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Supported Cars

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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

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289 Supported Cars

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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
MakeModelSupported PackageACCNo ACC accel belowNo ALC belowSteering TorqueResume from stopHardware Needed
 		Video
AcuraILX 2016-19AcuraWatch Plusopenpilot26 mph25 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AcuraRDX 2016-18AcuraWatch Plusopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AcuraRDX 2019-22Allopenpilot available10 mph3 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AudiA3 2014-19Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AudiA3 Sportback e-tron 2017-18Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AudiQ2 2018Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AudiQ3 2019-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AudiRS3 2018Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
AudiS3 2015-17Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChevroletBolt EUV 2022-23Premier or Premier Redline Trim without Super Cruise Packageopenpilot available13 mph6 mphstarstar
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChevroletBolt EV 2022-232LT Trim with Adaptive Cruise Control Packageopenpilot available13 mph6 mphstarstar
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChevroletEquinox 2019-22Adaptive Cruise Control (ACC)openpilot available13 mph6 mphstarstar
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChevroletSilverado 1500 2020-21Safety Package IIopenpilot available10 mph6 mphstarstar
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChevroletTrailblazer 2021-22Adaptive Cruise Control (ACC)openpilot available13 mph6 mphstarstar
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChryslerPacifica 2017-18Adaptive Cruise Control (ACC)Stock0 mph9 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChryslerPacifica 2019-20Adaptive Cruise Control (ACC)Stock0 mph39 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChryslerPacifica 2021-23AllStock0 mph39 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChryslerPacifica Hybrid 2017-18Adaptive Cruise Control (ACC)Stock0 mph9 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ChryslerPacifica Hybrid 2019-24Adaptive Cruise Control (ACC)Stock0 mph39 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
commabodyAllopenpilot0 mph0 mphstarstarNone
CUPRAAteca 2018-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
DodgeDurango 2020-21Adaptive Cruise Control (ACC)Stock0 mph39 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordBronco Sport 2021-23Co-Pilot360 Assist+openpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordEscape 2020-22Co-Pilot360 Assist+openpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordEscape Hybrid 2020-22Co-Pilot360 Assist+openpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordEscape Plug-in Hybrid 2020-22Co-Pilot360 Assist+openpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordExplorer 2020-23Co-Pilot360 Assist+openpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordExplorer Hybrid 2020-23Co-Pilot360 Assist+openpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordFocus 20183Adaptive Cruise Control with Lane Centeringopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordFocus Hybrid 20183Adaptive Cruise Control with Lane Centeringopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordKuga 2020-22Adaptive Cruise Control with Lane Centeringopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordKuga Hybrid 2020-22Adaptive Cruise Control with Lane Centeringopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordKuga Plug-in Hybrid 2020-22Adaptive Cruise Control with Lane Centeringopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordMaverick 2022LARIAT Luxuryopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordMaverick 2023-24Co-Pilot360 Assistopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordMaverick Hybrid 2022LARIAT Luxuryopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
FordMaverick Hybrid 2023-24Co-Pilot360 Assistopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisG70 2018AllStock0 mph0 mphstarstar
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisG70 2019-21Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisG70 2022-23Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisG80 2017AllStock19 mph37 mphstarstar
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisG80 2018-19AllStock0 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisG80 (2.5T Advanced Trim, with HDA II) 20245Highway Driving Assist IIopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisG90 2017-20Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisGV60 (Advanced Trim) 20235Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisGV60 (Performance Trim) 2022-235Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
GenesisGV70 (2.5T Trim, without HDA II) 2022-235AllStock0 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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GenesisGV70 (3.5T Trim, without HDA II) 2022-235AllStock0 mph0 mphstarstar
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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GenesisGV70 Electrified (with HDA II) 20235Highway Driving Assist IIopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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GenesisGV80 20235AllStock0 mph0 mphstarstar
Parts- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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GMCSierra 1500 2020-21Driver Alert Package IIopenpilot available10 mph6 mphstarstar
Parts- 1 GM connector
- 1 comma 3X
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaAccord 2018-22Allopenpilot available10 mph3 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaAccord Hybrid 2018-22Allopenpilot available10 mph3 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCivic 2016-18Honda Sensingopenpilot0 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCivic 2019-21Allopenpilot available10 mph2 mph4starstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCivic 2022-24Allopenpilot available10 mph0 mphstarstar
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCivic Hatchback 2017-21Honda Sensingopenpilot available10 mph12 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCivic Hatchback 2022-24Allopenpilot available10 mph0 mphstarstar
