14,13 +14,13 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|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|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">Buy Here</a></sub></details>|||
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Audi|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Bolt 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|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 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 Non-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 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 Non-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
@@ -34,7 +34,7 @@ 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"></img></a>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>|||
|
||||
@@ -48,8 +48,8 @@ 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 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus 2018[<sup>3</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>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
@@ -82,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
|
||||
@@ -202,170 +202,171 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</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=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
|
||||
|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX 2018-19|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=Lexus NX 2018-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</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=Lexus NX 2018-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX Hybrid 2018-19|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=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</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=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
|
||||
|Lexus|RC 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=Lexus RC 2018-20">Buy Here</a></sub></details>|||
|
||||
|Lexus|RC 2023|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 RC 2023">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX 2017-19|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=Lexus RX 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</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=Lexus RX 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</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=Lexus RX 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX Hybrid 2017-19|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=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</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=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</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=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|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|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|MAN|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<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 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<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 USB-C coupler<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 2019-20, 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 USB-C coupler<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>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 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>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 USB-C coupler<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 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|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 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 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"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|||
|
||||
|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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"></img></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"></img></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>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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>|||
|
||||
|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2019-21|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 Avalon 2019-21">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|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>|||
|
||||
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|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 2017-18">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</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 Avalon 2019-21">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon 2022|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 Avalon 2022">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon Hybrid 2019-21|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 Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</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 Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
|
||||
|Toyota|Avalon Hybrid 2022|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 Avalon Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR 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 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
|
||||
|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Camry 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"></img></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"></img></a>||
|
||||
|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</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 Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</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 Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</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 Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|||
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|||
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>|||
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|Jetta 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 `devel` or `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>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
|
||||
<sup>14</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>15</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>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</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>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
|
||||
<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <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>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 />
|
||||
|
||||
## 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/).
|
||||
@@ -383,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
|
||||
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
|
||||
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
|
||||
| Ford | Any car with Lane Centering will likely work. |
|
||||
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
|
||||
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
|
||||
|
||||
@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
|
||||
tools/replay/replay --demo
|
||||
|
||||
# in terminal 2
|
||||
./selfdrive/ui/ui.py
|
||||
selfdrive/ui/ui
|
||||
```
|
||||
|
||||
The openpilot UI should launch and show a replay of the demo route.
|
||||
@@ -43,36 +43,39 @@ If you have your own comma device, you can replace `--demo` with one of your own
|
||||
|
||||
Now let’s update the speed display color in the UI.
|
||||
|
||||
Search for the function responsible for rendering the current speed:
|
||||
Search for the function responsible for rendering UI text:
|
||||
```bash
|
||||
git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
|
||||
git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
|
||||
```
|
||||
|
||||
You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
|
||||
You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
|
||||
|
||||
```python
|
||||
def _draw_current_speed(self, rect: rl.Rectangle) -> None:
|
||||
"""Draw the current vehicle speed and unit."""
|
||||
speed_text = str(round(self.speed))
|
||||
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
|
||||
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) # <- this sets the speed text color
|
||||
```cpp
|
||||
void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
|
||||
QRect real_rect = p.fontMetrics().boundingRect(text);
|
||||
real_rect.moveCenter({x, y - real_rect.height() / 2});
|
||||
|
||||
p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color
|
||||
p.drawText(real_rect.x(), real_rect.bottom(), text);
|
||||
}
|
||||
```
|
||||
|
||||
Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
|
||||
Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
|
||||
|
||||
```diff
|
||||
- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
|
||||
+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
|
||||
- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
|
||||
+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
|
||||
```
|
||||
|
||||
This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
|
||||
|
||||
---
|
||||
|
||||
## 4. Re-run the UI
|
||||
## 4. Rebuild the UI
|
||||
|
||||
After making changes, re-run the UI to see your new UI:
|
||||
After making changes, rebuild Openpilot so your new UI is compiled:
|
||||
```bash
|
||||
./selfdrive/ui/ui.py
|
||||
scons -j$(nproc) && selfdrive/ui/ui
|
||||
```
|
||||
|
||||
|
||||
|
||||
Submodule msgq_repo updated: 6abe47bc98...a16cf1f608
Submodule opendbc_repo updated: 74ac678501...61bf5a90c5
2
panda
2
panda
Submodule panda updated: 5f3c09c910...dee9061b2a
@@ -85,7 +85,6 @@ docs = [
|
||||
]
|
||||
|
||||
testing = [
|
||||
"coverage",
|
||||
"hypothesis ==6.47.*",
|
||||
"mypy",
|
||||
"pytest",
|
||||
@@ -116,7 +115,7 @@ dev = [
|
||||
"pyautogui",
|
||||
"pygame",
|
||||
"pyopencl; platform_machine != 'aarch64'", # broken on arm64
|
||||
"pytools>=2025.1.6; platform_machine != 'aarch64'",
|
||||
"pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
|
||||
"pywinctl",
|
||||
"pyprof2calltree",
|
||||
"tabulate",
|
||||
@@ -126,7 +125,7 @@ dev = [
|
||||
|
||||
tools = [
|
||||
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
|
||||
"dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
|
||||
"dearpygui>=2.1.0",
|
||||
]
|
||||
|
||||
[project.urls]
|
||||
@@ -227,7 +226,7 @@ lint.select = [
|
||||
"TRY203", "TRY400", "TRY401", # try/excepts
|
||||
"RUF008", "RUF100",
|
||||
"TID251",
|
||||
"PLE", "PLR1704",
|
||||
"PLR1704",
|
||||
]
|
||||
lint.ignore = [
|
||||
"E741",
|
||||
|
||||
@@ -1,26 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
cd $DIR/../../tinygrad_repo
|
||||
|
||||
GREEN='\033[0;32m'
|
||||
NC='\033[0m'
|
||||
|
||||
|
||||
#export DEBUG=2
|
||||
export PYTHONPATH=.
|
||||
export AM_RESET=1
|
||||
export AMD=1
|
||||
export AMD_IFACE=USB
|
||||
export AMD_LLVM=1
|
||||
|
||||
python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
|
||||
> /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
|
||||
printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
|
||||
printf "${GREEN}=============${NC}\n"
|
||||
|
||||
printf "\n\n"
|
||||
printf "${GREEN}Transfer speeds:${NC}\n"
|
||||
printf "${GREEN}================${NC}\n"
|
||||
python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,19 +0,0 @@
|
||||
import numpy as np
|
||||
from scipy.io import wavfile
|
||||
|
||||
|
||||
sr = 48000
|
||||
max_int16 = 2**15 - 1
|
||||
|
||||
def harmonic_beep(freq, duration_seconds):
|
||||
n_total = int(sr * duration_seconds)
|
||||
|
||||
signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
|
||||
x = np.arange(n_total)
|
||||
exp_scale = np.exp(-x/5.5e3)
|
||||
return max_int16 * signal * exp_scale
|
||||
|
||||
engage_beep = harmonic_beep(1661.219, 0.5)
|
||||
wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
|
||||
disengage_beep = harmonic_beep(1318.51, 0.5)
|
||||
wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))
|
||||
@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
|
||||
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
|
||||
| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
|
||||
| Ford | Any car with Lane Centering will likely work. |
|
||||
| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
|
||||
| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
|
||||
|
||||
@@ -26,18 +26,6 @@ class MockCarState:
|
||||
return CS, CS_SP
|
||||
|
||||
|
||||
BRAND_EXTRA_GEARS = {
|
||||
'ford': [GearShifter.low, GearShifter.manumatic],
|
||||
'nissan': [GearShifter.brake],
|
||||
'chrysler': [GearShifter.low],
|
||||
'honda': [GearShifter.sport],
|
||||
'toyota': [GearShifter.sport],
|
||||
'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
|
||||
'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
'hyundai': [GearShifter.sport, GearShifter.manumatic]
|
||||
}
|
||||
|
||||
|
||||
class CarSpecificEvents:
|
||||
def __init__(self, CP: structs.CarParams):
|
||||
self.CP = CP
|
||||
@@ -48,13 +36,17 @@ class CarSpecificEvents:
|
||||
self.silent_steer_warning = True
|
||||
|
||||
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
|
||||
extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
|
||||
|
||||
if self.CP.brand in ('body', 'mock'):
|
||||
events = Events()
|
||||
|
||||
elif self.CP.brand == 'ford':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
|
||||
|
||||
elif self.CP.brand == 'nissan':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
|
||||
|
||||
elif self.CP.brand == 'chrysler':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
|
||||
|
||||
# Low speed steer alert hysteresis logic
|
||||
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
|
||||
@@ -65,7 +57,7 @@ class CarSpecificEvents:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
elif self.CP.brand == 'honda':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
|
||||
|
||||
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
@@ -87,11 +79,10 @@ class CarSpecificEvents:
|
||||
|
||||
elif self.CP.brand == 'toyota':
|
||||
# TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# Only can leave standstill when planner wants to move
|
||||
if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
|
||||
if CS.cruiseState.standstill and not CS.brakePressed:
|
||||
events.add(EventName.resumeRequired)
|
||||
if CS.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
@@ -103,7 +94,9 @@ class CarSpecificEvents:
|
||||
events.add(EventName.manualRestart)
|
||||
|
||||
elif self.CP.brand == 'gm':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
|
||||
GearShifter.eco, GearShifter.manumatic],
|
||||
pcm_enable=self.CP.pcmCruise)
|
||||
|
||||
# Enabling at a standstill with brake is allowed
|
||||
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
||||
@@ -114,7 +107,8 @@ class CarSpecificEvents:
|
||||
events.add(EventName.resumeRequired)
|
||||
|
||||
elif self.CP.brand == 'volkswagen':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
pcm_enable=self.CP.pcmCruise)
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
|
||||
@@ -127,14 +121,15 @@ class CarSpecificEvents:
|
||||
# events.add(EventName.steerTimeLimit)
|
||||
|
||||
elif self.CP.brand == 'hyundai':
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
|
||||
pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
|
||||
|
||||
else:
|
||||
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
|
||||
events = self.create_common_events(CS, CS_prev)
|
||||
|
||||
return events
|
||||
|
||||
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
|
||||
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
|
||||
allow_button_cancel=True):
|
||||
events = Events()
|
||||
|
||||
@@ -147,8 +142,6 @@ class CarSpecificEvents:
|
||||
events.add(EventName.wrongGear)
|
||||
if CS.gearShifter == GearShifter.reverse:
|
||||
events.add(EventName.reverseGear)
|
||||
if CS.gearShifter == GearShifter.neutral:
|
||||
events.add(EventName.neutralGear)
|
||||
if not CS.cruiseState.available:
|
||||
events.add(EventName.wrongCarMode)
|
||||
if CS.espDisabled:
|
||||
|
||||
@@ -1,82 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
from tqdm import tqdm
|
||||
|
||||
from cereal.services import SERVICE_LIST, QueueSize
|
||||
from openpilot.tools.lib.logreader import LogReader
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
|
||||
parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
|
||||
help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
|
||||
args = parser.parse_args()
|
||||
|
||||
lr = LogReader(args.route)
|
||||
|
||||
szs = {}
|
||||
for msg in tqdm(lr):
|
||||
sz = len(msg.as_builder().to_bytes())
|
||||
msg_type = msg.which()
|
||||
if msg_type not in szs:
|
||||
szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
|
||||
else:
|
||||
szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
|
||||
szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
|
||||
szs[msg_type]['sum'] += sz
|
||||
szs[msg_type]['count'] += 1
|
||||
|
||||
print()
|
||||
print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
|
||||
print("-" * 132)
|
||||
def sort_key(x):
|
||||
k, v = x
|
||||
avg = v['sum'] / v['count']
|
||||
freq = SERVICE_LIST.get(k, None)
|
||||
freq_val = freq.frequency if freq else 0.0
|
||||
kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
|
||||
return kb_per_min
|
||||
total_kb_per_min = 0.0
|
||||
RINGBUFFER_SIZE_KB = 10 * 1024 # 10MB old default
|
||||
for k, v in sorted(szs.items(), key=sort_key, reverse=True):
|
||||
avg = v['sum'] / v['count']
|
||||
service = SERVICE_LIST.get(k, None)
|
||||
freq_val = service.frequency if service else 0.0
|
||||
queue_size_kb = (service.queue_size / 1024) if service else 250 # default to SMALL
|
||||
kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
|
||||
kb_per_sec = kb_per_min / 60
|
||||
minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
|
||||
seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
|
||||
total_kb_per_min += kb_per_min
|
||||
min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
|
||||
sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
|
||||
print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
|
||||
|
||||
# Summary section
|
||||
print()
|
||||
print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
|
||||
|
||||
# Calculate memory usage: old (10MB for all) vs new (from services.py)
|
||||
OLD_SIZE = 10 * 1024 * 1024 # 10MB was the old default
|
||||
old_total = len(SERVICE_LIST) * OLD_SIZE
|
||||
|
||||
new_total = sum(s.queue_size for s in SERVICE_LIST.values())
|
||||
|
||||
# Count by queue size
|
||||
size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
|
||||
for s in SERVICE_LIST.values():
|
||||
size_counts[s.queue_size] += 1
|
||||
|
||||
savings_pct = (1 - new_total / old_total) * 100
|
||||
|
||||
print()
|
||||
print(f"{'Queue Size Comparison':<40}")
|
||||
print("-" * 60)
|
||||
print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
|
||||
print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
|
||||
print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
|
||||
print()
|
||||
print(f"{'Breakdown:':<30}")
|
||||
print(f" BIG (10MB): {size_counts[QueueSize.BIG]:>3} services")
|
||||
print(f" MEDIUM (2MB): {size_counts[QueueSize.MEDIUM]:>3} services")
|
||||
print(f" SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")
|
||||
@@ -172,7 +172,7 @@ class PoseCalibrator:
|
||||
ned_from_calib_euler = self._ned_from_calib(pose.orientation)
|
||||
angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
|
||||
acceleration_calib = self._transform_calib_from_device(pose.acceleration)
|
||||
velocity_calib = self._transform_calib_from_device(pose.velocity)
|
||||
velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
|
||||
|
||||
return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
102
selfdrive/modeld/tests/test_modeld.py
Normal file
102
selfdrive/modeld/tests/test_modeld.py
Normal file
@@ -0,0 +1,102 @@
|
||||
import numpy as np
|
||||
import random
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from msgq.visionipc import VisionIpcServer, VisionStreamType
|
||||
from opendbc.car.car_helpers import get_demo_car_params
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
|
||||
|
||||
CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
|
||||
IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
|
||||
IMG_BYTES = IMG.flatten().tobytes()
|
||||
|
||||
|
||||
class TestModeld:
|
||||
|
||||
def setup_method(self):
|
||||
self.vipc_server = VisionIpcServer("camerad")
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
|
||||
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
|
||||
self.vipc_server.start_listener()
|
||||
Params().put("CarParams", get_demo_car_params().to_bytes())
|
||||
|
||||
self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
|
||||
self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
|
||||
|
||||
managed_processes['modeld'].start()
|
||||
self.pm.wait_for_readers_to_update("roadCameraState", 10)
|
||||
|
||||
def teardown_method(self):
|
||||
managed_processes['modeld'].stop()
|
||||
del self.vipc_server
|
||||
|
||||
def _send_frames(self, frame_id, cams=None):
|
||||
if cams is None:
|
||||
cams = ('roadCameraState', 'wideRoadCameraState')
|
||||
|
||||
cs = None
|
||||
for cam in cams:
|
||||
msg = messaging.new_message(cam)
|
||||
cs = getattr(msg, cam)
|
||||
cs.frameId = frame_id
|
||||
cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
|
||||
cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
|
||||
cam_meta = meta_from_camera_state(cam)
|
||||
|
||||
self.pm.send(msg.which(), msg)
|
||||
self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
|
||||
cs.timestampSof, cs.timestampEof)
|
||||
return cs
|
||||
|
||||
def _wait(self):
|
||||
self.sm.update(5000)
|
||||
if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
|
||||
self.sm.update(1000)
|
||||
|
||||
def test_modeld(self):
|
||||
for n in range(1, 500):
|
||||
cs = self._send_frames(n)
|
||||
self._wait()
|
||||
|
||||
mdl = self.sm['modelV2']
|
||||
assert mdl.frameId == n
|
||||
assert mdl.frameIdExtra == n
|
||||
assert mdl.timestampEof == cs.timestampEof
|
||||
assert mdl.frameAge == 0
|
||||
assert mdl.frameDropPerc == 0
|
||||
|
||||
odo = self.sm['cameraOdometry']
|
||||
assert odo.frameId == n
|
||||
assert odo.timestampEof == cs.timestampEof
|
||||
|
||||
def test_dropped_frames(self):
|
||||
"""
|
||||
modeld should only run on consecutive road frames
|
||||
"""
|
||||
frame_id = -1
|
||||
road_frames = list()
|
||||
for n in range(1, 50):
|
||||
if (random.random() < 0.1) and n > 3:
|
||||
cams = random.choice([(), ('wideRoadCameraState', )])
|
||||
self._send_frames(n, cams)
|
||||
else:
|
||||
self._send_frames(n)
|
||||
road_frames.append(n)
|
||||
self._wait()
|
||||
|
||||
if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
|
||||
frame_id = road_frames[-1]
|
||||
|
||||
mdl = self.sm['modelV2']
|
||||
odo = self.sm['cameraOdometry']
|
||||
assert mdl.frameId == frame_id
|
||||
assert mdl.frameIdExtra == frame_id
|
||||
assert odo.frameId == frame_id
|
||||
if n != frame_id:
|
||||
assert not self.sm.updated['modelV2']
|
||||
assert not self.sm.updated['cameraOdometry']
|
||||
@@ -40,8 +40,8 @@ def dmonitoringd_thread():
|
||||
|
||||
# save rhd virtual toggle every 5 mins
|
||||
if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
|
||||
DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
||||
DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
||||
DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
|
||||
DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
|
||||
params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
|
||||
|
||||
def main():
|
||||
|
||||
@@ -40,9 +40,6 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._PHONE_THRESH2 = 15.0
|
||||
self._PHONE_MAX_OFFSET = 0.06
|
||||
self._PHONE_MIN_OFFSET = 0.025
|
||||
self._PHONE_DATA_AVG = 0.05
|
||||
self._PHONE_DATA_VAR = 3*0.005
|
||||
self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
|
||||
|
||||
self._POSE_PITCH_THRESHOLD = 0.3133
|
||||
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
|
||||
@@ -50,11 +47,9 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._POSE_YAW_THRESHOLD = 0.4020
|
||||
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
|
||||
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
|
||||
self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_THRESHOLD = 0.449
|
||||
self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
|
||||
self._PITCH_NATURAL_VAR = 3*0.01
|
||||
self._YAW_NATURAL_VAR = 3*0.05
|
||||
self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
|
||||
self._PITCH_MAX_OFFSET = 0.124
|
||||
self._PITCH_MIN_OFFSET = -0.0881
|
||||
self._YAW_MAX_OFFSET = 0.289
|
||||
@@ -75,9 +70,6 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._WHEELPOS_CALIB_MIN_SPEED = 11
|
||||
self._WHEELPOS_THRESHOLD = 0.5
|
||||
self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
|
||||
self._WHEELPOS_DATA_AVG = 0.03
|
||||
self._WHEELPOS_DATA_VAR = 3*5.5e-5
|
||||
self._WHEELPOS_MAX_COUNT = -1
|
||||
|
||||
self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change
|
||||
self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
|
||||
@@ -86,33 +78,30 @@ class DRIVER_MONITOR_SETTINGS:
|
||||
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
|
||||
|
||||
class DistractedType:
|
||||
|
||||
NOT_DISTRACTED = 0
|
||||
DISTRACTED_POSE = 1 << 0
|
||||
DISTRACTED_BLINK = 1 << 1
|
||||
DISTRACTED_PHONE = 1 << 2
|
||||
|
||||
class DriverPose:
|
||||
def __init__(self, settings):
|
||||
pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
|
||||
yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
|
||||
def __init__(self, max_trackable):
|
||||
self.yaw = 0.
|
||||
self.pitch = 0.
|
||||
self.roll = 0.
|
||||
self.yaw_std = 0.
|
||||
self.pitch_std = 0.
|
||||
self.roll_std = 0.
|
||||
self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
|
||||
self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
|
||||
self.calibrated = False
|
||||
self.low_std = True
|
||||
self.cfactor_pitch = 1.
|
||||
self.cfactor_yaw = 1.
|
||||
|
||||
class DriverProb:
|
||||
def __init__(self, raw_priors, max_trackable):
|
||||
class DriverPhone:
|
||||
def __init__(self, max_trackable):
|
||||
self.prob = 0.
|
||||
self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
|
||||
self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
|
||||
self.prob_calibrated = False
|
||||
|
||||
class DriverBlink:
|
||||
@@ -151,11 +140,9 @@ class DriverMonitoring:
|
||||
self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
|
||||
|
||||
# init driver status
|
||||
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
|
||||
phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
|
||||
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
|
||||
self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
|
||||
self.pose = DriverPose(settings=self.settings)
|
||||
self.wheelpos_learner = RunningStatFilter()
|
||||
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
|
||||
self.blink = DriverBlink()
|
||||
|
||||
self.always_on = always_on
|
||||
@@ -247,11 +234,8 @@ class DriverMonitoring:
|
||||
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
|
||||
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
|
||||
yaw_error = abs(yaw_error)
|
||||
|
||||
pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
|
||||
yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
|
||||
|
||||
if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
|
||||
if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
|
||||
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
|
||||
distracted_types.append(DistractedType.DISTRACTED_POSE)
|
||||
|
||||
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
|
||||
@@ -272,12 +256,9 @@ class DriverMonitoring:
|
||||
# calibrates only when there's movement and either face detected
|
||||
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
|
||||
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
|
||||
self.wheelpos.prob_offseter.push_and_update(rhd_pred)
|
||||
|
||||
self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
|
||||
|
||||
if self.wheelpos.prob_calibrated or demo_mode:
|
||||
self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
|
||||
self.wheelpos_learner.push_and_update(rhd_pred)
|
||||
if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
|
||||
self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
|
||||
else:
|
||||
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
|
||||
# make sure no switching when engaged
|
||||
@@ -449,8 +430,7 @@ class DriverMonitoring:
|
||||
rpyCalib = [0., 0., 0.]