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCR-V 2015-16Touring Trimopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCR-V 2017-22Honda Sensingopenpilot available10 mph12 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaCR-V Hybrid 2017-22Honda Sensingopenpilot available10 mph12 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Hondae 2020Allopenpilot available10 mph3 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaFit 2018-20Honda Sensingopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaFreed 2020Honda Sensingopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaHR-V 2019-22Honda Sensingopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaHR-V 2023Allopenpilot available10 mph0 mphstarstar
Parts- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaInsight 2019-22Allopenpilot available10 mph3 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaInspire 2018Allopenpilot available10 mph3 mphstarstar
Parts- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaOdyssey 2018-20Honda Sensingopenpilot26 mph0 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaPassport 2019-23Allopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaPilot 2016-22Honda Sensingopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HondaRidgeline 2017-24Honda Sensingopenpilot26 mph12 mphstarstar
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiAzera 2022Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiAzera Hybrid 2019Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiAzera Hybrid 2020Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiCustin 2023Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiElantra 2017-18Smart Cruise Control (SCC)Stock19 mph32 mphstarstar
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiElantra 2019Smart Cruise Control (SCC)Stock19 mph32 mphstarstar
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiElantra 2021-23Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiElantra GT 2017-19Smart Cruise Control (SCC)Stock0 mph32 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiElantra Hybrid 2021-23Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiGenesis 2015-16Smart Cruise Control (SCC)Stock19 mph37 mphstarstar
Parts- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Hyundaii30 2017-19Smart Cruise Control (SCC)Stock0 mph32 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq 5 (Non-US only) 2022-245Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq 5 (with HDA II) 2022-245Highway Driving Assist IIopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq 5 (without HDA II) 2022-245Highway Driving Assistopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq 6 (with HDA II) 2023-245Highway Driving Assist IIStock0 mph0 mphstarstar
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq Electric 2019Smart Cruise Control (SCC)Stock0 mph32 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq Electric 2020Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq Hybrid 2017-19Smart Cruise Control (SCC)openpilot available10 mph32 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq Hybrid 2020-22Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq Plug-in Hybrid 2019Smart Cruise Control (SCC)openpilot available10 mph32 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiIoniq Plug-in Hybrid 2020-22Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiKona 2020Smart Cruise Control (SCC)openpilot available16 mph0 mphstarstar
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiKona Electric 2018-21Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiKona Electric 2022-23Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiKona Electric (with HDA II, Korea only) 20235Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai R connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiKona Hybrid 2020Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiPalisade 2020-22Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSanta Cruz 2022-245Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSanta Fe 2019-20Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSanta Fe 2021-23Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSanta Fe Hybrid 2022-23Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSanta Fe Plug-in Hybrid 2022-23Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSonata 2018-19Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSonata 2020-23Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiSonata Hybrid 2020-23Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiStaria 20235Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiTucson 2021Smart Cruise Control (SCC)openpilot available119 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiTucson 20225Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiTucson 2023-245Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiTucson Diesel 2019Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiTucson Hybrid 2022-245Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiTucson Plug-in Hybrid 20245Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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HyundaiVeloster 2019-20Smart Cruise Control (SCC)Stock5 mph0 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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JeepGrand Cherokee 2016-18Adaptive Cruise Control (ACC)Stock0 mph9 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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JeepGrand Cherokee 2019-21Adaptive Cruise Control (ACC)Stock0 mph39 mphstarstar
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaCarnival 2022-245Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaCarnival (China only) 20235Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaCeed 2019Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaEV6 (Southeast Asia only) 2022-245Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaEV6 (with HDA II) 2022-245Highway Driving Assist IIopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaEV6 (without HDA II) 2022-245Highway Driving Assistopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaForte 2019-21Smart Cruise Control (SCC)openpilot available16 mph0 mphstarstar
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaForte 2022-23Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaK5 2021-24Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaK5 Hybrid 2020-22Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaK8 Hybrid (with HDA II) 20235Highway Driving Assist IIopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro EV 2019Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro EV 2020Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro EV 2021Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro EV 2022Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro EV 20235Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Hybrid 2018AllStock10 mph32 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Hybrid 2021Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Hybrid 2022Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Hybrid 20235Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Plug-in Hybrid 2018-19AllStock10 mph32 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Plug-in Hybrid 2020Smart Cruise Control (SCC)Stock0 mph32 mphstarstar