|
||||
else:
|
||||
highway_speed = sm['carState'].vEgo
|
||||
# TODO-SP: unit test to assert both control checks are always present
|
||||
enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
|
||||
enabled = sm['selfdriveState'].enabled
|
||||
wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
|
||||
standstill = sm['carState'].standstill
|
||||
driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
|
||||
|
||||
@@ -11,7 +11,6 @@
|
||||
|
||||
#include "cereal/gen/cpp/car.capnp.h"
|
||||
#include "cereal/messaging/messaging.h"
|
||||
#include "cereal/services.h"
|
||||
#include "common/ratekeeper.h"
|
||||
#include "common/swaglog.h"
|
||||
#include "common/timing.h"
|
||||
@@ -104,7 +103,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
|
||||
|
||||
AlignedBuffer aligned_buf;
|
||||
std::unique_ptr<Context> context(Context::create());
|
||||
std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan", "127.0.0.1", false, true, services.at("sendcan").queue_size));
|
||||
std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan"));
|
||||
assert(subscriber != NULL);
|
||||
subscriber->setTimeout(100);
|
||||
|
||||
|
||||
@@ -87,6 +87,15 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
|
||||
|
||||
|
||||
def steer_saturated_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
steer_text2 = "Steer Left" if sm['carControl'].actuators.torque > 0 else "Steer Right"
|
||||
return Alert(
|
||||
"Take Control",
|
||||
steer_text2,
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.)
|
||||
|
||||
|
||||
def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
|
||||
return Alert(
|
||||
@@ -793,16 +802,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
|
||||
},
|
||||
|
||||
EventName.neutralGear: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Neutral\nGear",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.full,
|
||||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
|
||||
ET.USER_DISABLE: ImmediateDisableAlert("Neutral Gear"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Neutral Gear"),
|
||||
},
|
||||
|
||||
# On cars that use stock ACC the car can decide to cancel ACC for various reasons.
|
||||
# When this happens we can no long control the car so the user needs to be warned immediately.
|
||||
EventName.cruiseDisabled: {
|
||||
@@ -902,11 +901,7 @@ if HARDWARE.get_device_type() == 'mici':
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
|
||||
},
|
||||
EventName.steerSaturated: {
|
||||
ET.WARNING: Alert(
|
||||
"take control",
|
||||
"turn exceeds limit",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
|
||||
ET.WARNING: steer_saturated_alert,
|
||||
},
|
||||
EventName.calibrationIncomplete: {
|
||||
ET.PERMANENT: calibration_incomplete_alert,
|
||||
@@ -922,15 +917,6 @@ if HARDWARE.get_device_type() == 'mici':
|
||||
ET.USER_DISABLE: ImmediateDisableAlert("Reverse"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Reverse"),
|
||||
},
|
||||
EventName.neutralGear: {
|
||||
ET.PERMANENT: Alert(
|
||||
"Neutral",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.full,
|
||||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
|
||||
ET.USER_DISABLE: ImmediateDisableAlert("Neutral"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Neutral"),
|
||||
},
|
||||
})
|
||||
|
||||
|
||||
|
||||
@@ -46,8 +46,7 @@ segments = [
|
||||
("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
|
||||
("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
|
||||
("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
|
||||
# TODO: get new RAV4 route without enableDsu
|
||||
# ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
|
||||
("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
|
||||
("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
|
||||
("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
|
||||
("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
|
||||
|
||||
@@ -121,7 +121,6 @@ class TestOnroad:
|
||||
params.put_bool("RecordFront", True)
|
||||
set_params_enabled()
|
||||
os.environ['REPLAY'] = '1'
|
||||
os.environ['MSGQ_PREALLOC'] = '1'
|
||||
os.environ['TESTING_CLOSET'] = '1'
|
||||
if os.path.exists(Paths.log_root()):
|
||||
shutil.rmtree(Paths.log_root())
|
||||
@@ -207,9 +206,8 @@ class TestOnroad:
|
||||
result += "-------------- UI Draw Timing ------------------\n"
|
||||
result += "------------------------------------------------\n"
|
||||
|
||||
# other processes preempt ui while starting up
|
||||
offset = int(20 * LOG_OFFSET)
|
||||
ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
|
||||
# skip first few frames -- connecting to vipc
|
||||
ts = self.ts['uiDebug']['drawTimeMillis'][15:]
|
||||
result += f"min {min(ts):.2f}ms\n"
|
||||
result += f"max {max(ts):.2f}ms\n"
|
||||
result += f"std {np.std(ts):.2f}ms\n"
|
||||
@@ -284,12 +282,11 @@ class TestOnroad:
|
||||
print("------------------------------------------------")
|
||||
offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
|
||||
mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
|
||||
print("Overall memory usage: ", mems)
|
||||
print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode())
|
||||
print("Memory usage: ", mems)
|
||||
|
||||
# check for big leaks. note that memory usage is
|
||||
# expected to go up while the MSGQ buffers fill up
|
||||
assert np.average(mems) <= 80, "Average memory usage too high"
|
||||
assert np.average(mems) <= 85, "Average memory usage above 85%"
|
||||
assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
|
||||
assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
|
||||
|
||||
|
||||
@@ -19,9 +19,6 @@ from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_b
|
||||
from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
|
||||
|
||||
# Description constants
|
||||
DESCRIPTIONS = {
|
||||
'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
|
||||
|
||||
@@ -1,11 +1,19 @@
|
||||
import pyray as rl
|
||||
import time
|
||||
import threading
|
||||
|
||||
from openpilot.common.api import api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
|
||||
from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
|
||||
from openpilot.system.ui.lib.wrap_text import wrap_text
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
|
||||
TITLE = tr_noop("Firehose Mode")
|
||||
DESCRIPTION = tr_noop(
|
||||
@@ -24,17 +32,50 @@ INSTRUCTIONS = tr_noop(
|
||||
)
|
||||
|
||||
|
||||
class FirehoseLayout(FirehoseLayoutBase):
|
||||
class FirehoseLayout(Widget):
|
||||
PARAM_KEY = "ApiCache_FirehoseStats"
|
||||
GREEN = rl.Color(46, 204, 113, 255)
|
||||
RED = rl.Color(231, 76, 60, 255)
|
||||
GRAY = rl.Color(68, 68, 68, 255)
|
||||
LIGHT_GRAY = rl.Color(228, 228, 228, 255)
|
||||
UPDATE_INTERVAL = 30 # seconds
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._scroll_panel = GuiScrollPanel()
|
||||
self.params = Params()
|
||||
self.segment_count = self._get_segment_count()
|
||||
self.scroll_panel = GuiScrollPanel()
|
||||
self._content_height = 0
|
||||
|
||||
self.running = True
|
||||
self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
|
||||
self.update_thread.start()
|
||||
self.last_update_time = 0
|
||||
|
||||
def show_event(self):
|
||||
self.scroll_panel.set_offset(0)
|
||||
|
||||
def _get_segment_count(self) -> int:
|
||||
stats = self.params.get(self.PARAM_KEY)
|
||||
if not stats:
|
||||
return 0
|
||||
try:
|
||||
return int(stats.get("firehose", 0))
|
||||
except Exception:
|
||||
cloudlog.exception(f"Failed to decode firehose stats: {stats}")
|
||||
return 0
|
||||
|
||||
def __del__(self):
|
||||
self.running = False
|
||||
if self.update_thread and self.update_thread.is_alive():
|
||||
self.update_thread.join(timeout=1.0)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
# Calculate content dimensions
|
||||
content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
|
||||
|
||||
# Handle scrolling and render with clipping
|
||||
scroll_offset = self._scroll_panel.update(rect, content_rect)
|
||||
scroll_offset = self.scroll_panel.update(rect, content_rect)
|
||||
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
|
||||
self._content_height = self._render_content(rect, scroll_offset)
|
||||
rl.end_scissor_mode()
|
||||
@@ -66,9 +107,9 @@ class FirehoseLayout(FirehoseLayoutBase):
|
||||
y += 20 + 20
|
||||
|
||||
# Contribution count (if available)
|
||||
if self._segment_count > 0:
|
||||
if self.segment_count > 0:
|
||||
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
|
||||
y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
|
||||
y += 20 + 20
|
||||
|
||||
@@ -80,7 +121,7 @@ class FirehoseLayout(FirehoseLayoutBase):
|
||||
y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
|
||||
|
||||
# bottom margin + remove effect of scroll offset
|
||||
return int(round(y - self._scroll_panel.offset + 40))
|
||||
return int(round(y - self.scroll_panel.offset + 40))
|
||||
|
||||
def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
|
||||
wrapped = wrap_text(font, text, font_size, width)
|
||||
@@ -88,3 +129,32 @@ class FirehoseLayout(FirehoseLayoutBase):
|
||||
rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
|
||||
y += font_size * FONT_SCALE
|
||||
return round(y)
|
||||
|
||||
def _get_status(self) -> tuple[str, rl.Color]:
|
||||
network_type = ui_state.sm["deviceState"].networkType
|
||||
network_metered = ui_state.sm["deviceState"].networkMetered
|
||||
|
||||
if not network_metered and network_type != 0: # Not metered and connected
|
||||
return tr("ACTIVE"), self.GREEN
|
||||
else:
|
||||
return tr("INACTIVE: connect to an unmetered network"), self.RED
|
||||
|
||||
def _fetch_firehose_stats(self):
|
||||
try:
|
||||
dongle_id = self.params.get("DongleId")
|
||||
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
|
||||
return
|
||||
identity_token = get_token(dongle_id)
|
||||
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
self.segment_count = data.get("firehose", 0)
|
||||
self.params.put(self.PARAM_KEY, data)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch firehose stats: {e}")
|
||||
|
||||
def _update_loop(self):
|
||||
while self.running:
|
||||
if not ui_state.started:
|
||||
self._fetch_firehose_stats()
|
||||
time.sleep(self.UPDATE_INTERVAL)
|
||||
|
||||
@@ -11,19 +11,9 @@ from openpilot.system.ui.widgets.list_view import button_item, text_item, ListIt
|
||||
from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
|
||||
|
||||
# TODO: remove this. updater fails to respond on startup if time is not correct
|
||||
UPDATED_TIMEOUT = 10 # seconds to wait for updated to respond
|
||||
|
||||
# Mapping updater internal states to translated display strings
|
||||
STATE_TO_DISPLAY_TEXT = {
|
||||
"checking...": tr("checking..."),
|
||||
"downloading...": tr("downloading..."),
|
||||
"finalizing update...": tr("finalizing update..."),
|
||||
}
|
||||
|
||||
|
||||
def time_ago(date: datetime.datetime | None) -> str:
|
||||
if not date:
|
||||
@@ -110,9 +100,7 @@ class SoftwareLayout(Widget):
|
||||
# Updater responded
|
||||
self._waiting_for_updater = False
|
||||
self._download_btn.action_item.set_enabled(False)
|
||||
# Use the mapping, with a fallback to the original state string
|
||||
display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
|
||||
self._download_btn.action_item.set_value(display_text)
|
||||
self._download_btn.action_item.set_value(updater_state)
|
||||
else:
|
||||
if failed_count > 0:
|
||||
self._download_btn.action_item.set_value(tr("failed to check for update"))
|
||||
|
||||
@@ -67,10 +67,8 @@ class PrimeState:
|
||||
cloudlog.info(f"Prime type updated to {prime_type}")
|
||||
|
||||
def _worker_thread(self) -> None:
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
while self._running:
|
||||
if not ui_state.started and device._awake:
|
||||
self._fetch_prime_status()
|
||||
self._fetch_prime_status()
|
||||
|
||||
for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
|
||||
if not self._running:
|
||||
|
||||
@@ -3,16 +3,18 @@ import time
|
||||
from cereal import log
|
||||
import pyray as rl
|
||||
from collections.abc import Callable
|
||||
from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
|
||||
from openpilot.system.ui.widgets.label import gui_label, MiciLabel
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.text import wrap_text
|
||||
from openpilot.system.version import training_version, RELEASE_BRANCHES
|
||||
from openpilot.system.version import training_version
|
||||
|
||||
HEAD_BUTTON_FONT_SIZE = 40
|
||||
HOME_PADDING = 8
|
||||
|
||||
RELEASE_BRANCH = "release3"
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
|
||||
NETWORK_TYPES = {
|
||||
@@ -113,7 +115,7 @@ class MiciHomeLayout(Widget):
|
||||
self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
|
||||
self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
|
||||
self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
|
||||
self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
|
||||
self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
|
||||
self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
|
||||
|
||||
def show_event(self):
|
||||
@@ -185,22 +187,27 @@ class MiciHomeLayout(Widget):
|
||||
|
||||
if self._version_text is not None:
|
||||
# release branch
|
||||
release_branch = self._version_text[1] in RELEASE_BRANCHES
|
||||
version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
|
||||
self._version_label.set_text(self._version_text[0])
|
||||
self._version_label.set_position(version_pos.x, version_pos.y)
|
||||
self._version_label.render()
|
||||
if self._version_text[0] == RELEASE_BRANCH:
|
||||
version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
|
||||
self._large_version_label.set_text(self._version_text[0])
|
||||
self._large_version_label.set_position(version_pos.x, version_pos.y)
|
||||
self._large_version_label.render()
|
||||
|
||||
self._date_label.set_text(" " + self._version_text[3])
|
||||
self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
|
||||
self._date_label.render()
|
||||
else:
|
||||
version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
|
||||
self._version_label.set_text(self._version_text[0])
|
||||
self._version_label.set_position(version_pos.x, version_pos.y)
|
||||
self._version_label.render()
|
||||
|
||||
self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
|
||||
self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
|
||||
self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
|
||||
self._branch_label.render()
|
||||
self._date_label.set_text(" " + self._version_text[3])
|
||||
self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
|
||||
self._date_label.render()
|
||||
|
||||
self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
|
||||
self._branch_label.set_text(" " + self._version_text[1])
|
||||
self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
|
||||
self._branch_label.render()
|
||||
|
||||
if not release_branch:
|
||||
# 2nd line
|
||||
self._version_commit_label.set_text(self._version_text[2])
|
||||
self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
|
||||
|
||||
@@ -11,9 +11,6 @@ from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
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
|
||||
|
||||
|
||||
ONROAD_DELAY = 2.5 # seconds
|
||||
|
||||
|
||||
@@ -5,7 +5,6 @@ from dataclasses import dataclass
|
||||
from enum import IntEnum
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
@@ -221,7 +220,6 @@ class MiciOffroadAlerts(Widget):
|
||||
update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
|
||||
self.sorted_alerts.append(update_alert_data)
|
||||
update_alert_item = AlertItem(update_alert_data)
|
||||
update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
|
||||
self.alert_items.append(update_alert_item)
|
||||
self._scroller.add_widget(update_alert_item)
|
||||
|
||||
@@ -246,18 +244,18 @@ class MiciOffroadAlerts(Widget):
|
||||
|
||||
if update_alert_data:
|
||||
if update_available:
|
||||
version_string = ""
|
||||
# Default text
|
||||
update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."
|
||||
|
||||
# Get new version description and parse version and date
|
||||
new_desc = self.params.get("UpdaterNewDescription") or ""
|
||||
if new_desc:
|
||||
# format: "version / branch / commit / date"
|
||||
# Parse description (format: "version / branch / commit / date")
|
||||
parts = new_desc.split(" / ")
|
||||
if len(parts) > 3:
|
||||
version, date = parts[0], parts[3]
|
||||
version_string = f"\nsunnypilot {version}, {date}\n"
|
||||
update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
|
||||
|
||||
update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
|
||||
update_alert_data.visible = True
|
||||
active_count += 1
|
||||
else:
|
||||
|
||||
@@ -1,14 +1,10 @@
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
|
||||
import weakref
|
||||
import math
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
|
||||
from openpilot.system.ui.widgets.button import SmallButton
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.slider import SmallSlider
|
||||
from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
|
||||
@@ -27,12 +23,11 @@ class OnboardingState(IntEnum):
|
||||
|
||||
|
||||
class DriverCameraSetupDialog(DriverCameraDialog):
|
||||
def __init__(self):
|
||||
def __init__(self, confirm_callback: Callable):
|
||||
super().__init__(no_escape=True)
|
||||
self.driver_state_renderer = DriverStateRenderer(inset=True)
|
||||
self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
|
||||
self.driver_state_renderer = DriverStateRenderer(confirm_mode=True, confirm_callback=confirm_callback)
|
||||
self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
|
||||
self.driver_state_renderer.load_icons()
|
||||
self.driver_state_renderer.set_force_active(True)
|
||||
|
||||
def _render(self, rect):
|
||||
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
|
||||
@@ -45,15 +40,15 @@ class DriverCameraSetupDialog(DriverCameraDialog):
|
||||
return -1
|
||||
|
||||
# Position dmoji on opposite side from driver
|
||||
is_rhd = self.driver_state_renderer.is_rhd
|
||||
self.driver_state_renderer.set_position(
|
||||
rect.x + 8 if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width - 8,
|
||||
rect.y + 8,
|
||||
# TODO: we don't have design for RHD yet
|
||||
is_rhd = False
|
||||
driver_state_rect = (
|
||||
rect.x if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
|
||||
rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
|
||||
)
|
||||
self.driver_state_renderer.set_position(*driver_state_rect)
|
||||
self.driver_state_renderer.render()
|
||||
|
||||
self._draw_face_detection(rect)
|
||||
|
||||
rl.end_scissor_mode()
|
||||
return -1
|
||||
|
||||
@@ -92,54 +87,19 @@ class TrainingGuidePreDMTutorial(SetupTermsPage):
|
||||
))
|
||||
|
||||
|
||||
class DMBadFaceDetected(SetupTermsPage):
|
||||
def __init__(self, continue_callback, back_callback):
|
||||
super().__init__(continue_callback, back_callback, continue_text="power off")
|
||||
self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60))
|
||||
self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN)
|
||||
|
||||
@property
|
||||
def _content_height(self):
|
||||
return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
|
||||
|
||||
def _render_content(self, scroll_offset):
|
||||
self._title_header.render(rl.Rectangle(
|
||||
self._rect.x + 16,
|
||||
self._rect.y + 16 + scroll_offset,
|
||||
self._title_header.rect.width,
|
||||
self._title_header.rect.height,
|
||||
))
|
||||
|
||||
self._dm_label.render(rl.Rectangle(
|
||||
self._rect.x + 16,
|
||||
self._title_header.rect.y + self._title_header.rect.height + 16,
|
||||
self._rect.width - 32,
|
||||
self._dm_label.get_content_height(int(self._rect.width - 32)),
|
||||
))
|
||||
|
||||
|
||||
class TrainingGuideDMTutorial(Widget):
|
||||
PROGRESS_DURATION = 4
|
||||
LOOKING_THRESHOLD_DEG = 30.0
|
||||
|
||||
def __init__(self, continue_callback):
|
||||
super().__init__()
|
||||
self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 48, 48))
|
||||
self._back_button.set_click_callback(self._show_bad_face_page)
|
||||
self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 48, 35))
|
||||
self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
|
||||
|
||||
self._original_continue_callback = continue_callback
|
||||
|
||||
# Wrap the continue callback to restore settings
|
||||
def wrapped_continue_callback():
|
||||
device.set_offroad_brightness(None)
|
||||
self._restore_settings()
|
||||
continue_callback()
|
||||
|
||||
self._good_button.set_click_callback(wrapped_continue_callback)
|
||||
self._good_button.set_enabled(False)
|
||||
|
||||
self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
|
||||
self._dialog = DriverCameraSetupDialog()
|
||||
self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, self._hide_bad_face_page)
|
||||
self._should_show_bad_face_page = False
|
||||
self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
|
||||
|
||||
# Disable driver monitoring model when device times out for inactivity
|
||||
def inactivity_callback():
|
||||
@@ -147,113 +107,35 @@ class TrainingGuideDMTutorial(Widget):
|
||||
|
||||
device.add_interactive_timeout_callback(inactivity_callback)
|
||||
|
||||
def _show_bad_face_page(self):
|
||||
self._bad_face_page.show_event()
|
||||
self.hide_event()
|
||||
self._should_show_bad_face_page = True
|
||||
|
||||
def _hide_bad_face_page(self):
|
||||
self._bad_face_page.hide_event()
|
||||
self.show_event()
|
||||
self._should_show_bad_face_page = False
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._dialog.show_event()
|
||||
self._progress.x = 0.0
|
||||
|
||||
device.set_offroad_brightness(100)
|
||||
device.reset_interactive_timeout(300) # 5 minutes
|
||||
|
||||
def _restore_settings(self):
|
||||
device.set_offroad_brightness(None)
|
||||
device.reset_interactive_timeout()
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if device.awake:
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", True)
|
||||
|
||||
sm = ui_state.sm
|
||||
if sm.recv_frame.get("driverMonitoringState", 0) == 0:
|
||||
return
|
||||
|
||||
dm_state = sm["driverMonitoringState"]
|
||||
driver_data = self._dialog.driver_state_renderer.get_driver_data()
|
||||
|
||||
if len(driver_data.faceOrientation) == 3:
|
||||
pitch, yaw, _ = driver_data.faceOrientation
|
||||
looking_center = abs(math.degrees(pitch)) < self.LOOKING_THRESHOLD_DEG and abs(math.degrees(yaw)) < self.LOOKING_THRESHOLD_DEG
|
||||
else:
|
||||
looking_center = False
|
||||
|
||||
# stay at 100% once reached
|
||||
if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
|
||||
slow = self._progress.x < 0.25
|
||||
duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
|
||||
self._progress.x += 1.0 / (duration * gui_app.target_fps)
|
||||
self._progress.x = min(1.0, self._progress.x)
|
||||
else:
|
||||
self._progress.update(0.0)
|
||||
|
||||
self._good_button.set_enabled(self._progress.x >= 0.999)
|
||||
|
||||
def _render(self, _):
|
||||
if self._should_show_bad_face_page:
|
||||
return self._bad_face_page.render(self._rect)
|
||||
|
||||
self._dialog.render(self._rect)
|
||||
|
||||
rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
|
||||
int(self._rect.width), 80, rl.BLANK, rl.BLACK)
|
||||
|
||||
# draw white ring around dm icon to indicate progress
|
||||
ring_thickness = 8
|
||||
|
||||
# DM icon is 120x120, positioned on opposite side from driver
|
||||
dm_size = 120
|
||||
is_rhd = self._dialog.driver_state_renderer._is_rhd
|
||||
dm_center_x = (self._rect.x + dm_size / 2 + 8) if is_rhd else (self._rect.x + self._rect.width - dm_size / 2 - 8)
|
||||
dm_center_y = self._rect.y + dm_size / 2 + 8
|
||||
icon_edge_radius = dm_size / 2
|
||||
outer_radius = icon_edge_radius + 1 # 2px outward from icon edge
|
||||
inner_radius = outer_radius - ring_thickness # Inset by ring_thickness
|
||||
start_angle = 90.0 # Start from bottom
|
||||
end_angle = start_angle + self._progress.x * 360.0 # Clockwise
|
||||
|
||||
# Fade in alpha
|
||||
current_angle = end_angle - start_angle
|
||||
alpha = int(np.interp(current_angle, [0.0, 45.0], [0, 255]))
|
||||
|
||||
# White to green
|
||||
color_t = np.clip(np.interp(current_angle, [45.0, 360.0], [0.0, 1.0]), 0.0, 1.0)
|
||||
r = int(np.interp(color_t, [0.0, 1.0], [255, 0]))
|
||||
g = int(np.interp(color_t, [0.0, 1.0], [255, 255]))
|
||||
b = int(np.interp(color_t, [0.0, 1.0], [255, 64]))
|
||||
ring_color = rl.Color(r, g, b, alpha)
|
||||
|
||||
rl.draw_ring(
|
||||
rl.Vector2(dm_center_x, dm_center_y),
|
||||
inner_radius,
|
||||
outer_radius,
|
||||
start_angle,
|
||||
end_angle,
|
||||
36,
|
||||
ring_color,
|
||||
)
|
||||
|
||||
self._back_button.render(rl.Rectangle(
|
||||
self._rect.x + 8,
|
||||
self._rect.y + self._rect.height - self._back_button.rect.height,
|
||||
self._back_button.rect.width,
|
||||
self._back_button.rect.height,
|
||||
rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - self._title_header.rect.height * 1.5 - 32),
|
||||
int(self._rect.width), int(self._title_header.rect.height * 1.5 + 32),
|
||||
rl.BLANK, rl.Color(0, 0, 0, 150))
|
||||
self._title_header.render(rl.Rectangle(
|
||||
self._rect.x + 16,
|
||||
self._rect.y + self._rect.height - self._title_header.rect.height - 16,
|
||||
self._title_header.rect.width,
|
||||
self._title_header.rect.height,
|
||||
))
|
||||
|
||||
self._good_button.render(rl.Rectangle(
|
||||
self._rect.x + self._rect.width - self._good_button.rect.width - 8,
|
||||
self._rect.y + self._rect.height - self._good_button.rect.height,
|
||||
self._good_button.rect.width,
|
||||
self._good_button.rect.height,
|
||||
))
|
||||
|
||||
# rounded border
|
||||
rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
|
||||
|
||||
|
||||
class TrainingGuideRecordFront(SetupTermsPage):
|
||||
def __init__(self, continue_callback):
|
||||
@@ -268,7 +150,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
|
||||
super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
|
||||
self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
|
||||
|
||||
self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
|
||||
self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
|
||||
FontWeight.ROMAN)
|
||||
|
||||
def show_event(self):
|
||||
@@ -332,27 +214,13 @@ class TrainingGuide(Widget):
|
||||
self._completed_callback = completed_callback
|
||||
self._step = 0
|
||||
|
||||
self_ref = weakref.ref(self)
|
||||
|
||||
def on_continue():
|
||||
if obj := self_ref():
|
||||
obj._advance_step()
|
||||
|
||||
self._steps = [
|
||||
TrainingGuideAttentionNotice(continue_callback=on_continue),
|
||||
TrainingGuidePreDMTutorial(continue_callback=on_continue),
|
||||
TrainingGuideDMTutorial(continue_callback=on_continue),
|
||||
TrainingGuideRecordFront(continue_callback=on_continue),
|
||||
TrainingGuideAttentionNotice(continue_callback=self._advance_step),
|
||||
TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
|
||||
TrainingGuideDMTutorial(continue_callback=self._advance_step),
|
||||
TrainingGuideRecordFront(continue_callback=self._advance_step),
|
||||
]
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
device.set_override_interactive_timeout(300)
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
device.set_override_interactive_timeout(None)
|
||||
|
||||
def _advance_step(self):
|
||||
if self._step < len(self._steps) - 1:
|
||||
self._step += 1
|
||||
@@ -449,14 +317,6 @@ class OnboardingWindow(Widget):
|
||||
self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
|
||||
self._decline_page = DeclinePage(back_callback=self._on_decline_back)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
device.set_override_interactive_timeout(300)
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
device.set_override_interactive_timeout(None)
|
||||
|
||||
@property
|
||||
def completed(self) -> bool:
|
||||
return self._accepted_terms and self._training_done
|
||||
|
||||
@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
|
||||
content_height += self._fcc_logo.height + 20
|
||||
|
||||
scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
|
||||
scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
|
||||
scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)
|
||||
|
||||
fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
|
||||
|
||||
|
||||
@@ -6,13 +6,14 @@ from openpilot.common.api import api_get
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.lib.api_helpers import get_token
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
|
||||
from openpilot.system.ui.lib.wrap_text import wrap_text
|
||||
from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
|
||||
from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
|
||||
from openpilot.system.ui.widgets import Widget, NavWidget
|
||||
from openpilot.system.ui.widgets import NavWidget
|
||||
|
||||
|
||||
TITLE = tr_noop("Firehose Mode")
|
||||
DESCRIPTION = tr_noop(
|
||||
@@ -33,7 +34,9 @@ FAQ_ITEMS = [
|
||||
]
|
||||
|
||||
|
||||
class FirehoseLayoutBase(Widget):
|
||||
class FirehoseLayoutMici(NavWidget):
|
||||
BACK_TOUCH_AREA_PERCENTAGE = 0.1
|
||||
|
||||
PARAM_KEY = "ApiCache_FirehoseStats"
|
||||
GREEN = rl.Color(46, 204, 113, 255)
|
||||
RED = rl.Color(231, 76, 60, 255)
|
||||
@@ -41,10 +44,12 @@ class FirehoseLayoutBase(Widget):
|
||||
LIGHT_GRAY = rl.Color(228, 228, 228, 255)
|
||||
UPDATE_INTERVAL = 30 # seconds
|
||||
|
||||
def __init__(self):
|
||||
def __init__(self, back_callback):
|
||||
super().__init__()
|
||||
self._params = Params()
|
||||
self._segment_count = self._get_segment_count()
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
self.params = Params()
|
||||
self.segment_count = self._get_segment_count()
|
||||
|
||||
self._scroll_panel = GuiScrollPanel2(horizontal=False)
|
||||
self._content_height = 0
|
||||
@@ -66,7 +71,7 @@ class FirehoseLayoutBase(Widget):
|
||||
self._scroll_panel.set_offset(0)
|
||||
|
||||
def _get_segment_count(self) -> int:
|
||||
stats = self._params.get(self.PARAM_KEY)
|
||||
stats = self.params.get(self.PARAM_KEY)
|
||||
if not stats:
|
||||
return 0
|
||||
try:
|
||||
@@ -78,7 +83,7 @@ class FirehoseLayoutBase(Widget):
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
# compute total content height for scrolling
|
||||
content_height = self._measure_content_height(rect)
|
||||
scroll_offset = round(self._scroll_panel.update(rect, content_height))
|
||||
scroll_offset = self._scroll_panel.update(rect, content_height)
|
||||
|
||||
# start drawing with offset
|
||||
x = int(rect.x + 40)
|
||||
@@ -106,9 +111,9 @@ class FirehoseLayoutBase(Widget):
|
||||
y += 20
|
||||
|
||||
# Contribution count (if available)
|
||||
if self._segment_count > 0:
|
||||
if self.segment_count > 0:
|
||||
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
|
||||
y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
|
||||
y += 20
|
||||
|
||||
@@ -160,9 +165,9 @@ class FirehoseLayoutBase(Widget):
|
||||
y += int(len(status_lines) * 48 * FONT_SCALE) + 20
|
||||
|
||||
# Contribution count
|
||||
if self._segment_count > 0:
|
||||
if self.segment_count > 0:
|
||||
contrib_text = trn("{} segment of your driving is in the training dataset so far.",
|
||||
"{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
|
||||
"{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
|
||||
contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
|
||||
y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
|
||||
|
||||
@@ -199,28 +204,20 @@ class FirehoseLayoutBase(Widget):
|
||||
|
||||
def _fetch_firehose_stats(self):
|
||||
try:
|
||||
dongle_id = self._params.get("DongleId")
|
||||
dongle_id = self.params.get("DongleId")
|
||||
if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
|
||||
return
|
||||
identity_token = get_token(dongle_id)
|
||||
response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
|
||||
if response.status_code == 200:
|
||||
data = response.json()
|
||||
self._segment_count = data.get("firehose", 0)
|
||||
self._params.put(self.PARAM_KEY, data)
|
||||
self.segment_count = data.get("firehose", 0)
|
||||
self.params.put(self.PARAM_KEY, data)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Failed to fetch firehose stats: {e}")
|
||||
|
||||
def _update_loop(self):
|
||||
while self._running:
|
||||
if not ui_state.started and device._awake:
|
||||
if not ui_state.started:
|
||||
self._fetch_firehose_stats()
|
||||
time.sleep(self.UPDATE_INTERVAL)
|
||||
|
||||
|
||||
class FirehoseLayout(FirehoseLayoutBase, NavWidget):
|
||||
BACK_TOUCH_AREA_PERCENTAGE = 0.1
|
||||
|
||||
def __init__(self, back_callback):
|
||||
super().__init__()
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
@@ -1,20 +1,28 @@
|
||||
import math
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget, NavWidget
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType
|
||||
|
||||
|
||||
def normalize_ssid(ssid: str) -> str:
|
||||
return ssid.replace("’", "'") # for iPhone hotspots
|
||||
|
||||
|
||||
class NetworkPanelType(IntEnum):
|
||||
NONE = 0
|
||||
WIFI = 1
|
||||
|
||||
|
||||
class LoadingAnimation(Widget):
|
||||
def _render(self, _):
|
||||
cx = int(self._rect.x + 70)
|
||||
@@ -87,7 +95,7 @@ class WifiItem(BigDialogOptionButton):
|
||||
def __init__(self, network: Network):
|
||||
super().__init__(network.ssid)
|
||||
|
||||
self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
|
||||
self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))
|
||||
|
||||
self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
|
||||
|
||||
@@ -109,16 +117,16 @@ class WifiItem(BigDialogOptionButton):
|
||||
self._wifi_icon.render(rl.Rectangle(
|
||||
self._rect.x + self.LEFT_MARGIN,
|
||||
self._rect.y,
|
||||
self.SELECTED_HEIGHT,
|
||||
self._rect.height,
|
||||
self._rect.height
|
||||
))
|
||||
|
||||
if self._selected:
|
||||
self._label.set_font_size(self.SELECTED_HEIGHT)
|
||||
self._label.set_font_size(74)
|
||||
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
self._label.set_font_weight(FontWeight.DISPLAY)
|
||||
else:
|
||||
self._label.set_font_size(self.HEIGHT)
|
||||
self._label.set_font_size(70)
|
||||
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
|
||||
self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
|
||||
|
||||
@@ -207,7 +215,7 @@ class NetworkInfoPage(NavWidget):
|
||||
self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
|
||||
|
||||
self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
|
||||
|
||||
@@ -217,10 +225,6 @@ class NetworkInfoPage(NavWidget):
|
||||
self._network: Network | None = None
|
||||
self._connecting: Callable[[], str | None] | None = None
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._title.reset_scroll()
|
||||
|
||||
def update_networks(self, networks: dict[str, Network]):
|
||||
# update current network from latest scan results
|
||||
for ssid, network in networks.items():
|
||||
@@ -316,9 +320,6 @@ class NetworkInfoPage(NavWidget):
|
||||
|
||||
|
||||
class WifiUIMici(BigMultiOptionDialog):
|
||||
# Wait this long after user interacts with widget to update network list
|
||||
INACTIVITY_TIMEOUT = 1
|
||||
|
||||
def __init__(self, wifi_manager: WifiManager, back_callback: Callable):
|
||||
super().__init__([], None, None, right_btn_callback=None)
|
||||
|
||||
@@ -327,6 +328,7 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
|
||||
self._network_info_page = NetworkInfoPage(wifi_manager, self._connect_to_network, self._forget_network, self._open_network_manage_page)
|
||||
self._network_info_page.set_connecting(lambda: self._connecting)
|
||||
self._should_open_network_info_page = False # wait for scroll_to animation
|
||||
|
||||
self._loading_animation = LoadingAnimation()
|
||||
|
||||
@@ -334,10 +336,6 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
self._connecting: str | None = None
|
||||
self._networks: dict[str, Network] = {}
|
||||
|
||||
# widget state
|
||||
self._last_interaction_time = -float('inf')
|
||||
self._restore_selection = False
|
||||
|
||||
self._wifi_manager.add_callbacks(
|
||||
need_auth=self._on_need_auth,
|
||||
activated=self._on_activated,
|
||||
@@ -350,12 +348,18 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
# Call super to prepare scroller; selection scroll is handled dynamically
|
||||
super().show_event()
|
||||
self._wifi_manager.set_active(True)
|
||||
self._last_interaction_time = -float('inf')
|
||||
self._scroller.show_event()
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._wifi_manager.set_active(False)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if self._should_open_network_info_page:
|
||||
self._should_open_network_info_page = False
|
||||
self._open_network_manage_page()
|
||||
|
||||
def _open_network_manage_page(self, result=None):
|
||||
self._network_info_page.update_networks(self._networks)
|
||||
gui_app.set_modal_overlay(self._network_info_page)
|
||||
@@ -374,10 +378,6 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
self._network_info_page.update_networks(self._networks)
|
||||
|
||||
def _update_buttons(self):
|
||||
# Don't update buttons while user is actively interacting
|
||||
if rl.get_time() - self._last_interaction_time < self.INACTIVITY_TIMEOUT:
|
||||
return
|
||||
|
||||
for network in self._networks.values():
|
||||
# pop and re-insert to eliminate stuttering on update (prevents position lost for a frame)
|
||||
network_button_idx = next((i for i, btn in enumerate(self._scroller._items) if btn.option == network.ssid), None)
|
||||
@@ -388,28 +388,23 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
else:
|
||||
network_button = WifiItem(network)
|
||||
|
||||
def show_network_info_page(_network):
|
||||
self._network_info_page.set_current_network(_network)
|
||||
self._should_open_network_info_page = True
|
||||
|
||||
network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))
|
||||
|
||||
self.add_button(network_button)
|
||||
|
||||
# remove networks no longer present
|
||||
self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
|
||||
|
||||
# try to restore previous selection to prevent jumping from adding/removing/reordering buttons
|
||||
self._restore_selection = True
|
||||
|
||||
def _connect_with_password(self, ssid: str, password: str):
|
||||
if password:
|
||||
self._connecting = ssid
|
||||
self._wifi_manager.connect_to_network(ssid, password)
|
||||
self._update_buttons()
|
||||
|
||||
def _on_option_selected(self, option: str, smooth_scroll: bool = True):
|
||||
super()._on_option_selected(option, smooth_scroll)
|
||||
|
||||
# only open if button is already selected
|
||||
if option in self._networks and option == self._selected_option:
|
||||
self._network_info_page.set_current_network(self._networks[option])
|
||||
self._open_network_manage_page()
|
||||
|
||||
def _connect_to_network(self, ssid: str):
|
||||
network = self._networks.get(ssid)
|
||||
if network is None:
|
||||
@@ -443,20 +438,121 @@ class WifiUIMici(BigMultiOptionDialog):
|
||||
def _on_disconnected(self):
|
||||
self._connecting = None
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
if self.is_pressed:
|
||||
self._last_interaction_time = rl.get_time()
|
||||
|
||||
def _render(self, _):
|
||||
# Update Scroller layout and restore current selection whenever buttons are updated, before first render
|
||||
current_selection = self.get_selected_option()
|
||||
if self._restore_selection and current_selection in self._networks:
|
||||
self._scroller._layout()
|
||||
BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
|
||||
self._restore_selection = None
|
||||
|
||||
super()._render(_)
|
||||
|
||||
if not self._networks:
|
||||
self._loading_animation.render(self._rect)
|
||||
|
||||
|
||||
class NetworkLayoutMici(NavWidget):
|
||||
def __init__(self, back_callback: Callable):
|
||||
super().__init__()
|
||||
|
||||
self._current_panel = NetworkPanelType.WIFI
|
||||
self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
|
||||
|
||||
self._wifi_manager = WifiManager()
|
||||
self._wifi_manager.set_active(False)
|
||||
self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
|
||||
|
||||
self._wifi_manager.add_callbacks(
|
||||
networks_updated=self._on_network_updated,
|
||||
)
|
||||
|
||||
_tethering_icon = "icons_mici/settings/network/tethering.png"
|
||||
|
||||
# ******** Tethering ********
|
||||
def tethering_toggle_callback(checked: bool):
|
||||
self._tethering_toggle_btn.set_enabled(False)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
self._wifi_manager.set_tethering_active(checked)
|
||||
|
||||
self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
|
||||
|
||||
def tethering_password_callback(password: str):
|
||||
if password:
|
||||
self._wifi_manager.set_tethering_password(password)
|
||||
|
||||
def tethering_password_clicked():
|
||||
tethering_password = self._wifi_manager.tethering_password
|
||||
dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
|
||||
confirm_callback=tethering_password_callback)
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
|
||||
txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
|
||||
self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
|
||||
self._tethering_password_btn.set_click_callback(tethering_password_clicked)
|
||||
|
||||
# ******** IP Address ********
|
||||
self._ip_address_btn = BigButton("IP Address", "Not connected")
|
||||
|
||||
# ******** Network Metered ********
|
||||
def network_metered_callback(value: str):
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
metered = {
|
||||
'default': MeteredType.UNKNOWN,
|
||||
'metered': MeteredType.YES,
|
||||
'unmetered': MeteredType.NO
|
||||
}.get(value, MeteredType.UNKNOWN)
|
||||
self._wifi_manager.set_current_network_metered(metered)
|
||||
|
||||
# TODO: signal for current network metered type when changing networks, this is wrong until you press it once
|
||||
# TODO: disable when not connected
|
||||
self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
|
||||
wifi_button = BigButton("wi-fi")
|
||||
wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
|
||||
|
||||
# Main scroller ----------------------------------
|
||||
self._scroller = Scroller([
|
||||
wifi_button,
|
||||
self._network_metered_btn,
|
||||
self._tethering_toggle_btn,
|
||||
self._tethering_password_btn,
|
||||
self._ip_address_btn,
|
||||
], snap_items=False)
|
||||
|
||||
# Set up back navigation
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._current_panel = NetworkPanelType.NONE
|
||||
self._wifi_ui.show_event()
|
||||
self._scroller.show_event()
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._wifi_ui.hide_event()
|
||||
|
||||
def _on_network_updated(self, networks: list[Network]):
|
||||
# Update tethering state
|
||||
tethering_active = self._wifi_manager.is_tethering_active()
|
||||
# TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
|
||||
self._tethering_toggle_btn.set_enabled(True)
|
||||
self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
|
||||
self._tethering_toggle_btn.set_checked(tethering_active)
|
||||
|
||||
# Update IP address
|
||||
self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
|
||||
|
||||
# Update network metered
|
||||
self._network_metered_btn.set_value(
|
||||
{
|
||||
MeteredType.UNKNOWN: 'default',
|
||||
MeteredType.YES: 'metered',
|
||||
MeteredType.NO: 'unmetered'
|
||||
}.get(self._wifi_manager.current_network_metered, 'default'))
|
||||
|
||||
def _switch_to_panel(self, panel_type: NetworkPanelType):
|
||||
self._current_panel = panel_type
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self._wifi_manager.process_callbacks()
|
||||
|
||||
if self._current_panel == NetworkPanelType.WIFI:
|
||||
self._wifi_ui.render(rect)
|
||||
else:
|
||||
self._scroller.render(rect)
|
||||
@@ -1,184 +0,0 @@
|
||||
import pyray as rl
|
||||
from enum import IntEnum
|
||||
from collections.abc import Callable
|
||||
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.lib.prime_state import PrimeType
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import NavWidget
|
||||
from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
|
||||
|
||||
|
||||
class NetworkPanelType(IntEnum):
|
||||
NONE = 0
|
||||
WIFI = 1
|
||||
|
||||
|
||||
class NetworkLayoutMici(NavWidget):
|
||||
def __init__(self, back_callback: Callable):
|
||||
super().__init__()
|
||||
|
||||
self._current_panel = NetworkPanelType.WIFI
|
||||
self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
|
||||
|
||||
self._wifi_manager = WifiManager()
|
||||
self._wifi_manager.set_active(False)
|
||||
self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
|
||||
|
||||
self._wifi_manager.add_callbacks(
|
||||
networks_updated=self._on_network_updated,
|
||||
)
|
||||
|
||||
_tethering_icon = "icons_mici/settings/network/tethering.png"
|
||||
|
||||
# ******** Tethering ********
|
||||
def tethering_toggle_callback(checked: bool):
|
||||
self._tethering_toggle_btn.set_enabled(False)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
self._wifi_manager.set_tethering_active(checked)
|
||||
|
||||
self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
|
||||
|
||||
def tethering_password_callback(password: str):
|
||||
if password:
|
||||
self._wifi_manager.set_tethering_password(password)
|
||||
|
||||
def tethering_password_clicked():
|
||||
tethering_password = self._wifi_manager.tethering_password
|
||||
dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
|
||||
confirm_callback=tethering_password_callback)
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
|
||||
txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
|
||||
self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
|
||||
self._tethering_password_btn.set_click_callback(tethering_password_clicked)
|
||||
|
||||
# ******** IP Address ********
|
||||
self._ip_address_btn = BigButton("IP Address", "Not connected")
|
||||
|
||||
# ******** Network Metered ********
|
||||
def network_metered_callback(value: str):
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
metered = {
|
||||
'default': MeteredType.UNKNOWN,
|
||||
'metered': MeteredType.YES,
|
||||
'unmetered': MeteredType.NO
|
||||
}.get(value, MeteredType.UNKNOWN)
|
||||
self._wifi_manager.set_current_network_metered(metered)
|
||||
|
||||
# TODO: signal for current network metered type when changing networks, this is wrong until you press it once
|
||||
# TODO: disable when not connected
|
||||
self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
|
||||
self._network_metered_btn.set_enabled(False)
|
||||
|
||||
wifi_button = BigButton("wi-fi")
|
||||
wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
|
||||
|
||||
# ******** Advanced settings ********
|
||||
# ******** Roaming toggle ********
|
||||
self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
|
||||
|
||||
# ******** APN settings ********
|
||||
self._apn_btn = BigButton("apn settings", "edit")
|
||||
self._apn_btn.set_click_callback(self._edit_apn)
|
||||
|
||||
# ******** Cellular metered toggle ********
|
||||
self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
|
||||
|
||||
# Main scroller ----------------------------------
|
||||
self._scroller = Scroller([
|
||||
wifi_button,
|
||||
self._network_metered_btn,
|
||||
self._tethering_toggle_btn,
|
||||
self._tethering_password_btn,
|
||||
# /* Advanced settings
|
||||
self._roaming_btn,
|
||||
self._apn_btn,
|
||||
self._cellular_metered_btn,
|
||||
# */
|
||||
self._ip_address_btn,
|
||||
], snap_items=False)
|
||||
|
||||
# Set initial config
|
||||
roaming_enabled = ui_state.params.get_bool("GsmRoaming")
|
||||
metered = ui_state.params.get_bool("GsmMetered")
|
||||
self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
|
||||
|
||||
# Set up back navigation
|
||||
self.set_back_callback(back_callback)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
# If not using prime SIM, show GSM settings and enable IPv4 forwarding
|
||||
show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
|
||||
self._wifi_manager.set_ipv4_forward(show_cell_settings)
|
||||
self._roaming_btn.set_visible(show_cell_settings)
|
||||
self._apn_btn.set_visible(show_cell_settings)
|
||||
self._cellular_metered_btn.set_visible(show_cell_settings)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._current_panel = NetworkPanelType.NONE
|
||||
self._wifi_ui.show_event()
|
||||
self._scroller.show_event()
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
self._wifi_ui.hide_event()
|
||||
|
||||
def _toggle_roaming(self, checked: bool):
|
||||
self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
|
||||
|
||||
def _edit_apn(self):
|
||||
def update_apn(apn: str):
|
||||
apn = apn.strip()
|
||||
if apn == "":
|
||||
ui_state.params.remove("GsmApn")
|
||||
else:
|
||||
ui_state.params.put("GsmApn", apn)
|
||||
|
||||
self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
|
||||
|
||||
current_apn = ui_state.params.get("GsmApn") or ""
|
||||
dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
|
||||
def _toggle_cellular_metered(self, checked: bool):
|
||||
self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
|
||||
|
||||
def _on_network_updated(self, networks: list[Network]):
|
||||
# Update tethering state
|
||||
tethering_active = self._wifi_manager.is_tethering_active()
|
||||
# TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
|
||||
self._tethering_toggle_btn.set_enabled(True)
|
||||
self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
|
||||
self._tethering_toggle_btn.set_checked(tethering_active)
|
||||
|
||||
# Update IP address
|
||||
self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
|
||||
|
||||
# Update network metered
|
||||
self._network_metered_btn.set_value(
|
||||
{
|
||||
MeteredType.UNKNOWN: 'default',
|
||||
MeteredType.YES: 'metered',
|
||||
MeteredType.NO: 'unmetered'
|
||||
}.get(self._wifi_manager.current_network_metered, 'default'))
|
||||
|
||||
def _switch_to_panel(self, panel_type: NetworkPanelType):
|
||||
if panel_type == NetworkPanelType.WIFI:
|
||||
self._wifi_ui.show_event()
|
||||
self._current_panel = panel_type
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self._wifi_manager.process_callbacks()
|
||||
|
||||
if self._current_panel == NetworkPanelType.WIFI:
|
||||
self._wifi_ui.render(rect)
|
||||
else:
|
||||
self._scroller.render(rect)
|
||||
@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.widgets import Widget, NavWidget
|
||||
|
||||
@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
|
||||
PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
|
||||
PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
}
|
||||
|
||||
self._font_medium = gui_app.font(FontWeight.MEDIUM)
|
||||
|
||||
@@ -78,13 +78,13 @@ class TogglesLayoutMici(NavWidget):
|
||||
# CP gating for experimental mode
|
||||
if ui_state.CP is not None:
|
||||
if ui_state.has_longitudinal_control:
|
||||
self._experimental_btn.set_visible(True)
|
||||
self._personality_toggle.set_visible(True)
|
||||
self._experimental_btn.set_enabled(True)
|
||||
self._personality_toggle.set_enabled(True)
|
||||
else:
|
||||
# no long for now
|
||||
self._experimental_btn.set_visible(False)
|
||||
self._experimental_btn.set_enabled(False)
|
||||
self._experimental_btn.set_checked(False)
|
||||
self._personality_toggle.set_visible(False)
|
||||
self._personality_toggle.set_enabled(False)
|
||||
ui_state.params.remove("ExperimentalMode")
|
||||
|
||||
# Refresh toggles from params to mirror external changes
|
||||
|
||||
@@ -89,6 +89,10 @@ ALERT_CRITICAL_REBOOT = Alert(
|
||||
class AlertRenderer(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
|
||||
self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
|
||||
self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
|
||||
|
||||
self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
|
||||
letter_spacing=-0.02)
|
||||
@@ -200,11 +204,11 @@ class AlertRenderer(Widget):
|
||||
text_x = self._rect.x + ALERT_MARGIN
|
||||
text_width = self._rect.width - ALERT_MARGIN
|
||||
if icon_side == 'left':
|
||||
text_x = self._rect.x + self._txt_turn_signal_right.width
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
|
||||
text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
|
||||
elif icon_side == 'right':
|
||||
text_x = self._rect.x + ALERT_MARGIN
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
|
||||
text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
|
||||
|
||||
text_rect = rl.Rectangle(
|
||||
text_x,
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
import time
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from cereal import messaging, car, log
|
||||
from cereal import car, log
|
||||
from msgq.visionipc import VisionStreamType
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
|
||||
from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
|
||||
@@ -161,9 +160,6 @@ class AugmentedRoadView(CameraView):
|
||||
|
||||
self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
|
||||
|
||||
# debug
|
||||
self._pm = messaging.PubMaster(['uiDebug'])
|
||||
|
||||
def is_swiping_left(self) -> bool:
|
||||
"""Check if currently swiping left (for scroller to disable)."""