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Plug-in Hybrid 2021Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaNiro Plug-in Hybrid 2022Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaOptima 2017Advanced Smart Cruise ControlStock0 mph32 mphstarstar
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaOptima 2019-20Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaOptima Hybrid 2019Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSeltos 2021Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSorento 2018Advanced Smart Cruise Control & LKASStock0 mph0 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSorento 2019Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSorento 2021-235Smart Cruise Control (SCC)Stock0 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSorento Hybrid 2021-235AllStock0 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSorento Plug-in Hybrid 2022-235AllStock0 mph0 mphstarstar
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSportage 2023-245Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaSportage Hybrid 20235Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaStinger 2018-20Smart Cruise Control (SCC)openpilot available10 mph0 mphstarstar
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaStinger 2022-23Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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KiaTelluride 2020-22Allopenpilot available10 mph0 mphstarstar
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusCT Hybrid 2017-18Lexus Safety System+openpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusES 2017-18Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusES 2019-24Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusES Hybrid 2017-18Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusES Hybrid 2019-24Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusGS F 2016AllStock19 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusIS 2017-19AllStock19 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusIS 2022-23Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusLC 2024Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusNX 2018-19Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusNX 2020-21Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusNX Hybrid 2018-19Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusNX Hybrid 2020-21Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusRC 2018-20AllStock19 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusRX 2016Lexus Safety System+openpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusRX 2017-19Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusRX 2020-22Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusRX Hybrid 2016Lexus Safety System+openpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusRX Hybrid 2017-19Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusRX Hybrid 2020-22Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LexusUX Hybrid 2019-23Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LincolnAviator 2020-23Co-Pilot360 Plusopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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LincolnAviator Plug-in Hybrid 2020-23Co-Pilot360 Plusopenpilot available10 mph0 mphstarstar
Parts- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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MANeTGE 2020-24Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph31 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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MANTGE 2017-24Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph31 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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MazdaCX-5 2022-24AllStock0 mph0 mphstarstar
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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MazdaCX-9 2021-23AllStock0 mph28 mphstarstar
Parts- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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NissanAltima 2019-20ProPILOT AssistStock0 mph0 mphstarstar
Parts- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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NissanLeaf 2018-23ProPILOT AssistStock0 mph0 mphstarstar
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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NissanRogue 2018-20ProPILOT AssistStock0 mph0 mphstarstar
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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NissanX-Trail 2017ProPILOT AssistStock0 mph0 mphstarstar
Parts- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Ram1500 2019-24Adaptive Cruise Control (ACC)Stock0 mph32 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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SEATAteca 2016-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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SEATLeon 2014-20Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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SubaruAscent 2019-21All6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruCrosstrek 2018-19EyeSight Driver Assistance6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruCrosstrek 2020-23EyeSight Driver Assistance6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruForester 2019-21All6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruImpreza 2017-19EyeSight Driver Assistance6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruImpreza 2020-22EyeSight Driver Assistance6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruLegacy 2020-22All6Stock0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruOutback 2020-22All6Stock0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruXV 2018-19EyeSight Driver Assistance6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
SubaruXV 2020-21EyeSight Driver Assistance6openpilot available1,70 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
ŠkodaFabia 2022-2311Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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13
ŠkodaKamiq 2021-239,11Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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13
ŠkodaKaroq 2019-2311Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ŠkodaKodiaq 2017-2311Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ŠkodaOctavia 2015-1911Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ŠkodaOctavia RS 201611Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ŠkodaOctavia Scout 2017-1911Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ŠkodaScala 2020-2311Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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13