|
||||
return self._bookmark_icon.is_swiping_left()
|
||||
@@ -183,7 +179,6 @@ class AugmentedRoadView(CameraView):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
def _render(self, _):
|
||||
start_draw = time.monotonic()
|
||||
self._switch_stream_if_needed(ui_state.sm)
|
||||
|
||||
# Update calibration before rendering
|
||||
@@ -249,11 +244,6 @@ class AugmentedRoadView(CameraView):
|
||||
rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
|
||||
self._offroad_label.render(self._content_rect)
|
||||
|
||||
# publish uiDebug
|
||||
msg = messaging.new_message('uiDebug')
|
||||
msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
|
||||
self._pm.send('uiDebug', msg)
|
||||
|
||||
def _switch_stream_if_needed(self, sm):
|
||||
if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
|
||||
v_ego = sm['carState'].vEgo
|
||||
|
||||
@@ -107,6 +107,7 @@ else:
|
||||
class CameraView(Widget):
|
||||
def __init__(self, name: str, stream_type: VisionStreamType):
|
||||
super().__init__()
|
||||
# TODO: implement a receiver and connect thread
|
||||
self._name = name
|
||||
# Primary stream
|
||||
self.client = VisionIpcClient(name, stream_type, conflate=True)
|
||||
@@ -196,10 +197,7 @@ class CameraView(Widget):
|
||||
# Clean up shader
|
||||
if self.shader and self.shader.id:
|
||||
rl.unload_shader(self.shader)
|
||||
self.shader.id = 0
|
||||
|
||||
self.frame = None
|
||||
self.available_streams.clear()
|
||||
self.client = None
|
||||
|
||||
def __del__(self):
|
||||
@@ -236,9 +234,6 @@ class CameraView(Widget):
|
||||
if buffer:
|
||||
self._texture_needs_update = True
|
||||
self.frame = buffer
|
||||
elif not self.client.is_connected():
|
||||
# ensure we clear the displayed frame when the connection is lost
|
||||
self.frame = None
|
||||
|
||||
if not self.frame:
|
||||
self._draw_placeholder(rect)
|
||||
|
||||
@@ -6,8 +6,6 @@ from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.onroad.confidence_ball import ConfidenceBallSP
|
||||
|
||||
|
||||
def draw_circle_gradient(center_x: float, center_y: float, radius: int,
|
||||
top: rl.Color, bottom: rl.Color) -> None:
|
||||
@@ -23,10 +21,9 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int,
|
||||
20, rl.BLACK)
|
||||
|
||||
|
||||
class ConfidenceBall(Widget, ConfidenceBallSP):
|
||||
class ConfidenceBall(Widget):
|
||||
def __init__(self, demo: bool = False):
|
||||
Widget.__init__(self)
|
||||
ConfidenceBallSP.__init__(self)
|
||||
super().__init__()
|
||||
self._demo = demo
|
||||
self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
|
||||
|
||||
@@ -40,8 +37,6 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
|
||||
# animate status dot in from bottom
|
||||
if ui_state.status == UIStatus.DISENGAGED:
|
||||
self._confidence_filter.update(-0.5)
|
||||
elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
|
||||
self._confidence_filter.update(1 - max(self.get_animate_status_probs() or [1]))
|
||||
else:
|
||||
self._confidence_filter.update((1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs or [1])) *
|
||||
(1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs or [1])))
|
||||
@@ -70,9 +65,6 @@ class ConfidenceBall(Widget, ConfidenceBallSP):
|
||||
top_dot_color = rl.Color(255, 0, 21, 255)
|
||||
bottom_dot_color = rl.Color(255, 0, 89, 255)
|
||||
|
||||
elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
|
||||
top_dot_color = bottom_dot_color = self.get_lat_long_dot_color()
|
||||
|
||||
elif ui_state.status == UIStatus.OVERRIDE:
|
||||
top_dot_color = rl.Color(255, 255, 255, 255)
|
||||
bottom_dot_color = rl.Color(82, 82, 82, 255)
|
||||
|
||||
@@ -15,27 +15,20 @@ EventName = log.OnroadEvent.EventName
|
||||
EVENT_TO_INT = EventName.schema.enumerants
|
||||
|
||||
|
||||
class DriverCameraView(CameraView):
|
||||
def _calc_frame_matrix(self, rect: rl.Rectangle):
|
||||
base = super()._calc_frame_matrix(rect)
|
||||
driver_view_ratio = 1.5
|
||||
base[0, 0] *= driver_view_ratio
|
||||
base[1, 1] *= driver_view_ratio
|
||||
return base
|
||||
|
||||
|
||||
class DriverCameraDialog(NavWidget):
|
||||
def __init__(self, no_escape=False):
|
||||
super().__init__()
|
||||
self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
|
||||
self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
|
||||
self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
|
||||
self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
|
||||
self.driver_state_renderer = DriverStateRenderer(lines=True)
|
||||
self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
|
||||
self.driver_state_renderer.load_icons()
|
||||
self._pm: messaging.PubMaster | None = None
|
||||
self._pm = messaging.PubMaster(['selfdriveState'])
|
||||
if not no_escape:
|
||||
# TODO: this can grow unbounded, should be given some thought
|
||||
device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
|
||||
self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
|
||||
device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
|
||||
self.set_back_callback(self._dismiss)
|
||||
self.set_back_enabled(not no_escape)
|
||||
|
||||
# Load eye icons
|
||||
@@ -47,24 +40,26 @@ class DriverCameraDialog(NavWidget):
|
||||
|
||||
self._load_eye_textures()
|
||||
|
||||
def stop_dmonitoringmodeld(self):
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", False)
|
||||
gui_app.set_modal_overlay(None)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", True)
|
||||
self._publish_alert_sound(None)
|
||||
device.set_override_interactive_timeout(300)
|
||||
device.reset_interactive_timeout(300)
|
||||
ui_state.params.remove("DriverTooDistracted")
|
||||
self._pm = messaging.PubMaster(['selfdriveState'])
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", False)
|
||||
device.set_override_interactive_timeout(None)
|
||||
device.reset_interactive_timeout()
|
||||
|
||||
def _handle_mouse_release(self, _):
|
||||
ui_state.params.remove("DriverTooDistracted")
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
def _dismiss(self):
|
||||
self.stop_dmonitoringmodeld()
|
||||
|
||||
def close(self):
|
||||
if self._camera_view:
|
||||
@@ -89,13 +84,12 @@ class DriverCameraDialog(NavWidget):
|
||||
self._publish_alert_sound(None)
|
||||
return -1
|
||||
|
||||
driver_data = self._draw_face_detection(rect)
|
||||
if driver_data is not None:
|
||||
self._draw_eyes(rect, driver_data)
|
||||
self._draw_face_detection(rect)
|
||||
|
||||
# Position dmoji on opposite side from driver
|
||||
dm_state = ui_state.sm["driverMonitoringState"]
|
||||
driver_state_rect = (
|
||||
rect.x if self.driver_state_renderer.is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
|
||||
rect.x if dm_state.isRHD else rect.x + rect.width - self.driver_state_renderer.rect.width,
|
||||
rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
|
||||
)
|
||||
self.driver_state_renderer.set_position(*driver_state_rect)
|
||||
@@ -109,9 +103,6 @@ class DriverCameraDialog(NavWidget):
|
||||
|
||||
def _publish_alert_sound(self, dm_state):
|
||||
"""Publish selfdriveState with only alertSound field set"""
|
||||
if self._pm is None:
|
||||
return
|
||||
|
||||
msg = messaging.new_message('selfdriveState')
|
||||
if dm_state is not None and len(dm_state.events):
|
||||
event_name = EVENT_TO_INT[dm_state.events[0].name]
|
||||
@@ -139,7 +130,7 @@ class DriverCameraDialog(NavWidget):
|
||||
|
||||
# Show first event (only one should be active at a time)
|
||||
event_name_str = str(dm_state.events[0].name).split('.')[-1]
|
||||
alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
|
||||
alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if dm_state.isRHD else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
|
||||
|
||||
shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
|
||||
gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
|
||||
@@ -160,10 +151,12 @@ class DriverCameraDialog(NavWidget):
|
||||
if self._glasses_texture is None:
|
||||
self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
|
||||
|
||||
def _draw_face_detection(self, rect: rl.Rectangle):
|
||||
dm_state = ui_state.sm["driverMonitoringState"]
|
||||
driver_data = self.driver_state_renderer.get_driver_data()
|
||||
if not dm_state.faceDetected:
|
||||
def _draw_face_detection(self, rect: rl.Rectangle) -> None:
|
||||
driver_state = ui_state.sm["driverStateV2"]
|
||||
is_rhd = driver_state.wheelOnRightProb > 0.5
|
||||
driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
|
||||
face_detect = driver_data.faceProb > 0.7
|
||||
if not face_detect:
|
||||
return
|
||||
|
||||
# Get face position and orientation
|
||||
@@ -187,7 +180,7 @@ class DriverCameraDialog(NavWidget):
|
||||
scale_y = rect.height / 1080.0
|
||||
fbox_x = rect.x + rect.width / 2 + offset_x * scale_x
|
||||
fbox_y = rect.y + rect.height / 2 + offset_y * scale_y
|
||||
box_size = 75
|
||||
box_size = 50
|
||||
line_thickness = 3
|
||||
|
||||
line_color = rl.Color(255, 255, 255, int(alpha * 255))
|
||||
@@ -198,9 +191,7 @@ class DriverCameraDialog(NavWidget):
|
||||
line_thickness,
|
||||
line_color,
|
||||
)
|
||||
return driver_data
|
||||
|
||||
def _draw_eyes(self, rect: rl.Rectangle, driver_data):
|
||||
# Draw eye indicators based on eye probabilities
|
||||
eye_offset_x = 10
|
||||
eye_offset_y = 10
|
||||
@@ -230,6 +221,13 @@ class DriverCameraDialog(NavWidget):
|
||||
glasses_prob = driver_data.sunglassesProb
|
||||
rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
|
||||
|
||||
def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
|
||||
base = self._original_calc_frame_matrix(rect)
|
||||
driver_view_ratio = 1.5
|
||||
base[0, 0] *= driver_view_ratio
|
||||
base[1, 1] *= driver_view_ratio
|
||||
return base
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
gui_app.init_window("Driver Camera View (mici)")
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import pyray as rl
|
||||
from collections.abc import Callable
|
||||
import numpy as np
|
||||
import math
|
||||
from cereal import log
|
||||
@@ -20,11 +21,15 @@ class DriverStateRenderer(Widget):
|
||||
LINES_ANGLE_INCREMENT = 5
|
||||
LINES_STALE_ANGLES = 3.0 # seconds
|
||||
|
||||
def __init__(self, lines: bool = False, inset: bool = False):
|
||||
def __init__(self, lines: bool = False, confirm_mode: bool = False, confirm_callback: Callable | None = None):
|
||||
super().__init__()
|
||||
self.set_rect(rl.Rectangle(0, 0, self.BASE_SIZE, self.BASE_SIZE))
|
||||
self._lines = lines
|
||||
self._inset = inset
|
||||
self._lines = lines or confirm_mode
|
||||
|
||||
# In confirm mode, user must fill out the circle to confirm some action in the UI
|
||||
self._confirm_mode = confirm_mode
|
||||
self._confirm_callback = confirm_callback
|
||||
self._confirm_angles: dict[int, float] = {} # angle: timestamp
|
||||
|
||||
# In line mode, track smoothed angles
|
||||
assert 360 % self.LINES_ANGLE_INCREMENT == 0
|
||||
@@ -48,20 +53,12 @@ class DriverStateRenderer(Widget):
|
||||
|
||||
def load_icons(self):
|
||||
"""Load or reload the driver face icon texture"""
|
||||
cone_and_person_size = round(52 / self.BASE_SIZE * self._rect.width)
|
||||
|
||||
# If inset is enabled, push cone and person smaller by 2x the current inset space
|
||||
if self._inset:
|
||||
# Current inset space = (rect.width - cone_and_person_size) / 2
|
||||
current_inset = (self._rect.width - cone_and_person_size) / 2
|
||||
# Reduce size by 2x the current inset (1x on each side)
|
||||
cone_and_person_size = round(cone_and_person_size - current_inset * 2)
|
||||
|
||||
self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
|
||||
self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
|
||||
self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", self._rect.width, self._rect.height)
|
||||
self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", self._rect.width, self._rect.height)
|
||||
center_size = round(36 / self.BASE_SIZE * self._rect.width)
|
||||
self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
|
||||
self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
|
||||
background_size = round(52 / self.BASE_SIZE * self._rect.width)
|
||||
self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", background_size, background_size)
|
||||
|
||||
def set_should_draw(self, should_draw: bool):
|
||||
self._should_draw = should_draw
|
||||
@@ -80,22 +77,16 @@ class DriverStateRenderer(Widget):
|
||||
"""Returns True if dmoji should appear active (either actually active or forced)"""
|
||||
return bool(self._force_active or self._is_active)
|
||||
|
||||
@property
|
||||
def is_rhd(self) -> bool:
|
||||
return self._is_rhd
|
||||
|
||||
def _render(self, _):
|
||||
if DEBUG:
|
||||
rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
|
||||
|
||||
rl.draw_texture(self._dm_background,
|
||||
int(self._rect.x),
|
||||
int(self._rect.y),
|
||||
int(self._rect.x + (self._rect.width - self._dm_background.width) / 2),
|
||||
int(self._rect.y + (self._rect.height - self._dm_background.height) / 2),
|
||||
rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
|
||||
|
||||
rl.draw_texture(self._dm_person,
|
||||
int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
|
||||
int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
|
||||
rl.draw_texture(self._dm_person, int(self._rect.x), int(self._rect.y),
|
||||
rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
|
||||
|
||||
if self.effective_active:
|
||||
@@ -128,18 +119,38 @@ class DriverStateRenderer(Widget):
|
||||
|
||||
else:
|
||||
# remove old angles
|
||||
now = rl.get_time()
|
||||
self._confirm_angles = {angle: t for angle, t in self._confirm_angles.items() if now - t < self.LINES_STALE_ANGLES}
|
||||
|
||||
looking_center = self._looking_center_filter.x > 0.2
|
||||
for angle, f in self._head_angles.items():
|
||||
dst_from_current = ((angle - self._rotation_filter.x) % 360) - 180
|
||||
target = 1.0 if abs(dst_from_current) <= self.LINES_ANGLE_INCREMENT * 5 else 0.0
|
||||
if not self._face_detected:
|
||||
target = 0.0
|
||||
|
||||
if self._confirm_mode:
|
||||
# Extra careful to not add angles when looking near center
|
||||
if target > 0 and not looking_center:
|
||||
self._confirm_angles[angle] = now
|
||||
|
||||
# User is looking at area already confirmed, reduce target to indicate where they are
|
||||
if angle in self._confirm_angles and target == 0:
|
||||
target = 0.65
|
||||
|
||||
# Reduce all line lengths when looking center
|
||||
if self._looking_center:
|
||||
target = np.interp(self._looking_center_filter.x, [0.0, 1.0], [target, 0.45])
|
||||
|
||||
f.update(target)
|
||||
self._draw_line(angle, f, self._looking_center)
|
||||
self._draw_line(angle, f, self._looking_center and angle not in self._confirm_angles)
|
||||
|
||||
# if all lines placed, reset for next time and call callback
|
||||
if self._confirm_mode:
|
||||
if len(self._confirm_angles) >= 360 // self.LINES_ANGLE_INCREMENT:
|
||||
self._confirm_angles = {}
|
||||
if self._confirm_callback is not None:
|
||||
self._confirm_callback()
|
||||
|
||||
def _draw_line(self, angle: int, f: FirstOrderFilter, grey: bool):
|
||||
line_length = self._rect.width / 6
|
||||
@@ -159,9 +170,10 @@ class DriverStateRenderer(Widget):
|
||||
if f.x > 0.01:
|
||||
rl.draw_line_ex((start_x, start_y), (end_x, end_y), 12, color)
|
||||
|
||||
def get_driver_data(self):
|
||||
def _update_state(self):
|
||||
sm = ui_state.sm
|
||||
|
||||
# Get monitoring state
|
||||
dm_state = sm["driverMonitoringState"]
|
||||
self._is_active = dm_state.isActiveMode
|
||||
self._is_rhd = dm_state.isRHD
|
||||
@@ -169,11 +181,6 @@ class DriverStateRenderer(Widget):
|
||||
|
||||
driverstate = sm["driverStateV2"]
|
||||
driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
|
||||
return driver_data
|
||||
|
||||
def _update_state(self):
|
||||
# Get monitoring state
|
||||
driver_data = self.get_driver_data()
|
||||
driver_orient = driver_data.faceOrientation
|
||||
|
||||
if len(driver_orient) != 3:
|
||||
|
||||
@@ -30,8 +30,20 @@ class FontSizes:
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class Colors:
|
||||
WHITE = rl.WHITE
|
||||
WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
|
||||
white: rl.Color = rl.WHITE
|
||||
disengaged: rl.Color = rl.Color(145, 155, 149, 255)
|
||||
override: rl.Color = rl.Color(145, 155, 149, 255) # Added
|
||||
engaged: rl.Color = rl.Color(128, 216, 166, 255)
|
||||
disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
|
||||
override_bg: rl.Color = rl.Color(145, 155, 149, 204)
|
||||
engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
|
||||
grey: rl.Color = rl.Color(166, 166, 166, 255)
|
||||
dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
|
||||
black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
|
||||
white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
|
||||
border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
|
||||
header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
|
||||
header_gradient_end: rl.Color = rl.BLANK
|
||||
|
||||
|
||||
FONT_SIZES = FontSizes()
|
||||
@@ -224,18 +236,16 @@ class HudRenderer(Widget):
|
||||
|
||||
def _draw_set_speed(self, rect: rl.Rectangle) -> None:
|
||||
"""Draw the MAX speed indicator box."""
|
||||
alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
|
||||
self._can_draw_top_icons and self._engaged)
|
||||
if alpha < 1e-2:
|
||||
return
|
||||
|
||||
x = rect.x
|
||||
y = rect.y
|
||||
|
||||
alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
|
||||
self._can_draw_top_icons and self._engaged)
|
||||
|
||||
# draw drop shadow
|
||||
circle_radius = 162 // 2
|
||||
rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
|
||||
rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
|
||||
rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))
|
||||
|
||||
set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
|
||||
max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
|
||||
@@ -269,9 +279,9 @@ class HudRenderer(Widget):
|
||||
speed_text = str(round(self.speed))
|
||||
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
|
||||
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
|
||||
|
||||
unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
|
||||
unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
|
||||
unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
|
||||
|
||||
@@ -12,8 +12,6 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP
|
||||
|
||||
CLIP_MARGIN = 500
|
||||
MIN_DRAW_DISTANCE = 10.0
|
||||
MAX_DRAW_DISTANCE = 100.0
|
||||
@@ -34,7 +32,6 @@ LANE_LINE_COLORS = {
|
||||
UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
|
||||
UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
|
||||
UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
|
||||
**LANE_LINE_COLORS_SP,
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -130,9 +130,6 @@ def arc_bar_pts(cx: float, cy: float,
|
||||
|
||||
pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
|
||||
|
||||
# Rotate to start from middle of cap for proper triangulation
|
||||
pts = np.roll(pts, cap_segs, axis=0)
|
||||
|
||||
if DEBUG:
|
||||
n = len(pts)
|
||||
idx = int(time.monotonic() * 12) % max(1, n) # speed: 12 pts/sec
|
||||
@@ -185,13 +182,13 @@ class TorqueBar(Widget):
|
||||
|
||||
# animate alpha and angle span
|
||||
if not self._demo:
|
||||
self._torque_line_alpha_filter.update(ui_state.status not in (UIStatus.DISENGAGED, UIStatus.LONG_ONLY))
|
||||
self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
|
||||
else:
|
||||
self._torque_line_alpha_filter.update(1.0)
|
||||
|
||||
torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
|
||||
torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
|
||||
if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
|
||||
if ui_state.status != UIStatus.ENGAGED and not self._demo:
|
||||
torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
|
||||
|
||||
# draw curved line polygon torque bar
|
||||
@@ -234,7 +231,7 @@ class TorqueBar(Widget):
|
||||
max(0, abs(self._torque_filter.x) - 0.75) * 4,
|
||||
)
|
||||
|
||||
if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
|
||||
if ui_state.status != UIStatus.ENGAGED and not self._demo:
|
||||
start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
|
||||
|
||||
gradient = Gradient(
|
||||
|
||||
@@ -274,27 +274,18 @@ class BigInputDialog(BigDialogBase):
|
||||
|
||||
|
||||
class BigDialogOptionButton(Widget):
|
||||
HEIGHT = 64
|
||||
SELECTED_HEIGHT = 74
|
||||
|
||||
def __init__(self, option: str):
|
||||
super().__init__()
|
||||
self.option = option
|
||||
self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), self.HEIGHT))
|
||||
self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), 64))
|
||||
|
||||
self._selected = False
|
||||
|
||||
self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
|
||||
font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
|
||||
scroll=True)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._label.reset_scroll()
|
||||
font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
|
||||
|
||||
def set_selected(self, selected: bool):
|
||||
self._selected = selected
|
||||
self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
|
||||
|
||||
def _render(self, _):
|
||||
if DEBUG:
|
||||
@@ -302,11 +293,11 @@ class BigDialogOptionButton(Widget):
|
||||
|
||||
# FIXME: offset x by -45 because scroller centers horizontally
|
||||
if self._selected:
|
||||
self._label.set_font_size(self.SELECTED_HEIGHT)
|
||||
self._label.set_font_size(74)
|
||||
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
|
||||
self._label.set_font_weight(FontWeight.DISPLAY)
|
||||
else:
|
||||
self._label.set_font_size(self.HEIGHT)
|
||||
self._label.set_font_size(70)
|
||||
self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
|
||||
self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
|
||||
|
||||
@@ -327,7 +318,7 @@ class BigMultiOptionDialog(BigDialogBase):
|
||||
self._selected_option: str = self._default_option
|
||||
self._last_selected_option: str = self._selected_option
|
||||
|
||||
self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
|
||||
self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0)
|
||||
if self._right_btn is not None:
|
||||
self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
|
||||
|
||||
@@ -335,10 +326,14 @@ class BigMultiOptionDialog(BigDialogBase):
|
||||
self.add_button(BigDialogOptionButton(option))
|
||||
|
||||
def add_button(self, button: BigDialogOptionButton):
|
||||
def click_callback(_btn=button):
|
||||
self._on_option_selected(_btn.option)
|
||||
og_callback = button._click_callback
|
||||
|
||||
button.set_click_callback(click_callback)
|
||||
def wrapped_callback(btn=button):
|
||||
self._on_option_selected(btn.option)
|
||||
if og_callback:
|
||||
og_callback()
|
||||
|
||||
button.set_click_callback(wrapped_callback)
|
||||
self._scroller.add_widget(button)
|
||||
|
||||
def show_event(self):
|
||||
@@ -349,23 +344,13 @@ class BigMultiOptionDialog(BigDialogBase):
|
||||
def get_selected_option(self) -> str:
|
||||
return self._selected_option
|
||||
|
||||
def _on_option_selected(self, option: str, smooth_scroll: bool = True):
|
||||
def _on_option_selected(self, option: str):
|
||||
y_pos = 0.0
|
||||
for btn in self._scroller._items:
|
||||
btn = cast(BigDialogOptionButton, btn)
|
||||
if btn.option == option:
|
||||
rect_center_y = self._rect.y + self._rect.height / 2
|
||||
if btn._selected:
|
||||
height = btn.rect.height
|
||||
else:
|
||||
# when selecting an option under current, account for changing heights
|
||||
btn_center_y = btn.rect.y + btn.rect.height / 2 # not accurate, just to determine direction
|
||||
height_offset = BigDialogOptionButton.SELECTED_HEIGHT - BigDialogOptionButton.HEIGHT
|
||||
height = (BigDialogOptionButton.HEIGHT - height_offset) if rect_center_y < btn_center_y else BigDialogOptionButton.SELECTED_HEIGHT
|
||||
y_pos = rect_center_y - (btn.rect.y + height / 2)
|
||||
break
|
||||
if cast(BigDialogOptionButton, btn).option == option:
|
||||
y_pos = btn.rect.y
|
||||
|
||||
self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
|
||||
self._scroller.scroll_to(y_pos, smooth=True)
|
||||
|
||||
def _selected_option_changed(self):
|
||||
pass
|
||||
|
||||
@@ -14,11 +14,6 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
|
||||
from openpilot.common.transformations.orientation import rot_from_euler
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
|
||||
|
||||
OpState = log.SelfdriveState.OpenpilotState
|
||||
CALIBRATED = log.LiveCalibrationData.Status.calibrated
|
||||
ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
|
||||
@@ -29,7 +24,6 @@ BORDER_COLORS = {
|
||||
UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF), # Blue for disengaged state
|
||||
UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF), # Gray for override state
|
||||
UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF), # Green for engaged state
|
||||
**BORDER_COLORS_SP,
|
||||
}
|
||||
|
||||
WIDE_CAM_MAX_SPEED = 10.0 # m/s (22 mph)
|
||||
|
||||
@@ -68,6 +68,7 @@ else:
|
||||
class CameraView(Widget):
|
||||
def __init__(self, name: str, stream_type: VisionStreamType):
|
||||
super().__init__()
|
||||
# TODO: implement a receiver and connect thread
|
||||
self._name = name
|
||||
# Primary stream
|
||||
self.client = VisionIpcClient(name, stream_type, conflate=True)
|
||||
@@ -336,12 +337,12 @@ class CameraView(Widget):
|
||||
self._initialize_textures()
|
||||
|
||||
def _initialize_textures(self):
|
||||
self._clear_textures()
|
||||
if not TICI:
|
||||
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
|
||||
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
|
||||
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
|
||||
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
|
||||
self._clear_textures()
|
||||
if not TICI:
|
||||
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
|
||||
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
|
||||
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
|
||||
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
|
||||
|
||||
def _clear_textures(self):
|
||||
if self.texture_y and self.texture_y.id:
|
||||
|
||||
@@ -14,20 +14,16 @@ class DriverCameraDialog(CameraView):
|
||||
super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
|
||||
self.driver_state_renderer = DriverStateRenderer()
|
||||
# TODO: this can grow unbounded, should be given some thought
|
||||
device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
|
||||
device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", True)
|
||||
|
||||
def hide_event(self):
|
||||
super().hide_event()
|
||||
def stop_dmonitoringmodeld(self):
|
||||
ui_state.params.put_bool("IsDriverViewEnabled", False)
|
||||
self.close()
|
||||
gui_app.set_modal_overlay(None)
|
||||
|
||||
def _handle_mouse_release(self, _):
|
||||
super()._handle_mouse_release(_)
|
||||
gui_app.set_modal_overlay(None)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
self.stop_dmonitoringmodeld()
|
||||
|
||||
def _render(self, rect):
|
||||
super()._render(rect)
|
||||
|
||||
@@ -35,20 +35,20 @@ class FontSizes:
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class Colors:
|
||||
WHITE = rl.WHITE
|
||||
DISENGAGED = rl.Color(145, 155, 149, 255)
|
||||
OVERRIDE = rl.Color(145, 155, 149, 255) # Added
|
||||
ENGAGED = rl.Color(128, 216, 166, 255)
|
||||
DISENGAGED_BG = rl.Color(0, 0, 0, 153)
|
||||
OVERRIDE_BG = rl.Color(145, 155, 149, 204)
|
||||
ENGAGED_BG = rl.Color(128, 216, 166, 204)
|
||||
GREY = rl.Color(166, 166, 166, 255)
|
||||
DARK_GREY = rl.Color(114, 114, 114, 255)
|
||||
BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
|
||||
WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
|
||||
BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
|
||||
HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
|
||||
HEADER_GRADIENT_END = rl.BLANK
|
||||
white: rl.Color = rl.WHITE
|
||||
disengaged: rl.Color = rl.Color(145, 155, 149, 255)
|
||||
override: rl.Color = rl.Color(145, 155, 149, 255) # Added
|
||||
engaged: rl.Color = rl.Color(128, 216, 166, 255)
|
||||
disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
|
||||
override_bg: rl.Color = rl.Color(145, 155, 149, 204)
|
||||
engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
|
||||
grey: rl.Color = rl.Color(166, 166, 166, 255)
|
||||
dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
|
||||
black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
|
||||
white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
|
||||
border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
|
||||
header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
|
||||
header_gradient_end: rl.Color = rl.BLANK
|
||||
|
||||
|
||||
UI_CONFIG = UIConfig()
|
||||
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
|
||||
int(rect.y),
|
||||
int(rect.width),
|
||||
UI_CONFIG.header_height,
|
||||
COLORS.HEADER_GRADIENT_START,
|
||||
COLORS.HEADER_GRADIENT_END,
|
||||
COLORS.header_gradient_start,
|
||||
COLORS.header_gradient_end,
|
||||
)
|
||||
|
||||
if self.is_cruise_available:
|
||||
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
|
||||
y = rect.y + 45
|
||||
|
||||
set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
|
||||
rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
|
||||
rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
|
||||
rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
|
||||
rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)
|
||||
|
||||
max_color = COLORS.GREY
|
||||
set_speed_color = COLORS.DARK_GREY
|
||||
max_color = COLORS.grey
|
||||
set_speed_color = COLORS.dark_grey
|
||||
if self.is_cruise_set:
|
||||
set_speed_color = COLORS.WHITE
|
||||
set_speed_color = COLORS.white
|
||||
if ui_state.status == UIStatus.ENGAGED:
|
||||
max_color = COLORS.ENGAGED
|
||||
max_color = COLORS.engaged
|
||||
elif ui_state.status == UIStatus.DISENGAGED:
|
||||
max_color = COLORS.DISENGAGED
|
||||
max_color = COLORS.disengaged
|
||||
elif ui_state.status == UIStatus.OVERRIDE:
|
||||
max_color = COLORS.OVERRIDE
|
||||
max_color = COLORS.override
|
||||
|
||||
max_text = tr("MAX")
|
||||
max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
|
||||
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
|
||||
speed_text = str(round(self.speed))
|
||||
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
|
||||
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
|
||||
|
||||
unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
|
||||
unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
|
||||
unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
|
||||
rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
|
||||
|
||||
@@ -11,8 +11,6 @@ from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP
|
||||
|
||||
CLIP_MARGIN = 500
|
||||
MIN_DRAW_DISTANCE = 10.0
|
||||
MAX_DRAW_DISTANCE = 100.0
|
||||
@@ -43,11 +41,9 @@ class LeadVehicle:
|
||||
fill_alpha: int = 0
|
||||
|
||||
|
||||
class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
|
||||
class ModelRenderer(Widget):
|
||||
def __init__(self):
|
||||
Widget.__init__(self)
|
||||
ChevronMetrics.__init__(self)
|
||||
ModelRendererSP.__init__(self)
|
||||
super().__init__()
|
||||
self._longitudinal_control = False
|
||||
self._experimental_mode = False
|
||||
self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
|
||||
@@ -132,7 +128,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
|
||||
|
||||
if render_lead_indicator and radar_state:
|
||||
self._draw_lead_indicator()
|
||||
self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
|
||||
|
||||
def _update_raw_points(self, model):
|
||||
"""Update raw 3D points from model data"""
|
||||
@@ -286,10 +281,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
|
||||
allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
|
||||
self._blend_filter.update(int(allow_throttle))
|
||||
|
||||
if ui_state.rainbow_path:
|
||||
self.rainbow_path.draw_rainbow_path(self._rect, self._path)
|
||||
return
|
||||
|
||||
if self._experimental_mode:
|
||||
# Draw with acceleration coloring
|
||||
if len(self._exp_gradient.colors) > 1:
|
||||
|
||||
@@ -1,106 +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 datetime
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
|
||||
from openpilot.system.hardware import PC
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import DialogResult
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
|
||||
from openpilot.system.ui.widgets.list_view import button_item
|
||||
|
||||
from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
|
||||
|
||||
PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
|
||||
|
||||
|
||||
class DeveloperLayoutSP(DeveloperLayout):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
|
||||
self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
|
||||
self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
|
||||
self._initialize_items()
|
||||
|
||||
for item in self.items:
|
||||
self._scroller.add_widget(item)
|
||||
|
||||
def _initialize_items(self):
|
||||
self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
|
||||
tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
|
||||
"it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
|
||||
|
||||
self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
|
||||
param="EnableGithubRunner")
|
||||
|
||||
self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"),
|
||||
tr("copyparty is a very capable file server, you can use it to download your routes, view your logs " +
|
||||
"and even make some edits on some files from your browser. " +
|
||||
"Requires you to connect to your comma locally via its IP address."), param="EnableCopyparty")
|
||||
|
||||
self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
|
||||
|
||||
self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
|
||||
|
||||
self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
|
||||
|
||||
@staticmethod
|
||||
def _on_prebuilt_toggled(state):
|
||||
if state:
|
||||
Path(PREBUILT_PATH).touch(exist_ok=True)
|
||||
else:
|
||||
os.remove(PREBUILT_PATH)
|
||||
ui_state.params.put_bool("QuickBootToggle", state)
|
||||
|
||||
def _on_delete_confirm(self, result):
|
||||
if result == DialogResult.CONFIRM:
|
||||
if os.path.exists(self.error_log_path):
|
||||
os.remove(self.error_log_path)
|
||||
|
||||
def _on_error_log_closed(self, result, log_exists):
|
||||
if result == DialogResult.CONFIRM and log_exists:
|
||||
dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False)
|
||||
gui_app.set_modal_overlay(dialog2, callback=self._on_delete_confirm)
|
||||
|
||||
def _on_error_log_clicked(self):
|
||||
text = ""
|
||||
if os.path.exists(self.error_log_path):
|
||||
text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
|
||||
try:
|
||||
with open(self.error_log_path) as file:
|
||||
text += file.read()
|
||||
except Exception:
|
||||
pass
|
||||
dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
|
||||
gui_app.set_modal_overlay(dialog)
|
||||
|
||||
def _update_state(self):
|
||||
disable_updates = ui_state.params.get_bool("DisableUpdates")
|
||||
show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
|
||||
|
||||
if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
|
||||
ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
|
||||
self.prebuilt_toggle.action_item.set_state(prebuilt_file)
|
||||
|
||||
self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
|
||||
self.prebuilt_toggle.action_item.set_enabled(disable_updates)
|
||||
|
||||
if disable_updates:
|
||||
self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
|
||||
"removes the prebuilt file so compilation of locally edited cpp files can be made."))
|
||||
else:
|
||||
self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
|
||||
|
||||
self.enable_copyparty_toggle.set_visible(show_advanced)
|
||||
self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
|
||||
self.error_log_btn.set_visible(not self._is_release_branch)
|
||||
@@ -4,248 +4,24 @@ 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 os
|
||||
import re
|
||||
import time
|
||||
import pyray as rl
|
||||
|
||||
from cereal import custom
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets import DialogResult, Widget
|
||||
from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
from openpilot.system.ui.widgets.toggle import ON_COLOR
|
||||
|
||||
from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
|
||||
from openpilot.system.ui.sunnypilot.lib.styles import style
|
||||
from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
|
||||
from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
|
||||
from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
|
||||
class ModelsLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.model_manager = None
|
||||
self.download_status = None
|
||||
self.prev_download_status = None
|
||||
self.model_dialog = None
|
||||
self.last_cache_calc_time = 0
|
||||
|
||||
self._initialize_items()
|
||||
|
||||
self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
|
||||
for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
|
||||
ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
|
||||
|
||||
self._scroller = Scroller(self.items, line_separator=True, spacing=0)
|
||||
self._params = Params()
|
||||
items = self._initialize_items()
|
||||
self._scroller = Scroller(items, line_separator=True, spacing=0)
|
||||
|
||||
def _initialize_items(self):
|
||||
self.current_model_item = ListItemSP(
|
||||
title=tr("Current Model"),
|
||||
description="",
|
||||
action_item=NoElideButtonAction(tr("SELECT")),
|
||||
callback=self._handle_current_model_clicked
|
||||
)
|
||||
items = [
|
||||
|
||||
self.supercombo_label = progress_item(tr("Driving Model"))
|
||||
self.vision_label = progress_item(tr("Vision Model"))
|
||||
self.policy_label = progress_item(tr("Policy Model"))
|
||||
|
||||
self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
|
||||
lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
|
||||
gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
|
||||
|
||||
self.clear_cache_item = ListItemSP(
|
||||
title=tr("Clear Model Cache"),
|
||||
description="",
|
||||
action_item=NoElideButtonAction(tr("CLEAR")),
|
||||
callback=self._clear_cache
|
||||
)
|
||||
|
||||
self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
|
||||
|
||||
self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
|
||||
tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
|
||||
int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
|
||||
lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
|
||||
f" {'km/h' if ui_state.is_metric else 'mph'}")
|
||||
|
||||
self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
|
||||
tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," +
|
||||
" the car will plan a turn in that direction at the nearest drivable path. " +
|
||||
"This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
|
||||
param="LaneTurnDesire")
|
||||
|
||||
self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
|
||||
tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
|
||||
1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
|
||||
|
||||
self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
|
||||
|
||||
self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
|
||||
self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
|
||||
self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
|
||||
|
||||
def _update_lagd_description(self, lagd_toggle: bool):
|
||||
desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
|
||||
"Keeping this on provides the stock openpilot experience.")