ŠkodaSuperb 2015-2211Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAlphard 2019-20Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAlphard Hybrid 2021Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAvalon 2016Toyota Safety Sense Popenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAvalon 2017-18Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAvalon 2019-21Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAvalon 2022Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAvalon Hybrid 2019-21Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaAvalon Hybrid 2022Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaC-HR 2017-20AllStock0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaC-HR 2021Allopenpilot available10 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaC-HR Hybrid 2017-20AllStock0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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ToyotaC-HR Hybrid 2021-22Allopenpilot available10 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCamry 2018-20AllStock0 mph80 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCamry 2021-24Allopenpilot0 mph80 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCamry Hybrid 2018-20AllStock0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCamry Hybrid 2021-24Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCorolla 2017-19Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCorolla 2020-22Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCorolla Cross (Non-US only) 2020-23Allopenpilot17 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCorolla Cross Hybrid (Non-US only) 2020-22Allopenpilot17 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCorolla Hatchback 2019-22Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCorolla Hybrid 2020-22Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaCorolla Hybrid (South America only) 2020-23Allopenpilot17 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaHighlander 2017-19Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaHighlander 2020-23Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaHighlander Hybrid 2017-19Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaHighlander Hybrid 2020-23Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaMirai 2021Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaPrius 2016Toyota Safety Sense Popenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaPrius 2017-20Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaPrius 2021-22Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaPrius Prime 2017-20Allopenpilot available20 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaPrius Prime 2021-22Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaPrius v 2017Toyota Safety Sense Popenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 2016Toyota Safety Sense Popenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 2017-18Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 2019-21Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 2022Allopenpilot available10 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 2023-24Allopenpilot available10 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 Hybrid 2016Toyota Safety Sense Popenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 Hybrid 2017-18Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 Hybrid 2019-21Allopenpilot0 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 Hybrid 2022Allopenpilot available10 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaRAV4 Hybrid 2023-24Allopenpilot available10 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
ToyotaSienna 2018-20Allopenpilot available219 mph0 mphstarstar
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenArteon 2018-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenArteon eHybrid 2020-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenArteon R 2020-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenArteon Shooting Brake 2020-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenAtlas 2018-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenAtlas Cross Sport 2020-22Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenCalifornia 2021-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph31 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenCaravelle 2020Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph31 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenCC 2018-22Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenCrafter 2017-24Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph31 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Volkswagene-Crafter 2018-24Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph31 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Volkswagene-Golf 2014-20Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGolf 2015-20Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGolf Alltrack 2015-19Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGolf GTD 2015-20Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGolf GTE 2015-20Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGolf GTI 2015-21Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGolf R 2015-19Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGolf SportsVan 2015-20Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenGrand California 2019-24Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph31 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 angled mount (8 degrees)
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenJetta 2018-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenJetta GLI 2021-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenPassat 2015-2210Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenPassat Alltrack 2015-22Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenPassat GTE 2015-22Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenPolo 2018-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
13
VolkswagenPolo GTI 2018-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
13
VolkswagenT-Cross 2021Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
13
VolkswagenT-Roc 2018-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenTaos 2022-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenTeramont 2018-22Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenTeramont Cross Sport 2021-22Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenTeramont X 2021-22Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenTiguan 2018-24Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenTiguan eHybrid 2021-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
VolkswagenTouran 2016-23Adaptive Cruise Control (ACC) & Lane Assistopenpilot available1,120 mph0 mphstarstar
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
+

Footnotes

+

1openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as devel or master-ci.
+2By 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. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
+3Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia.
+42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+5Requires a CAN FD panda kit if not using comma 3X for this CAN FD car.
+6In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.
+7Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.
+8openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+9Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+10Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+11Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality.
+12Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+13Model-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.

+

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.

+

Don't see your car here?

+

openpilot can support many more cars than it currently does. There are a few reasons your car may not be supported. +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!

+

Which cars are able to be supported?

+

openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has ACC and any form of LKAS/LCA, then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own marketing terms for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.

+

If your car has the following packages or features, then it's a good candidate for support.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
MakeRequired Package/Features
AcuraAny car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models.
FordAny car with Lane Centering will likely work.
HondaAny car with Honda Sensing will work. Honda Sensing comes standard on many newer models.
SubaruAny car with EyeSight will work. EyeSight comes standard on many newer models.
NissanAny car with ProPILOT will likely work.
Toyota & LexusAny car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models.
Hyundai, Kia, & GenesisAny car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC.
Chrysler, Jeep, & RamAny car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models.
+

FlexRay

+

All the cars that openpilot supports use a CAN bus for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use FlexRay instead of a CAN bus: BMW, Mercedes, Audi, Land Rover, and some Volvo. These cars may one day be supported, but we have no immediate plans to support FlexRay.

+

Toyota Security

+

openpilot does not yet support these Toyota models due to a new message authentication method. +Vote if you'd like to see openpilot support on these models.

+
    +
  • Toyota RAV4 Prime 2021+
    • +
  • Toyota Sienna 2021+
    • +
  • Toyota Venza 2021+
    • +
  • Toyota Sequoia 2023+
    • +
  • Toyota Tundra 2022+
    • +
  • Toyota Highlander 2024+
    • +
  • Toyota Corolla Cross 2022+ (only US model)
    • +
  • Toyota Camry 2025+
    • +
  • Lexus NX 2022+
    • +
  • Toyota bZ4x 2023+
    • +
  • Subaru Solterra 2023+
    • +
+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/CNAME b/docs/CNAME new file mode 100644 index 00000000..4a6c578b --- /dev/null +++ b/docs/CNAME @@ -0,0 +1 @@ +docs.comma.ai \ No newline at end of file diff --git a/docs/CONTRIBUTING/index.html b/docs/CONTRIBUTING/index.html new file mode 100644 index 00000000..756740df --- /dev/null +++ b/docs/CONTRIBUTING/index.html @@ -0,0 +1,210 @@ + + + + + + + + How to contribute - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

How to contribute

+

Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our post about externalization.

+

Development is coordinated through Discord and GitHub.

+

Getting Started

+ +

What contributions are we looking for?

+

openpilot's priorities are safety, stability, quality, and features, in that order. +openpilot is part of comma's mission to solve self-driving cars while delivering shippable intermediaries, and all development is towards that goal.

+

What gets merged?

+

The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. +If a PR offers some value but will take lots of time to get merged, it will be closed. +Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.

+

All of these are examples of good PRs: +* typo fix: https://github.com/commaai/openpilot/pull/30678 +* removing unused code: https://github.com/commaai/openpilot/pull/30573 +* simple car model port: https://github.com/commaai/openpilot/pull/30245 +* car brand port: https://github.com/commaai/openpilot/pull/23331

+

What doesn't get merged?

+
    +
  • style changes: code is art, and it's up to the author to make it beautiful
    • +
  • 500+ line PRs: clean it up, break it up into smaller PRs, or both
    • +
  • PRs without a clear goal: every PR must have a singular and clear goal
    • +
  • UI design: we do not have a good review process for this yet
    • +
  • New features: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
    • +
  • Negative expected value: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
    • +
+

First contribution

+

Projects / openpilot bounties is the best place to get started and goes in-depth on what's expected when working on a bounty. +There's lot of bounties that don't require a comma 3/3X or a car.

+

Pull Requests

+

Pull requests should be against the master branch.

+

A good pull request has all of the following: +* a clearly stated purpose +* every line changed directly contributes to the stated purpose +* verification, i.e. how did you test your PR? +* justification + * if you've optimized something, post benchmarks to prove it's better + * if you've improved your car's tuning, post before and after plots +* passes the CI tests

+

Contributing without Code

+
    +
  • Report bugs in GitHub issues.
    • +
  • Report driving issues in the #driving-feedback Discord channel.
    • +
  • Consider opting into driver camera uploads to improve the driver monitoring model.
    • +
  • Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
    • +
  • Run the nightly branch and report issues. This branch is like master but it's built just like a release.
    • +
  • Annotate images in the comma10k dataset.
    • +
+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/INTEGRATION/index.html b/docs/INTEGRATION/index.html new file mode 100644 index 00000000..11f8c47d --- /dev/null +++ b/docs/INTEGRATION/index.html @@ -0,0 +1,165 @@ + + + + + + + + Integration with Stock Features - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Integration with Stock Features

+

In all supported cars: +* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user. +* Stock LDW is replaced by openpilot LDW.