|
||||
if lagd_toggle:
|
||||
desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
|
||||
elif ui_state.CP:
|
||||
sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
|
||||
cp = ui_state.CP.steerActuatorDelay
|
||||
desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
|
||||
self.lagd_toggle.set_description(desc)
|
||||
|
||||
def _is_downloading(self):
|
||||
return (self.model_manager and self.model_manager.selectedBundle and
|
||||
self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
|
||||
|
||||
@staticmethod
|
||||
def _calculate_cache_size():
|
||||
cache_size = 0.0
|
||||
if os.path.exists(CUSTOM_MODEL_PATH):
|
||||
cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
|
||||
return cache_size
|
||||
|
||||
def _clear_cache(self):
|
||||
def _callback(response):
|
||||
if response == DialogResult.CONFIRM:
|
||||
ui_state.params.put_bool("ModelManager_ClearCache", True)
|
||||
self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
|
||||
|
||||
gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
|
||||
tr("Clear Cache")), callback=_callback)
|
||||
|
||||
def _handle_bundle_download_progress(self):
|
||||
labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
|
||||
custom.ModelManagerSP.Model.Type.vision: self.vision_label,
|
||||
custom.ModelManagerSP.Model.Type.policy: self.policy_label}
|
||||
for label in labels.values():
|
||||
label.set_visible(False)
|
||||
self.cancel_download_item.set_visible(False)
|
||||
|
||||
if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
|
||||
return
|
||||
|
||||
bundle = self.model_manager.selectedBundle if self._is_downloading() or (
|
||||
self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
|
||||
) else self.model_manager.activeBundle
|
||||
if not bundle:
|
||||
return
|
||||
|
||||
self.download_status = bundle.status
|
||||
status_changed = self.prev_download_status != self.download_status
|
||||
self.prev_download_status = self.download_status
|
||||
|
||||
self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
|
||||
|
||||
if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
|
||||
self.last_cache_calc_time = current_time
|
||||
self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
|
||||
|
||||
if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
device._reset_interactive_timeout()
|
||||
|
||||
for model in bundle.models:
|
||||
if label := labels.get(getattr(model.type, 'raw', model.type)):
|
||||
label.set_visible(True)
|
||||
p = model.artifact.downloadProgress
|
||||
text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
|
||||
if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
|
||||
text, show = f"{int(p.progress)}% - {bundle.displayName}", True
|
||||
elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
|
||||
status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
|
||||
text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
|
||||
elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
|
||||
text, color = f"download failed - {bundle.displayName}", rl.RED
|
||||
label.action_item.update(p.progress, text, show, color)
|
||||
|
||||
@staticmethod
|
||||
def _show_reset_params_dialog():
|
||||
def _callback(response):
|
||||
if response == DialogResult.CONFIRM:
|
||||
ui_state.params.remove("CalibrationParams")
|
||||
ui_state.params.remove("LiveTorqueParameters")
|
||||
msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
|
||||
gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
|
||||
|
||||
def _on_model_selected(self, result):
|
||||
if result != DialogResult.CONFIRM:
|
||||
return
|
||||
selected_ref = self.model_dialog.selection_ref
|
||||
if selected_ref == "Default":
|
||||
ui_state.params.remove("ModelManager_ActiveBundle")
|
||||
self._show_reset_params_dialog()
|
||||
elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
|
||||
ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
|
||||
if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
|
||||
self._show_reset_params_dialog()
|
||||
self.model_dialog = None
|
||||
|
||||
@staticmethod
|
||||
def _bundle_to_node(bundle):
|
||||
return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
|
||||
|
||||
def _get_folders(self, favorites):
|
||||
bundles = self.model_manager.availableBundles
|
||||
folders = {}
|
||||
for bundle in bundles:
|
||||
folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
|
||||
|
||||
folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
|
||||
for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
|
||||
folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
|
||||
name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
|
||||
folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
|
||||
|
||||
if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
|
||||
folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
|
||||
return folders_list
|
||||
|
||||
def _handle_current_model_clicked(self):
|
||||
favs = ui_state.params.get("ModelManager_Favs")
|
||||
favorites = set(favs.split(';')) if favs else set()
|
||||
folders_list = self._get_folders(favorites)
|
||||
|
||||
active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
|
||||
self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
|
||||
get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
|
||||
gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
|
||||
|
||||
def _update_state(self):
|
||||
advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
|
||||
turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
|
||||
live_delay: bool = ui_state.params.get_bool("LagdToggle")
|
||||
|
||||
self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
|
||||
self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
|
||||
self.lagd_toggle.action_item.set_state(live_delay)
|
||||
self.delay_control.set_visible(not live_delay and advanced_controls)
|
||||
new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
|
||||
if self.lane_turn_value_control.action_item.value_change_step != new_step:
|
||||
self.lane_turn_value_control.action_item.value_change_step = new_step
|
||||
|
||||
self._update_lagd_description(live_delay)
|
||||
self.model_manager = ui_state.sm["modelManagerSP"]
|
||||
self._handle_bundle_download_progress()
|
||||
active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
|
||||
self.current_model_item.action_item.set_value(active_name)
|
||||
|
||||
if not ui_state.is_offroad():
|
||||
self.current_model_item.action_item.set_enabled(False)
|
||||
self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
|
||||
else:
|
||||
self.current_model_item.action_item.set_enabled(True)
|
||||
self.current_model_item.set_description("")
|
||||
]
|
||||
return items
|
||||
|
||||
def _render(self, rect):
|
||||
self._scroller.render(rect)
|
||||
|
||||
@@ -4,229 +4,27 @@ 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 datetime
|
||||
import os
|
||||
import platform
|
||||
import requests
|
||||
import shutil
|
||||
import threading
|
||||
from pathlib import Path
|
||||
from time import monotonic
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.ui.ui_state import device, ui_state
|
||||
from openpilot.selfdrive.ui.layouts.settings.software import time_ago
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import DialogResult, Widget
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
|
||||
from openpilot.system.ui.widgets.list_view import text_item
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
|
||||
from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
|
||||
from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
|
||||
from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
|
||||
|
||||
MAP_PATH = Path(Paths.mapd_root()) / "offline"
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
|
||||
class OSMLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._current_percent = 0
|
||||
self._last_map_size_update = 0
|
||||
self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
|
||||
self._initialize_items()
|
||||
self._update_map_size()
|
||||
self._progress.set_visible(False)
|
||||
self._state_btn.set_visible(False)
|
||||
self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
|
||||
self._scroller = Scroller(self.items, line_separator=True, spacing=0)
|
||||
|
||||
self._params = Params()
|
||||
items = self._initialize_items()
|
||||
self._scroller = Scroller(items, line_separator=True, spacing=0)
|
||||
|
||||
def _initialize_items(self):
|
||||
self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
|
||||
self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
|
||||
self._progress = progress_item(tr("Downloading Map"))
|
||||
self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
|
||||
self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
|
||||
self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
|
||||
items = [
|
||||
|
||||
self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
|
||||
|
||||
def _show_confirm(self, msg, confirm_text, func):
|
||||
gui_app.set_modal_overlay(ConfirmDialog(msg, confirm_text), lambda res: func() if res == DialogResult.CONFIRM else None)
|
||||
|
||||
def calculate_size(self):
|
||||
total_size = 0
|
||||
directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
|
||||
while directories_to_scan:
|
||||
try:
|
||||
for entry in os.scandir(directories_to_scan.pop()):
|
||||
if entry.is_file():
|
||||
total_size += entry.stat().st_size
|
||||
elif entry.is_dir():
|
||||
directories_to_scan.append(entry.path)
|
||||
except OSError:
|
||||
pass
|
||||
self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
|
||||
|
||||
def _update_map_size(self):
|
||||
threading.Thread(target=self.calculate_size, daemon=True).start()
|
||||
|
||||
def _do_delete_maps(self):
|
||||
if MAP_PATH.exists():
|
||||
shutil.rmtree(MAP_PATH)
|
||||
|
||||
for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
|
||||
ui_state.params.remove(param)
|
||||
|
||||
self._delete_maps_btn.action_item.set_enabled(True)
|
||||
self._delete_maps_btn.action_item.set_text(tr("DELETE"))
|
||||
self._update_map_size()
|
||||
|
||||
def _on_confirm_delete_maps(self):
|
||||
self._delete_maps_btn.action_item.set_enabled(False)
|
||||
self._delete_maps_btn.action_item.set_text("DELETING...")
|
||||
threading.Thread(target=self._do_delete_maps).start()
|
||||
|
||||
def _delete_maps(self):
|
||||
self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
|
||||
tr("Yes, delete all maps"), self._on_confirm_delete_maps)
|
||||
|
||||
def _update_db(self):
|
||||
self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
|
||||
lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
|
||||
|
||||
def _select_region(self, region_type):
|
||||
is_country = region_type == "Country"
|
||||
btn = self._country_btn if is_country else self._state_btn
|
||||
btn.action_item.set_enabled(False)
|
||||
btn.action_item.set_text(tr("FETCHING..."))
|
||||
threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
|
||||
|
||||
def _handle_region_selection(self, region_type, locations, key, res, ref):
|
||||
if res != DialogResult.CONFIRM or not ref:
|
||||
if region_type == "State" and res == DialogResult.CANCEL:
|
||||
if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
|
||||
ui_state.params.remove("OsmLocationName")
|
||||
ui_state.params.remove("OsmLocationTitle")
|
||||
ui_state.params.remove("OsmLocal")
|
||||
self._update_labels()
|
||||
return
|
||||
|
||||
if region_type == "Country":
|
||||
ui_state.params.put_bool("OsmLocal", True)
|
||||
ui_state.params.remove("OsmStateName")
|
||||
ui_state.params.remove("OsmStateTitle")
|
||||
|
||||
ui_state.params.put(f"{key}Name", ref)
|
||||
name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
|
||||
ui_state.params.put(f"{key}Title", name)
|
||||
|
||||
if ref == "US" and region_type == "Country":
|
||||
self._select_region("State")
|
||||
else:
|
||||
self._update_db()
|
||||
|
||||
def _do_select_region(self, region_type, btn):
|
||||
base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
|
||||
url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
|
||||
try:
|
||||
data = requests.get(url, timeout=10).json()
|
||||
locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
|
||||
except Exception:
|
||||
locations = []
|
||||
|
||||
if region_type == "State":
|
||||
locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
|
||||
|
||||
btn.action_item.set_enabled(True)
|
||||
btn.action_item.set_text(tr("SELECT"))
|
||||
|
||||
key = "OsmLocation" if region_type == "Country" else "OsmState"
|
||||
current = ui_state.params.get(f"{key}Name") or ""
|
||||
|
||||
dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
|
||||
dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
|
||||
gui_app.set_modal_overlay(dialog, callback=lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref))
|
||||
|
||||
def _update_labels(self):
|
||||
downloading = bool(self._mem_params.get("OSMDownloadLocations"))
|
||||
self._country_btn.set_enabled(not downloading)
|
||||
self._state_btn.set_enabled(not downloading)
|
||||
self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
|
||||
self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
|
||||
|
||||
self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
|
||||
self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
|
||||
|
||||
pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
|
||||
if downloading or pending:
|
||||
if downloading:
|
||||
device._reset_interactive_timeout()
|
||||
self._update_map_size()
|
||||
self._progress.set_visible(True)
|
||||
progress = ui_state.params.get("OSMDownloadProgress")
|
||||
total = progress.get('total_files', 0) if progress else 0
|
||||
done = progress.get('downloaded_files', 0) if progress else 0
|
||||
failed = total > 0 and not downloading and done < total
|
||||
|
||||
if total > 0:
|
||||
progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
|
||||
else:
|
||||
progress_perc = 0.0
|
||||
|
||||
if failed:
|
||||
text = "0% - Downloading Maps"
|
||||
btn_text = tr("Error: Invalid download. Retry.")
|
||||
self._current_percent = 0.0
|
||||
elif total > 0 and downloading:
|
||||
self._current_percent = progress_perc
|
||||
perc_int = int(progress_perc)
|
||||
text = f"{perc_int}% - Downloading Maps"
|
||||
btn_text = f"{done}/{total} ({perc_int}%)"
|
||||
else:
|
||||
self._current_percent = 0.0
|
||||
text = "0% - Downloading Maps"
|
||||
btn_text = tr("Downloading Maps...")
|
||||
|
||||
self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
|
||||
self._update_btn.action_item.set_enabled(not downloading) # TODO-SP: introduce CANCEL database download with mapd
|
||||
self._update_btn.action_item.set_value(btn_text)
|
||||
self._country_btn.action_item.set_enabled(not downloading)
|
||||
self._state_btn.action_item.set_enabled(not downloading)
|
||||
self._delete_maps_btn.action_item.set_enabled(not downloading)
|
||||
else:
|
||||
self._progress.set_visible(False)
|
||||
self._update_btn.action_item.set_enabled(True)
|
||||
self._country_btn.action_item.set_enabled(True)
|
||||
self._state_btn.action_item.set_enabled(True)
|
||||
self._delete_maps_btn.action_item.set_enabled(True)
|
||||
|
||||
ts = ui_state.params.get("OsmDownloadedDate")
|
||||
dt: datetime.datetime | None = None
|
||||
|
||||
if ts:
|
||||
try:
|
||||
ts_f = float(ts)
|
||||
if ts_f > 0:
|
||||
dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
|
||||
except (ValueError, TypeError):
|
||||
dt = None
|
||||
|
||||
formatted = time_ago(dt)
|
||||
self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
|
||||
|
||||
def show_event(self):
|
||||
self._scroller.show_event()
|
||||
|
||||
def _update_state(self):
|
||||
now = monotonic()
|
||||
if now - self._last_map_size_update >= 1.0:
|
||||
self._last_map_size_update = now
|
||||
self._update_labels()
|
||||
]
|
||||
return items
|
||||
|
||||
def _render(self, rect):
|
||||
self._scroller.render(rect)
|
||||
|
||||
def show_event(self):
|
||||
self._scroller.show_event()
|
||||
|
||||
@@ -9,9 +9,10 @@ from enum import IntEnum
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.layouts.settings import settings as OP
|
||||
from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
|
||||
from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
|
||||
from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
|
||||
from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos
|
||||
from openpilot.system.ui.lib.multilang import tr_noop
|
||||
@@ -30,7 +31,6 @@ from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import Steering
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
|
||||
from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
|
||||
|
||||
# from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
|
||||
|
||||
@@ -112,9 +112,9 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
self._panels = {
|
||||
OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
|
||||
OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
|
||||
OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
|
||||
OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
|
||||
OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
|
||||
OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
|
||||
OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
|
||||
OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
|
||||
OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
|
||||
OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
|
||||
@@ -125,7 +125,7 @@ class SettingsLayoutSP(OP.SettingsLayout):
|
||||
OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
|
||||
OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
|
||||
OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
|
||||
OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
|
||||
OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
|
||||
}
|
||||
|
||||
def _draw_sidebar(self, rect: rl.Rectangle):
|
||||
|
||||
@@ -1,96 +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 os
|
||||
|
||||
from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr, tr_noop
|
||||
from openpilot.system.ui.widgets import DialogResult
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
|
||||
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
|
||||
from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
|
||||
|
||||
|
||||
DESCRIPTIONS = {
|
||||
'disable_updates_offroad': tr_noop(
|
||||
"When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
|
||||
),
|
||||
'disable_updates_onroad': tr_noop(
|
||||
"Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
|
||||
)
|
||||
}
|
||||
|
||||
|
||||
class SoftwareLayoutSP(SoftwareLayout):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.disable_updates_toggle = toggle_item_sp(
|
||||
lambda: tr("Disable Updates"),
|
||||
description="",
|
||||
initial_state=ui_state.params.get_bool("DisableUpdates"),
|
||||
callback=self._on_disable_updates_toggled,
|
||||
)
|
||||
self._scroller.add_widget(self.disable_updates_toggle)
|
||||
|
||||
def _handle_reboot(self, result):
|
||||
if result == DialogResult.CONFIRM:
|
||||
ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state())
|
||||
ui_state.params.put_bool("DoReboot", True)
|
||||
else:
|
||||
self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
|
||||
|
||||
def _on_disable_updates_toggled(self, enabled):
|
||||
dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"))
|
||||
gui_app.set_modal_overlay(dialog, callback=self._handle_reboot)
|
||||
|
||||
def _on_select_branch(self):
|
||||
current_git_branch = ui_state.params.get("GitBranch") or ""
|
||||
branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
|
||||
branches = [b for b in branches_str.split(",") if b]
|
||||
current_target = ui_state.params.get("UpdaterTargetBranch") or ""
|
||||
top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"]
|
||||
|
||||
if HARDWARE.get_device_type() == "tici":
|
||||
top_level_branches = ["release-tici", "staging-tici"]
|
||||
branches = [b for b in branches if b.endswith("-tici")]
|
||||
|
||||
top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches]
|
||||
remaining_branches = [b for b in branches if b not in top_level_branches]
|
||||
prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")]
|
||||
non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")]
|
||||
|
||||
folders = [
|
||||
TreeFolder("", top_level_nodes),
|
||||
TreeFolder("Prebuilt Branches", prebuilt_nodes),
|
||||
TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes),
|
||||
]
|
||||
|
||||
def _on_branch_selected(result):
|
||||
if result == DialogResult.CONFIRM and self._branch_dialog is not None:
|
||||
selection = self._branch_dialog.selection_ref
|
||||
if selection:
|
||||
ui_state.params.put("UpdaterTargetBranch", selection)
|
||||
self._branch_btn.action_item.set_value(selection)
|
||||
os.system("pkill -SIGUSR1 -f system.updated.updated")
|
||||
self._branch_dialog = None
|
||||
|
||||
self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
|
||||
on_exit=_on_branch_selected)
|
||||
|
||||
gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
|
||||
self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad())
|
||||
self.disable_updates_toggle.set_visible(show_advanced)
|
||||
|
||||
disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"])
|
||||
self.disable_updates_toggle.set_description(disable_updates_desc)
|
||||
@@ -4,340 +4,27 @@ 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
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
|
||||
from openpilot.system.ui.widgets.button import ButtonStyle, Button
|
||||
from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
|
||||
from openpilot.system.ui.widgets.label import UnifiedLabel
|
||||
from openpilot.system.ui.widgets.list_view import button_item, dual_button_item
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
|
||||
from openpilot.system.ui.widgets import Widget, DialogResult
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
|
||||
import pyray as rl
|
||||
|
||||
if gui_app.sunnypilot_ui():
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
|
||||
|
||||
|
||||
class SunnylinkHeader(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
self._title = UnifiedLabel(
|
||||
text="🚀 sunnylink 🚀",
|
||||
font_size=90,
|
||||
font_weight=FontWeight.AUDIOWIDE,
|
||||
text_color=rl.WHITE,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=False,
|
||||
elide=False
|
||||
)
|
||||
|
||||
self._description = UnifiedLabel(
|
||||
text=tr("For secure backup, restore, and remote configuration"),
|
||||
font_size=40,
|
||||
font_weight=FontWeight.LIGHT,
|
||||
text_color=rl.Color(0, 255, 0, 255), # Green
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=True,
|
||||
elide=False
|
||||
)
|
||||
|
||||
self._sponsor_msg = UnifiedLabel(
|
||||
text=tr("Sponsorship isn't required for basic backup/restore") + "\n" +
|
||||
tr("Click the Sponsor button for more details"),
|
||||
font_size=35,
|
||||
font_weight=FontWeight.LIGHT,
|
||||
text_color=rl.Color(255, 165, 0, 255), # Orange
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=True,
|
||||
elide=False
|
||||
)
|
||||
|
||||
self._padding = 20
|
||||
self._spacing = 10
|
||||
|
||||
def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
|
||||
super().set_parent_rect(parent_rect)
|
||||
|
||||
content_width = int(parent_rect.width - (self._padding * 2))
|
||||
|
||||
title_height = self._title.get_content_height(content_width)
|
||||
desc_height = self._description.get_content_height(content_width)
|
||||
sponsor_height = self._sponsor_msg.get_content_height(content_width)
|
||||
|
||||
total_height = (self._padding + title_height + self._spacing +
|
||||
desc_height + self._spacing + sponsor_height + self._padding)
|
||||
|
||||
self._rect.width = parent_rect.width
|
||||
self._rect.height = total_height
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
content_width = rect.width - (self._padding * 2)
|
||||
current_y = rect.y + self._padding
|
||||
|
||||
# Render title
|
||||
title_height = self._title.get_content_height(int(content_width))
|
||||
title_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, title_height)
|
||||
self._title.render(title_rect)
|
||||
current_y += title_height + self._spacing
|
||||
|
||||
# Render description
|
||||
desc_height = self._description.get_content_height(int(content_width))
|
||||
desc_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, desc_height)
|
||||
self._description.render(desc_rect)
|
||||
current_y += desc_height + self._spacing
|
||||
|
||||
# Render sponsor message
|
||||
sponsor_height = self._sponsor_msg.get_content_height(int(content_width))
|
||||
sponsor_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, sponsor_height)
|
||||
self._sponsor_msg.render(sponsor_rect)
|
||||
|
||||
|
||||
class SunnylinkDescriptionItem(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._description = UnifiedLabel(
|
||||
text="",
|
||||
font_size=40,
|
||||
font_weight=FontWeight.LIGHT,
|
||||
text_color=rl.WHITE,
|
||||
alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
|
||||
alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
|
||||
wrap_text=True,
|
||||
elide=False,
|
||||
)
|
||||
self._padding = 20
|
||||
|
||||
def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
|
||||
super().set_parent_rect(parent_rect)
|
||||
desc_height = self._description.get_content_height(int(parent_rect.width)) + self._padding * 2
|
||||
|
||||
self._rect.width = parent_rect.width
|
||||
self._rect.height = desc_height
|
||||
|
||||
def set_text(self, text: str):
|
||||
self._description.set_text(text)
|
||||
|
||||
def set_color(self, color: rl.Color):
|
||||
self._description.set_text_color(color)
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
content_width = rect.width - (self._padding * 2)
|
||||
|
||||
desc_height = self._description.get_content_height(int(content_width))
|
||||
desc_rect = rl.Rectangle(rect.x + self._padding, rect.y, content_width, desc_height)
|
||||
self._description.render(desc_rect)
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
|
||||
class SunnylinkLayout(Widget):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
self._sunnylink_pairing_dialog: SunnylinkPairingDialog | None = None
|
||||
self._restore_in_progress = False
|
||||
self._backup_in_progress = False
|
||||
self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
|
||||
|
||||
self._params = Params()
|
||||
items = self._initialize_items()
|
||||
self._scroller = Scroller(items, line_separator=False, spacing=0)
|
||||
self._scroller = Scroller(items, line_separator=True, spacing=0)
|
||||
|
||||
def _initialize_items(self):
|
||||
self._sunnylink_toggle = toggle_item_sp(
|
||||
title=tr("Enable sunnylink"),
|
||||
description=tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that."),
|
||||
param="SunnylinkEnabled",
|
||||
callback=self._sunnylink_toggle_callback
|
||||
)
|
||||
|
||||
self._sunnylink_description = SunnylinkDescriptionItem()
|
||||
self._sunnylink_description.set_visible(False)
|
||||
|
||||
self._sponsor_btn = button_item(
|
||||
title=tr("Sponsor Status"),
|
||||
button_text=tr("SPONSOR"),
|
||||
description=tr(
|
||||
"Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."),
|
||||
callback=lambda: self._handle_pair_btn(False)
|
||||
)
|
||||
self._pair_btn = button_item(
|
||||
title=tr("Pair GitHub Account"),
|
||||
button_text=tr("Not Paired"),
|
||||
description=tr(
|
||||
"Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink."),
|
||||
callback=lambda: self._handle_pair_btn(True)
|
||||
)
|
||||
self._sunnylink_uploader_toggle = toggle_item_sp(
|
||||
title=tr("Enable sunnylink uploader (infrastructure test)"),
|
||||
description=tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. ") +
|
||||
tr("(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are just testing data volume.)"),
|
||||
param="EnableSunnylinkUploader"
|
||||
)
|
||||
self._sunnylink_backup_restore_buttons = dual_button_item(
|
||||
description="",
|
||||
left_text=tr("Backup Settings"),
|
||||
right_text=tr("Restore Settings"),
|
||||
left_callback=self._handle_backup_btn,
|
||||
right_callback=self._handle_restore_btn
|
||||
)
|
||||
self._backup_btn: Button = self._sunnylink_backup_restore_buttons.action_item.left_button # store for easy individual access
|
||||
self._restore_btn: Button = self._sunnylink_backup_restore_buttons.action_item.right_button
|
||||
self._backup_btn.set_button_style(ButtonStyle.NORMAL)
|
||||
self._restore_btn.set_button_style(ButtonStyle.PRIMARY)
|
||||
|
||||
items = [
|
||||
SunnylinkHeader(),
|
||||
LineSeparator(),
|
||||
self._sunnylink_toggle,
|
||||
self._sunnylink_description,
|
||||
LineSeparator(),
|
||||
self._sponsor_btn,
|
||||
LineSeparator(),
|
||||
self._pair_btn,
|
||||
LineSeparator(),
|
||||
self._sunnylink_uploader_toggle,
|
||||
LineSeparator(),
|
||||
self._sunnylink_backup_restore_buttons
|
||||
|
||||
]
|
||||
return items
|
||||
|
||||
@staticmethod
|
||||
def _get_sunnylink_dongle_id() -> str | None:
|
||||
return str(ui_state.params.get("SunnylinkDongleId") or (lambda: tr("N/A")))
|
||||
|
||||
def _handle_pair_btn(self, sponsor_pairing: bool = False):
|
||||
sunnylink_dongle_id = self._get_sunnylink_dongle_id()
|
||||
if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
|
||||
gui_app.set_modal_overlay(alert_dialog(message=tr("sunnylink Dongle ID not found. ") +
|
||||
tr("This may be due to weak internet connection or sunnylink registration issue. ") +
|
||||
tr("Please reboot and try again.")))
|
||||
elif not self._sunnylink_pairing_dialog:
|
||||
self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing)
|
||||
gui_app.set_modal_overlay(self._sunnylink_pairing_dialog, callback=lambda result: setattr(self, '_sunnylink_pairing_dialog', None))
|
||||
|
||||
def _handle_backup_btn(self):
|
||||
backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup")
|
||||
gui_app.set_modal_overlay(backup_dialog, callback=self._backup_handler)
|
||||
|
||||
def _handle_restore_btn(self):
|
||||
self._restore_btn.set_enabled(False)
|
||||
restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), confirm_text="Restore")
|
||||
gui_app.set_modal_overlay(restore_dialog, callback=self._restore_handler)
|
||||
|
||||
def _backup_handler(self, dialog_result: int):
|
||||
if dialog_result == DialogResult.CONFIRM:
|
||||
self._backup_in_progress = True
|
||||
self._backup_btn.set_enabled(False)
|
||||
ui_state.params.put_bool("BackupManager_CreateBackup", True)
|
||||
|
||||
def _restore_handler(self, dialog_result: int):
|
||||
if dialog_result == DialogResult.CONFIRM:
|
||||
self._restore_in_progress = True
|
||||
self._restore_btn.set_enabled(False)
|
||||
ui_state.params.put("BackupManager_RestoreVersion", "latest")
|
||||
|
||||
def handle_backup_restore_progress(self):
|
||||
sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
|
||||
|
||||
backup_status = sunnylink_backup_manager.backupStatus
|
||||
restore_status = sunnylink_backup_manager.restoreStatus
|
||||
backup_progress = sunnylink_backup_manager.backupProgress
|
||||
restore_progress = sunnylink_backup_manager.restoreProgress
|
||||
|
||||
if self._backup_in_progress:
|
||||
self._restore_btn.set_enabled(False)
|
||||
self._backup_btn.set_enabled(False)
|
||||
|
||||
if backup_status == custom.BackupManagerSP.Status.inProgress:
|
||||
self._backup_in_progress = True
|
||||
text = tr(f"Backing up {backup_progress}%")
|
||||
self._backup_btn.set_text(text)
|
||||
|
||||
elif backup_status == custom.BackupManagerSP.Status.failed:
|
||||
self._backup_in_progress = False
|
||||
self._backup_btn.set_enabled(not ui_state.is_onroad())
|
||||
self._backup_btn.set_text(tr("Backup Failed"))
|
||||
|
||||
elif (backup_status == custom.BackupManagerSP.Status.completed or
|
||||
(backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
|
||||
self._backup_in_progress = False
|
||||
dialog = alert_dialog(tr("Settings backup completed."))
|
||||
gui_app.set_modal_overlay(dialog)
|
||||
self._backup_btn.set_enabled(not ui_state.is_onroad())
|
||||
|
||||
elif self._restore_in_progress:
|
||||
self._restore_btn.set_enabled(False)
|
||||
self._backup_btn.set_enabled(False)
|
||||
|
||||
if restore_status == custom.BackupManagerSP.Status.inProgress:
|
||||
self._restore_in_progress = True
|
||||
text = tr(f"Restoring {restore_progress}%")
|
||||
self._restore_btn.set_text(text)
|
||||
|
||||
elif restore_status == custom.BackupManagerSP.Status.failed:
|
||||
self._restore_in_progress = False
|
||||
self._restore_btn.set_enabled(not ui_state.is_onroad())
|
||||
self._restore_btn.set_text(tr("Restore Failed"))
|
||||
dialog = alert_dialog(tr("Unable to restore the settings, try again later."))
|
||||
gui_app.set_modal_overlay(dialog)
|
||||
|
||||
elif (restore_status == custom.BackupManagerSP.Status.completed or
|
||||
(restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
|
||||
self._restore_in_progress = False
|
||||
dialog = alert_dialog(tr("Settings restored. Confirm to restart the interface."))
|
||||
gui_app.set_modal_overlay(dialog, callback=lambda: gui_app.request_close())
|
||||
|
||||
else:
|
||||
can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
|
||||
self._backup_btn.set_enabled(can_enable)
|
||||
self._backup_btn.set_text(tr("Backup Settings"))
|
||||
self._restore_btn.set_enabled(can_enable)
|
||||
self._restore_btn.set_text(tr("Restore Settings"))
|
||||
|
||||
def _sunnylink_toggle_callback(self, state: bool):
|
||||
if state:
|
||||
description = tr(
|
||||
"Welcome back!! We're excited to see you've enabled sunnylink again!")
|
||||
color = rl.Color(0, 255, 0, 255) # Green
|
||||
else:
|
||||
description = ("😢 " + tr("Not going to lie, it's sad to see you disabled sunnylink") +
|
||||
tr(", but we'll be here when you're ready to come back."))
|
||||
color = rl.Color(255, 165, 0, 255) # Orange
|
||||
self._sunnylink_description.set_text(description)
|
||||
self._sunnylink_description.set_color(color)
|
||||
self._sunnylink_description.set_visible(True)
|
||||
self._sunnylink_toggle.show_description(False)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
self._sunnylink_enabled = ui_state.params.get_bool("SunnylinkEnabled")
|
||||
self._sunnylink_toggle.set_right_value(tr("Dongle ID") + ": " + self._get_sunnylink_dongle_id())
|
||||
self._sunnylink_toggle.action_item.set_enabled(not ui_state.is_onroad())
|
||||
self._sunnylink_toggle.action_item.set_state(self._sunnylink_enabled)
|
||||
self._sunnylink_uploader_toggle.action_item.set_enabled(self._sunnylink_enabled)
|
||||
self.handle_backup_restore_progress()
|
||||
|
||||
sponsor_btn_text = tr("THANKS ♥") if ui_state.sunnylink_state.is_sponsor() else tr("SPONSOR")
|
||||
tier_name = ui_state.sunnylink_state.get_sponsor_tier().name.capitalize() or tr("Not Sponsor")
|
||||
self._sponsor_btn.action_item.set_text(sponsor_btn_text)
|
||||
self._sponsor_btn.action_item.set_value(tier_name, ui_state.sunnylink_state.get_sponsor_tier_color())
|
||||
self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled)
|
||||
|
||||
pair_btn_text = tr("Paired") if ui_state.sunnylink_state.is_paired() else tr("Not Paired")
|
||||
self._pair_btn.action_item.set_text(pair_btn_text)
|
||||
self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)
|
||||
|
||||
def _render(self, rect):
|
||||
self._scroller.render(rect)
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._scroller.show_event()
|
||||
self._sunnylink_description.set_visible(False)
|
||||
|
||||
@@ -23,7 +23,7 @@ class VehicleLayout(Widget):
|
||||
self._current_brand = None
|
||||
self._platform_selector = PlatformSelector(self._update_brand_settings)
|
||||
|
||||
self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("SELECT")),
|
||||
self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("Select")),
|
||||
callback=self._platform_selector._on_clicked)
|
||||
self._vehicle_item.title_color = self._platform_selector.color
|
||||
self._legend_widget = LegendWidget(self._platform_selector)
|
||||
@@ -42,7 +42,7 @@ class VehicleLayout(Widget):
|
||||
def _update_brand_settings(self):
|
||||
self._vehicle_item._title = self._platform_selector.text
|
||||
self._vehicle_item.title_color = self._platform_selector.color
|
||||
vehicle_text = tr("REMOVE") if ui_state.params.get("CarPlatformBundle") else tr("SELECT")
|
||||
vehicle_text = tr("Remove") if ui_state.params.get("CarPlatformBundle") else tr("Select")
|
||||
self._vehicle_item.action_item.set_text(vehicle_text)
|
||||
|
||||
brand = self.get_brand()
|
||||
|
||||
@@ -5,55 +5,11 @@ 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.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr, tr_noop
|
||||
from openpilot.system.ui.widgets import DialogResult
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
|
||||
from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
|
||||
|
||||
|
||||
DESCRIPTIONS = {
|
||||
'enforce_stock_longitudinal': tr_noop(
|
||||
'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
|
||||
),
|
||||
}
|
||||
|
||||
|
||||
class ToyotaSettings(BrandSettings):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
self.enforce_stock_longitudinal = toggle_item_sp(
|
||||
lambda: tr("Enforce Factory Longitudinal Control"),
|
||||
description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
|
||||
initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
|
||||
callback=self._on_enable_enforce_stock_longitudinal,
|
||||
enabled=lambda: not ui_state.engaged,
|
||||
)
|
||||
|
||||
self.items = [self.enforce_stock_longitudinal, ]
|
||||
|
||||
def _on_enable_enforce_stock_longitudinal(self, state: bool):
|
||||
if state:
|
||||
def confirm_callback(result: int):
|
||||
if result == DialogResult.CONFIRM:
|
||||
ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
|
||||
if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
|
||||
ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
|
||||
ui_state.params.put_bool("OnroadCycleRequested", True)
|
||||
else:
|
||||
self.enforce_stock_longitudinal.action_item.set_state(False)
|
||||
|
||||
content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
|
||||
f"<p>{self.enforce_stock_longitudinal.description}</p>")
|
||||
|
||||
dlg = ConfirmDialog(content, tr("Enable"), rich=True)
|
||||
gui_app.set_modal_overlay(dlg, callback=confirm_callback)
|
||||
|
||||
else:
|
||||
ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
|
||||
ui_state.params.put_bool("OnroadCycleRequested", True)
|
||||
|
||||
def update_settings(self):
|
||||
pass
|
||||
|
||||
@@ -1,39 +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 enum import IntEnum
|
||||
|
||||
from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
|
||||
|
||||
ICON_SIZE = 70
|
||||
|
||||
OP.PanelType = IntEnum( # type: ignore
|
||||
"PanelType",
|
||||
[es.name for es in OP.PanelType] + [
|
||||
"SUNNYLINK",
|
||||
],
|
||||
start=0,
|
||||
)
|
||||
|
||||
|
||||
class SettingsLayoutSP(OP.SettingsLayout):
|
||||
def __init__(self):
|
||||
OP.SettingsLayout.__init__(self)
|
||||
|
||||
sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png")
|
||||
sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK))
|
||||
self._panels.update({
|
||||
OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
|
||||
})
|
||||
|
||||
items = self._scroller._items.copy()
|
||||
|
||||
items.insert(1, sunnylink_btn)
|
||||
self._scroller._items.clear()
|
||||
for item in items:
|
||||
self._scroller.add_widget(item)
|
||||
@@ -1,192 +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 Callable
|
||||
|
||||
import pyray as rl
|
||||
from cereal import custom
|
||||
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
|
||||
from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
|
||||
from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
|
||||
from openpilot.system.ui.lib.application import gui_app, MousePos
|
||||
from openpilot.system.ui.widgets import NavWidget
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
|
||||
|
||||
class SunnylinkLayoutMici(NavWidget):
|
||||
def __init__(self, back_callback: Callable):
|
||||
super().__init__()
|
||||
self.set_back_callback(back_callback)
|
||||
self._restore_in_progress = False
|
||||
self._backup_in_progress = False
|
||||
self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
|
||||
|
||||
self._sunnylink_toggle = BigToggle(text="",
|
||||
initial_state=self._sunnylink_enabled,
|
||||
toggle_callback=SunnylinkLayoutMici._sunnylink_toggle_callback)
|
||||
self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False)
|
||||
self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True)
|
||||
self._backup_btn = BigButton(tr("backup settings"), "", "")
|
||||
self._backup_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=False))
|
||||
self._restore_btn = BigButton(tr("restore settings"), "", "")
|
||||
self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True))
|
||||
self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
|
||||
toggle_callback=SunnylinkLayoutMici._sunnylink_uploader_callback)
|
||||
|
||||
self._scroller = Scroller([
|
||||
self._sunnylink_toggle,
|
||||
self._sunnylink_sponsor_button,
|
||||
self._sunnylink_pair_button,
|
||||
self._backup_btn,
|
||||
self._restore_btn,
|
||||
self._sunnylink_uploader_toggle
|
||||
], snap_items=False)
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
self._sunnylink_enabled = ui_state.sunnylink_enabled
|
||||
self._sunnylink_toggle.set_text(tr("enable sunnylink"))
|
||||
self._sunnylink_pair_button.set_visible(self._sunnylink_enabled)
|
||||
self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled)
|
||||
self._backup_btn.set_visible(self._sunnylink_enabled)
|
||||
self._restore_btn.set_visible(self._sunnylink_enabled)
|
||||
self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
|
||||
self.handle_backup_restore_progress()
|
||||
|
||||
if ui_state.sunnylink_state.is_sponsor():
|
||||
self._sunnylink_sponsor_button.set_text(tr("thanks"))
|
||||
self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
|
||||
self._sunnylink_sponsor_button.set_enabled(False)
|
||||
else:
|
||||
self._sunnylink_sponsor_button.set_text(tr("sponsor"))
|
||||
self._sunnylink_sponsor_button.set_value("")
|
||||
|
||||
if ui_state.sunnylink_state.is_paired():
|
||||
self._sunnylink_pair_button.set_text(tr("paired"))
|
||||
else:
|
||||
self._sunnylink_pair_button.set_text(tr("pair"))
|
||||
|
||||
def show_event(self):
|
||||
super().show_event()
|
||||
self._scroller.show_event()
|
||||
ui_state.update_params()
|
||||
|
||||
def _render(self, rect: rl.Rectangle):
|
||||
self._scroller.render(rect)
|
||||
|
||||
@staticmethod
|
||||
def _sunnylink_toggle_callback(state: bool):
|
||||
ui_state.params.put_bool("SunnylinkEnabled", state)
|
||||
ui_state.update_params()
|
||||
|
||||
@staticmethod
|
||||
def _sunnylink_uploader_callback(state: bool):
|
||||
ui_state.params.put_bool("EnableSunnylinkUploader", state)
|
||||
|
||||
def _handle_backup_restore_btn(self, restore: bool = False):
|
||||
lbl = tr("slide to restore") if restore else tr("slide to backup")
|
||||
icon = "icons_mici/settings/device/update.png"
|
||||
dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler)
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
|
||||
def _backup_handler(self):
|
||||
self._backup_in_progress = True
|
||||
self._backup_btn.set_enabled(False)
|
||||
ui_state.params.put_bool("BackupManager_CreateBackup", True)
|
||||
|
||||
def _restore_handler(self):
|
||||
self._restore_in_progress = True
|
||||
self._restore_btn.set_enabled(False)
|
||||
ui_state.params.put("BackupManager_RestoreVersion", "latest")
|
||||
|
||||
def handle_backup_restore_progress(self):
|
||||
sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
|
||||
|
||||
backup_status = sunnylink_backup_manager.backupStatus
|
||||
restore_status = sunnylink_backup_manager.restoreStatus
|
||||
backup_progress = sunnylink_backup_manager.backupProgress
|
||||
restore_progress = sunnylink_backup_manager.restoreProgress
|
||||
|
||||
if self._backup_in_progress:
|
||||
self._restore_btn.set_enabled(False)
|
||||
self._backup_btn.set_enabled(False)
|
||||
|
||||
if backup_status == custom.BackupManagerSP.Status.inProgress:
|
||||
self._backup_in_progress = True
|
||||
self._backup_btn.set_text(tr("backing up"))
|
||||
text = tr(f"{backup_progress}%")
|
||||
self._backup_btn.set_value(text)
|
||||
|
||||
elif backup_status == custom.BackupManagerSP.Status.failed:
|
||||
self._backup_in_progress = False
|
||||
self._backup_btn.set_enabled(not ui_state.is_onroad())
|
||||
self._backup_btn.set_text(tr("backup"))
|
||||
self._backup_btn.set_value(tr("failed"))
|
||||
|
||||
elif (backup_status == custom.BackupManagerSP.Status.completed or
|
||||
(backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
|
||||
self._backup_in_progress = False
|
||||
gui_app.set_modal_overlay(BigDialog(title=tr("settings backed up"), description=""))
|
||||
self._backup_btn.set_enabled(not ui_state.is_onroad())
|
||||
|
||||
elif self._restore_in_progress:
|
||||
self._restore_btn.set_enabled(False)
|
||||
self._backup_btn.set_enabled(False)
|
||||
|
||||
if restore_status == custom.BackupManagerSP.Status.inProgress:
|
||||
self._restore_in_progress = True
|
||||
self._restore_btn.set_text(tr("restoring"))
|
||||
text = tr(f"{restore_progress}%")
|
||||
self._restore_btn.set_value(text)
|
||||
|
||||
elif restore_status == custom.BackupManagerSP.Status.failed:
|
||||
self._restore_in_progress = False
|
||||
self._restore_btn.set_enabled(not ui_state.is_onroad())
|
||||
self._restore_btn.set_text(tr("restore"))
|
||||
self._restore_btn.set_value(tr("failed"))
|
||||
gui_app.set_modal_overlay(BigDialog(title=tr("unable to restore"), description="try again later."))
|
||||
|
||||
elif (restore_status == custom.BackupManagerSP.Status.completed or
|
||||
(restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
|
||||
self._restore_in_progress = False
|
||||
gui_app.set_modal_overlay(BigConfirmationDialogV2(
|
||||
title="slide to restart", icon="icons_mici/settings/device/reboot.png",
|
||||
confirm_callback=lambda: gui_app.request_close()))
|
||||
|
||||
else:
|
||||
can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
|
||||
self._backup_btn.set_enabled(can_enable)
|
||||
self._backup_btn.set_text(tr("backup settings"))
|
||||
self._backup_btn.set_value("")
|
||||
self._restore_btn.set_enabled(can_enable)
|
||||
self._restore_btn.set_text(tr("restore settings"))
|
||||
self._restore_btn.set_value("")
|
||||
|
||||
|
||||
class SunnylinkPairBigButton(BigButton):
|
||||
def __init__(self, sponsor_pairing: bool = False):
|
||||
self.sponsor_pairing = sponsor_pairing
|
||||
super().__init__("", "", "")
|
||||
|
||||
def _update_state(self):
|
||||
super()._update_state()
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos: MousePos):
|
||||
super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
dlg: BigDialog | SunnylinkPairingDialog | None = None
|
||||
if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
|
||||
dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
|
||||
elif self.sponsor_pairing:
|
||||
dlg = SunnylinkPairingDialog(sponsor_pairing=True)
|
||||
elif not self.sponsor_pairing:
|
||||
dlg = SunnylinkPairingDialog(sponsor_pairing=False)
|
||||
if dlg:
|
||||
gui_app.set_modal_overlay(dlg)
|
||||
@@ -1,26 +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.onroad.augmented_road_view import BORDER_COLORS
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
|
||||
|
||||
|
||||
class ConfidenceBallSP:
|
||||
@staticmethod
|
||||
def get_animate_status_probs():
|
||||
if ui_state.status == UIStatus.LAT_ONLY:
|
||||
return ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs
|
||||
|
||||
# UIStatus.LONG_ONLY
|
||||
return ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs
|
||||
|
||||
@staticmethod
|
||||
def get_lat_long_dot_color():
|
||||
if ui_state.status == UIStatus.LAT_ONLY:
|
||||
return BORDER_COLORS[UIStatus.LAT_ONLY]
|
||||
|
||||
# UIStatus.LONG_ONLY
|
||||
return BORDER_COLORS[UIStatus.LONG_ONLY]
|
||||
@@ -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.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.ui_state import UIStatus
|
||||
|
||||
LANE_LINE_COLORS_SP = {
|
||||
UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
|
||||
UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255),
|
||||
}
|
||||
@@ -1,57 +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 base64
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
|
||||
from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
|
||||
from openpilot.system.ui.lib.application import FontWeight, gui_app
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets import NavWidget
|
||||
from openpilot.system.ui.widgets.label import MiciLabel
|
||||
|
||||
|
||||
class SunnylinkPairingDialog(PairingDialog):
|
||||
"""Dialog for device pairing with QR code."""
|
||||
|
||||
def __init__(self, sponsor_pairing: bool = False):
|
||||
PairingDialog.__init__(self)
|
||||
self._sponsor_pairing = sponsor_pairing
|
||||
label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
|
||||
self._pair_label = MiciLabel(label_text, 48, font_weight=FontWeight.BOLD,
|
||||
color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
|
||||
|
||||
def _get_pairing_url(self) -> str:
|
||||
qr_string = "https://github.com/sponsors/sunnyhaibin"
|
||||
|
||||
if self._sponsor_pairing:
|
||||
try:
|
||||
sl_dongle_id = self._params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
|
||||
token = SunnylinkApi(sl_dongle_id).get_token()
|
||||
inner_string = f"1|{sl_dongle_id}|{token}"
|
||||
payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
|
||||
qr_string = f"{API_HOST}/sso?state={payload_bytes}"
|
||||
except Exception:
|
||||
cloudlog.exception("Failed to get pairing token")
|
||||
|
||||
return qr_string
|
||||
|
||||
def _update_state(self):
|
||||
NavWidget._update_state(self)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
gui_app.init_window("pairing device")
|
||||
pairing = SunnylinkPairingDialog(sponsor_pairing=True)
|
||||
try:
|
||||
for _ in gui_app.render():
|
||||
result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
||||
if result != -1:
|
||||
break
|
||||
finally:
|
||||
del pairing
|
||||
@@ -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.
|
||||
"""
|
||||
import pyray as rl
|
||||
from openpilot.selfdrive.ui.ui_state import UIStatus
|
||||
|
||||
BORDER_COLORS_SP = {
|
||||
UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF), # Cyan for lateral-only state
|
||||
UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF), # Purple for longitudinal-only state
|
||||
}
|
||||
@@ -1,147 +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 numpy as np
|
||||
|
||||
import pyray as rl
|
||||
from openpilot.common.constants import CV
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
|
||||
|
||||
class ChevronOptions:
|
||||
OFF = 0
|
||||
DISTANCE_ONLY = 1
|
||||
SPEED_ONLY = 2
|
||||
TTC_ONLY = 3
|
||||
ALL = 4
|
||||
|
||||
|
||||
class ChevronMetrics:
|
||||
def __init__(self):
|
||||
self._lead_status_alpha: float = 0.0
|
||||
self._font = gui_app.font(FontWeight.SEMI_BOLD)
|
||||
|
||||
def update_alpha(self, has_lead: bool):
|
||||
"""Update the alpha value for fade in/out animation"""
|
||||
if not has_lead:
|
||||
self._lead_status_alpha = max(0.0, self._lead_status_alpha - 0.05)
|
||||
else:
|
||||
self._lead_status_alpha = min(1.0, self._lead_status_alpha + 0.1)
|
||||
|
||||
def should_render(self) -> bool:
|
||||
"""Check if dev UI should be rendered"""
|
||||
return ui_state.chevron_metrics != ChevronOptions.OFF and self._lead_status_alpha > 0.0
|
||||
|
||||
def _draw_lead(self, lead_data, lead_vehicle, v_ego: float, rect: rl.Rectangle):
|
||||
"""Draw lead vehicle status information (distance, speed, TTC)"""
|
||||
if not self.should_render():
|
||||
return
|
||||
|
||||
d_rel = lead_data.dRel
|
||||
v_rel = lead_data.vRel
|
||||
|
||||
if not lead_vehicle.chevron or len(lead_vehicle.chevron) < 2:
|
||||
return
|
||||
|
||||
chevron_x = lead_vehicle.chevron[1][0]
|
||||
chevron_y = lead_vehicle.chevron[1][1]
|
||||
sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
|
||||
|
||||
text_lines = self._build_text_lines(d_rel, v_rel, v_ego)
|
||||
if not text_lines:
|
||||
return
|
||||
|
||||
self._render_text_lines(text_lines, chevron_x, chevron_y, sz, rect)
|
||||
|
||||
@staticmethod
|
||||
def _build_text_lines(d_rel: float, v_rel: float, v_ego: float) -> list[str]:
|
||||
"""Build text lines based on chevron info setting"""
|
||||
text_lines = []
|
||||
|
||||
# Distance
|
||||
if ui_state.chevron_metrics == ChevronOptions.DISTANCE_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
|
||||
val = max(0.0, d_rel)
|
||||
unit = "m" if ui_state.is_metric else "ft"
|
||||
if not ui_state.is_metric:
|
||||
val *= 3.28084
|
||||
text_lines.append(f"{val:.0f} {unit}")
|
||||
|
||||
# Speed
|
||||
if ui_state.chevron_metrics == ChevronOptions.SPEED_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
|
||||
multiplier = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
|
||||
val = max(0.0, (v_rel + v_ego) * multiplier)
|
||||
unit = "km/h" if ui_state.is_metric else "mph"
|
||||
text_lines.append(f"{val:.0f} {unit}")
|
||||
|
||||
# Time to collision
|
||||
if ui_state.chevron_metrics == ChevronOptions.TTC_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
|
||||
val = (d_rel / v_ego) if (d_rel > 0 and v_ego > 0) else 0.0
|
||||
ttc_text = f"{val:.1f} s" if (0 < val < 200) else "---"
|
||||
text_lines.append(ttc_text)
|
||||
|
||||
return text_lines
|
||||
|
||||
def _render_text_lines(self, text_lines: list[str], chevron_x: float, chevron_y: float,
|
||||
sz: float, rect: rl.Rectangle):
|
||||
"""Render text lines with proper centering and positioning"""
|
||||
font_size = 40
|
||||
line_height = 50
|
||||
margin = 20
|
||||
|
||||
text_y = chevron_y + sz + 15
|
||||
total_height = len(text_lines) * line_height
|
||||
|
||||
# Adjust Y position if text would go off screen
|
||||
if text_y + total_height > rect.height - margin:
|
||||
y_max = min(chevron_y, rect.height - margin)
|
||||
text_y = y_max - 15 - total_height
|
||||
text_y = max(margin, text_y)
|
||||
|
||||
alpha = int(255 * self._lead_status_alpha)
|
||||
text_color = rl.Color(255, 255, 255, alpha)
|
||||
shadow_color = rl.Color(0, 0, 0, int(200 * self._lead_status_alpha))
|
||||
|
||||
for i, line in enumerate(text_lines):
|
||||
y = int(text_y + (i * line_height))
|
||||
if y + line_height > rect.height - margin:
|
||||
break
|
||||
|
||||
# Measure actual text width for proper centering
|
||||
text_size = measure_text_cached(self._font, line, font_size, 0)
|
||||
text_width = text_size.x
|
||||
|
||||
# Center the text horizontally on the chevron
|
||||
x = int(chevron_x - text_width / 2)
|
||||
x = int(np.clip(x, margin, rect.width - text_width - margin))
|
||||
|
||||
# Draw shadow
|
||||
rl.draw_text_ex(self._font, line, rl.Vector2(x + 2, y + 2), font_size, 0, shadow_color)
|
||||
# Draw text
|
||||
rl.draw_text_ex(self._font, line, rl.Vector2(x, y), font_size, 0, text_color)
|
||||
|
||||
def draw_lead_status(self, sm, radar_state, rect, lead_vehicles):
|
||||
lead_one = radar_state.leadOne
|
||||
lead_two = radar_state.leadTwo
|
||||
|
||||
has_lead_one = lead_one.status if lead_one else False
|
||||
has_lead_two = lead_two.status if lead_two else False
|
||||
|
||||
self.update_alpha(has_lead_one or has_lead_two)
|
||||
|
||||
if not self.should_render():
|
||||
return
|
||||
|
||||
v_ego = sm['carState'].vEgo
|
||||
|
||||
if has_lead_one and lead_vehicles[0].chevron:
|
||||
self._draw_lead(lead_one, lead_vehicles[0], v_ego, rect)
|
||||
|
||||
if has_lead_two and lead_vehicles[1].chevron:
|
||||
d_rel_diff = abs(lead_one.dRel - lead_two.dRel) if has_lead_one else float('inf')
|
||||
if d_rel_diff > 3.0:
|
||||
self._draw_lead(lead_two, lead_vehicles[1], v_ego, rect)
|
||||
@@ -1,164 +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.ui_state import ui_state
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
|
||||
UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
|
||||
DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
|
||||
AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
|
||||
SteeringTorqueEpsElement, BearingDegElement, AltitudeElement
|
||||
)
|
||||
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
||||
from openpilot.system.ui.lib.text_measure import measure_text_cached
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
|
||||
|
||||
class DeveloperUiRenderer(Widget):
|
||||
DEV_UI_OFF = 0
|
||||
DEV_UI_RIGHT = 1
|
||||
DEV_UI_BOTTOM = 2
|
||||
DEV_UI_BOTH = 3
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
|
||||
self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
|
||||
self.dev_ui_mode = self.DEV_UI_OFF
|
||||
|
||||
self.rel_dist_elem = RelDistElement()
|
||||
self.rel_speed_elem = RelSpeedElement()
|
||||
self.steering_angle_elem = SteeringAngleElement()
|
||||
self.desired_lat_accel_elem = DesiredLateralAccelElement()
|
||||
self.actual_lat_accel_elem = ActualLateralAccelElement()
|
||||
self.desired_steer_elem = DesiredSteeringAngleElement()
|
||||
self.a_ego_elem = AEgoElement()
|
||||
self.lead_speed_elem = LeadSpeedElement()
|
||||
self.friction_elem = FrictionCoefficientElement()
|
||||
self.lat_accel_factor_elem = LatAccelFactorElement()
|
||||
self.steering_torque_elem = SteeringTorqueEpsElement()
|
||||
self.bearing_elem = BearingDegElement()
|
||||
self.altitude_elem = AltitudeElement()
|
||||
|
||||
def _update_state(self) -> None:
|
||||
self.dev_ui_mode = ui_state.developer_ui
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
if self.dev_ui_mode == self.DEV_UI_OFF:
|
||||
return
|
||||
|
||||
sm = ui_state.sm
|
||||
if sm.recv_frame["carState"] < ui_state.started_frame:
|
||||
return
|
||||
|
||||
if self.dev_ui_mode == self.DEV_UI_RIGHT:
|
||||
self._draw_right_dev_ui(rect)
|
||||
elif self.dev_ui_mode == self.DEV_UI_BOTTOM:
|
||||
self._draw_bottom_dev_ui(rect)
|
||||
elif self.dev_ui_mode == self.DEV_UI_BOTH:
|
||||
self._draw_right_dev_ui(rect)
|
||||
self._draw_bottom_dev_ui(rect)
|
||||
|
||||
def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None:
|
||||
sm = ui_state.sm
|
||||
controls_state = sm['controlsState']
|
||||
|
||||
UI_BORDER_SIZE = 20
|
||||
container_width = 184
|
||||
x = int(rect.x + rect.width - container_width - UI_BORDER_SIZE * 2)
|
||||
y = int(rect.y + UI_BORDER_SIZE * 1.5)
|
||||
|
||||
elements = [
|
||||
self.rel_dist_elem.update(sm, ui_state.is_metric),
|
||||
self.rel_speed_elem.update(sm, ui_state.is_metric),
|
||||
self.steering_angle_elem.update(sm, ui_state.is_metric),
|
||||
]
|
||||
if controls_state.lateralControlState.which() == 'torqueState':
|
||||
elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
|
||||
elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
|
||||
else:
|
||||
elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
|
||||
|
||||
current_y = y
|
||||
for element in elements:
|
||||
current_y += self._draw_right_dev_ui_element(x, current_y, element)
|
||||
|
||||
def _draw_right_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
|
||||
x += 0
|
||||
y += 230
|
||||
container_width = 184
|
||||
label_size = 28
|
||||
value_size = 60
|
||||
unit_size = 28
|
||||
label_width = measure_text_cached(self._font_bold, element.label, label_size, 0).x
|
||||
centered_label_x = x + (container_width - label_width) / 2
|
||||
rl.draw_text_ex(self._font_bold, element.label, rl.Vector2(centered_label_x, y), label_size, 0, rl.WHITE)
|
||||
|
||||
y += 45
|
||||
value_width = measure_text_cached(self._font_bold, element.value, value_size, 0).x
|
||||
centered_value_x = x + (container_width - value_width) / 2
|
||||
rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(centered_value_x, y), value_size, 0, element.color)
|
||||
|
||||
if element.unit:
|
||||
units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x
|
||||
|
||||
units_x = x + container_width - 10
|
||||
units_y = y + (value_size / 2) + (units_height / 2)
|
||||
|
||||
rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE)
|
||||
|
||||
return 130
|
||||
|
||||
def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None:
|
||||
sm = ui_state.sm
|
||||
bar_height = 61
|
||||
y = int(rect.y + rect.height - bar_height)
|
||||
|
||||
rl.draw_rectangle(int(rect.x), y, int(rect.width), bar_height,
|
||||
rl.Color(0, 0, 0, 100))
|
||||
|
||||
elements = [
|
||||
self.a_ego_elem.update(sm, ui_state.is_metric),
|
||||
self.lead_speed_elem.update(sm, ui_state.is_metric),
|
||||
]
|
||||
|
||||
# Add torque-specific elements if using torque control
|
||||
if sm['controlsState'].lateralControlState.which() == 'torqueState':
|
||||
if sm.valid['liveTorqueParameters']:
|
||||
elements.extend([
|
||||
self.friction_elem.update(sm, ui_state.is_metric),
|
||||
self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
|
||||
])
|
||||
else:
|
||||
# Non-torque: show steering torque and GPS data
|
||||
elements.append(self.steering_torque_elem.update(sm, ui_state.is_metric))
|
||||
|
||||
if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
|
||||
elements.append(self.bearing_elem.update(sm, ui_state.is_metric))
|
||||
|
||||
# Add altitude if GPS available
|
||||
if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
|
||||
elements.append(self.altitude_elem.update(sm, ui_state.is_metric))
|
||||
|
||||
current_x = int(rect.x + 90)
|
||||
center_y = y + bar_height // 2
|
||||
for element in elements:
|
||||
current_x += self._draw_bottom_dev_ui_element(current_x, center_y, element)
|
||||
|
||||
def _draw_bottom_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
|
||||
font_size = 38
|
||||
|
||||
label_text = f"{element.label} "
|
||||
label_width = measure_text_cached(self._font_bold, label_text, font_size, 0).x
|
||||
rl.draw_text_ex(self._font_bold, label_text, rl.Vector2(x, y - font_size // 2), font_size, 0, rl.WHITE)
|
||||
|
||||
value_width = measure_text_cached(self._font_bold, element.value, font_size, 0).x
|
||||
rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(x + label_width + 10, y - font_size // 2), font_size, 0, element.color)
|
||||
|
||||
if element.unit:
|
||||
rl.draw_text_ex(self._font_bold, element.unit, rl.Vector2(x + label_width + value_width + 20, y - font_size // 2), font_size, 0, rl.WHITE)
|
||||
|
||||
return 400
|
||||
@@ -1,303 +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
|
||||
|
||||
|
||||
@dataclass
|
||||
class UiElement:
|
||||
value: str
|
||||
label: str
|
||||
unit: str
|
||||
color: rl.Color
|
||||
|
||||
|
||||
class LeadInfoElement:
|
||||
@staticmethod
|
||||
def get_lead_status(sm):
|
||||
lead_one = sm['radarState'].leadOne
|
||||
return lead_one.status, lead_one.dRel, lead_one.vRel
|
||||
|
||||
@staticmethod
|
||||
def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
|
||||
if use_v_rel:
|
||||
if lead_v_rel < -4.4704:
|
||||
return rl.RED
|
||||
elif lead_v_rel < 0:
|
||||
return rl.Color(255, 188, 0, 255) # Orange
|
||||
else:
|
||||
if lead_d_rel < 5:
|
||||
return rl.RED
|
||||
elif lead_d_rel < 15:
|
||||
return rl.Color(255, 188, 0, 255) # Orange
|
||||
return rl.WHITE
|
||||
|
||||
|
||||
class LateralControlElement:
|
||||
@staticmethod
|
||||
def get_lat_color(lat_active: bool, steer_override: bool, angle_steers: float = 0.0,
|
||||
check_angle: bool = False) -> rl.Color:
|
||||
color = rl.WHITE
|
||||
if lat_active:
|
||||
color = rl.Color(145, 155, 149, 255) if steer_override else rl.Color(0, 255, 0, 255)
|
||||
|
||||
if check_angle and lat_active:
|
||||
if abs(angle_steers) > 180:
|
||||
color = rl.RED
|
||||
elif abs(angle_steers) > 90:
|
||||
color = rl.Color(255, 188, 0, 255)
|
||||
else:
|
||||
# Keep green/grey from above
|
||||
pass
|
||||
elif check_angle and not lat_active:
|
||||
if abs(angle_steers) > 180:
|
||||
color = rl.RED
|
||||
elif abs(angle_steers) > 90:
|
||||
color = rl.Color(255, 188, 0, 255)
|
||||
|
||||
return color
|
||||
|
||||
|
||||
class RelDistElement(LeadInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = "m"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
lead_status, lead_d_rel, _ = self.get_lead_status(sm)
|
||||
value = f"{lead_d_rel:.0f}" if lead_status else "-"
|
||||
color = self.get_lead_color(lead_d_rel) if lead_status else rl.WHITE
|
||||
return UiElement(value, "REL DIST", self.unit, color)
|
||||
|
||||
|
||||
class RelSpeedElement(LeadInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = "km/h"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
lead_status, _, lead_v_rel = self.get_lead_status(sm)
|
||||
|
||||
self.unit = "km/h" if is_metric else "mph"
|
||||
|
||||
conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
|
||||
value = f"{lead_v_rel * conversion:.0f}" if lead_status else "-"
|
||||
color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
|
||||
|
||||
return UiElement(value, "REL SPEED", self.unit, color)
|
||||
|
||||
|
||||
class SteeringAngleElement(LateralControlElement):
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
car_state = sm['carState']
|
||||
angle_steers = car_state.steeringAngleDeg
|
||||
lat_active = sm['carControl'].latActive
|
||||
steer_override = car_state.steeringPressed
|
||||
|
||||
value = f"{angle_steers:.1f}°"
|
||||
color = self.get_lat_color(lat_active, steer_override, angle_steers, check_angle=True)
|
||||
|
||||
return UiElement(value, "REAL STEER", self.unit, color)
|
||||
|
||||
|
||||
class DesiredSteeringAngleElement(LateralControlElement):
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
car_state = sm['carState']
|
||||
controls_state = sm['controlsState']
|
||||
lat_active = sm['carControl'].latActive
|
||||
angle_steers = car_state.steeringAngleDeg
|
||||
steer_angle_desired = controls_state.lateralControlState.angleState.steeringAngleDeg
|
||||
|
||||
value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
|
||||
|
||||
color = rl.WHITE
|
||||
if lat_active:
|
||||
if abs(angle_steers) > 180:
|
||||
color = rl.RED
|
||||
elif abs(angle_steers) > 90:
|
||||
color = rl.Color(255, 188, 0, 255)
|
||||
else:
|
||||
color = rl.Color(0, 255, 0, 255)
|
||||
|
||||
return UiElement(value, "DESIRED STEER", self.unit, color)
|
||||
|
||||
|
||||
class ActualLateralAccelElement(LateralControlElement):
|
||||
def __init__(self):
|
||||
self.unit = "m/s^2"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
controls_state = sm['controlsState']
|
||||
curvature = controls_state.curvature
|
||||
v_ego = sm['carState'].vEgo
|
||||
roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
|
||||
lat_active = sm['carControl'].latActive
|
||||
steer_override = sm['carState'].steeringPressed
|
||||
|
||||
actual_lat_accel = (curvature * v_ego ** 2) - (roll * 9.81)
|
||||
value = f"{actual_lat_accel:.2f}"
|
||||
color = self.get_lat_color(lat_active, steer_override)
|
||||
|
||||
return UiElement(value, "ACTUAL L.A.", self.unit, color)
|
||||
|
||||
|
||||
class DesiredLateralAccelElement(LateralControlElement):
|
||||
def __init__(self):
|
||||
self.unit = "m/s^2"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
controls_state = sm['controlsState']
|
||||
desired_curvature = controls_state.desiredCurvature
|
||||
v_ego = sm['carState'].vEgo
|
||||
roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
|
||||
lat_active = sm['carControl'].latActive
|
||||
steer_override = sm['carState'].steeringPressed
|
||||
|
||||
desired_lat_accel = (desired_curvature * v_ego ** 2) - (roll * 9.81)
|
||||
value = f"{desired_lat_accel:.2f}" if lat_active else "-"
|
||||
color = self.get_lat_color(lat_active, steer_override)
|
||||
|
||||
return UiElement(value, "DESIRED L.A.", self.unit, color)
|
||||
|
||||
|
||||
class AEgoElement:
|
||||
def __init__(self):
|
||||
self.unit = "m/s^2"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
a_ego = sm['carState'].aEgo
|
||||
value = f"{a_ego:.1f}"
|
||||
return UiElement(value, "ACC.", self.unit, rl.WHITE)
|
||||
|
||||
|
||||
class LeadSpeedElement(LeadInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = "km/h"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
lead_status, _, lead_v_rel = self.get_lead_status(sm)
|
||||
v_ego = sm['carState'].vEgo
|
||||
|
||||
self.unit = "km/h" if is_metric else "mph"
|
||||
|
||||
conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
|
||||
value = f"{(lead_v_rel + v_ego) * conversion:.0f}" if lead_status else "-"
|
||||
color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
|
||||
|
||||
return UiElement(value, "L.S.", self.unit, color)
|
||||
|
||||
|
||||
class FrictionCoefficientElement:
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
ltp = sm['liveTorqueParameters']
|
||||
friction_coef = ltp.frictionCoefficientFiltered
|
||||
live_valid = ltp.liveValid
|
||||
|
||||
value = f"{friction_coef:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
|
||||
return UiElement(value, "FRIC.", self.unit, color)
|
||||
|
||||
|
||||
class LatAccelFactorElement:
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
ltp = sm['liveTorqueParameters']
|
||||
lat_accel_factor = ltp.latAccelFactorFiltered
|
||||
live_valid = ltp.liveValid
|
||||
|
||||
value = f"{lat_accel_factor:.3f}"
|
||||
color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
|
||||
return UiElement(value, "L.A.F.", self.unit, color)
|
||||
|
||||
|
||||
class SteeringTorqueEpsElement:
|
||||
def __init__(self):
|
||||
self.unit = "N·dm"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
steering_torque_eps = sm['carState'].steeringTorqueEps
|
||||
value = f"{abs(steering_torque_eps):.1f}"
|
||||
return UiElement(value, "E.T.", self.unit, rl.WHITE)
|
||||
|
||||
|
||||
class GpsInfoElement:
|
||||
@staticmethod
|
||||
def get_gps_data(sm):
|
||||
if sm.valid['gpsLocationExternal']:
|
||||
return sm['gpsLocationExternal'], True
|
||||
elif sm.valid['gpsLocation']:
|
||||
return sm['gpsLocation'], True
|
||||
return None, False
|
||||
|
||||
|
||||
class BearingDegElement(GpsInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = ""
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
gps_data, valid = self.get_gps_data(sm)
|
||||
if not valid:
|
||||
return UiElement("OFF | -", "B.D.", self.unit, rl.WHITE)
|
||||
|
||||
bearing_accuracy_deg = gps_data.bearingAccuracyDeg
|
||||
bearing_deg = gps_data.bearingDeg
|
||||
|
||||
if bearing_accuracy_deg != 180.0:
|
||||
value = f"{bearing_deg:.0f}°"
|
||||
if (337.5 <= bearing_deg <= 360) or (0 <= bearing_deg <= 22.5):
|
||||
dir_value = "N"
|
||||
elif 22.5 < bearing_deg < 67.5:
|
||||
dir_value = "NE"
|
||||
elif 67.5 <= bearing_deg <= 112.5:
|
||||
dir_value = "E"
|
||||
elif 112.5 < bearing_deg < 157.5:
|
||||
dir_value = "SE"
|
||||
elif 157.5 <= bearing_deg <= 202.5:
|
||||
dir_value = "S"
|
||||
elif 202.5 < bearing_deg < 247.5:
|
||||
dir_value = "SW"
|
||||
elif 247.5 <= bearing_deg <= 292.5:
|
||||
dir_value = "W"
|
||||
else: # 292.5 < bearing_deg < 337.5
|
||||
dir_value = "NW"
|
||||
else:
|
||||
value = "-"
|
||||
dir_value = "OFF"
|
||||
|
||||
return UiElement(f"{dir_value} | {value}", "B.D.", self.unit, rl.WHITE)
|
||||
|
||||
|
||||
class AltitudeElement(GpsInfoElement):
|
||||
def __init__(self):
|
||||
self.unit = "m"
|
||||
|
||||
def update(self, sm, is_metric: bool) -> UiElement:
|
||||
gps_data, valid = self.get_gps_data(sm)
|
||||
|
||||
gps_accuracy = 0.0
|
||||
altitude = 0.0
|
||||
|
||||
if valid:
|
||||
altitude = gps_data.altitude
|
||||
if sm.valid['gpsLocationExternal']:
|
||||
gps_accuracy = gps_data.horizontalAccuracy
|
||||
else:
|
||||
gps_accuracy = 1.0 # Simulate valid for legacy check
|
||||
|
||||
value = f"{altitude:.1f}" if gps_accuracy != 0.0 else "-"
|
||||
return UiElement(value, "ALT.", self.unit, rl.WHITE)
|
||||
@@ -1,20 +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.onroad.hud_renderer import HudRenderer
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
|
||||
|
||||
|
||||
class HudRendererSP(HudRenderer):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.developer_ui = DeveloperUiRenderer()
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
super()._render(rect)
|
||||
self.developer_ui.render(rect)
|
||||
@@ -1,14 +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.sunnypilot.onroad.chevron_metrics import ChevronMetrics
|
||||
from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
|
||||
|
||||
|
||||
class ModelRendererSP:
|
||||
def __init__(self):
|
||||
self.rainbow_path = RainbowPath()
|
||||
self.chevron_metrics = ChevronMetrics()
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user