+

Additionally, on specific supported cars (see ACC column in supported cars): +* Stock ACC is replaced by openpilot ACC. +* openpilot FCW operates in addition to stock FCW.

+

openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/LIMITATIONS/index.html b/docs/LIMITATIONS/index.html new file mode 100644 index 00000000..05fc56e0 --- /dev/null +++ b/docs/LIMITATIONS/index.html @@ -0,0 +1,206 @@ + + + + + + + + Limitations - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Limitations

+

Limitations of openpilot ALC and LDW

+

openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.

+

While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.

+

Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:

+
    +
  • Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
    • +
  • The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
    • +
  • Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
    • +
  • The device is mounted incorrectly.
    • +
  • When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
    • +
  • In the presence of restricted lanes or construction zones.
    • +
  • When driving on highly banked roads or in presence of strong cross-wind.
    • +
  • Extremely hot or cold temperatures.
    • +
  • Bright light (due to oncoming headlights, direct sunlight, etc.).
    • +
  • Driving on hills, narrow, or winding roads.
    • +
+

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.

+

Limitations of openpilot ACC and FCW

+

openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.

+

Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:

+
    +
  • Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
    • +
  • The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
    • +
  • Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
    • +
  • The device is mounted incorrectly.
    • +
  • Approaching a toll booth, a bridge or a large metal plate.
    • +
  • When driving on roads with pedestrians, cyclists, etc...
    • +
  • In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
    • +
  • When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
    • +
  • In presence of vehicles in the same lane that are not moving.
    • +
  • When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
    • +
  • When surrounding vehicles perform close cut-ins from neighbor lanes.
    • +
  • Driving on hills, narrow, or winding roads.
    • +
  • Extremely hot or cold temperatures.
    • +
  • Bright light (due to oncoming headlights, direct sunlight, etc.).
    • +
  • Interference from other equipment that generates radar waves.
    • +
+

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.

+

Limitations of openpilot DM

+

openpilot DM should not be considered an exact measurement of the alertness of the driver.

+

Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:

+
    +
  • Low light conditions, such as driving at night or in dark tunnels.
    • +
  • Bright light (due to oncoming headlights, direct sunlight, etc.).
    • +
  • The driver's face is partially or completely outside field of view of the driver facing camera.
    • +
  • The driver facing camera is obstructed, covered, or damaged.
    • +
+

The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/SAFETY/index.html b/docs/SAFETY/index.html new file mode 100644 index 00000000..1b4f93cb --- /dev/null +++ b/docs/SAFETY/index.html @@ -0,0 +1,185 @@ + + + + + + + + Safety - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Safety

+

openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. +Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the +driver to be alert and to pay attention at all times.

+

In order to enforce driver alertness, openpilot includes a driver monitoring feature +that alerts the driver when distracted.

+

However, even with an attentive driver, we must make further efforts for the system to be +safe. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be +used safely and openpilot is provided with no warranty of fitness for any purpose.

+

openpilot is developed in good faith to be compliant with FMVSS requirements and to follow +industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe +ISO26262 guidelines, including those from pertinent documents +released by NHTSA. In addition, we impose strict coding guidelines (like MISRA C : 2012) +on parts of openpilot that are safety relevant. We also perform software-in-the-loop, +hardware-in-the-loop and in-vehicle tests before each software release.

+

Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot +ensuring two main safety requirements.

+
    +
  1. The driver must always be capable to immediately retake manual control of the vehicle, + by stepping on the brake pedal or by pressing the cancel button.
    2. +
  2. The vehicle must not alter its trajectory too quickly for the driver to safely + react. This means that while the system is engaged, the actuators are constrained + to operate within reasonable limits[^1].
    3. +
+

For additional safety implementation details, refer to panda safety model. For vehicle specific implementation of the safety concept, refer to panda/board/safety/.

+

Extra note: comma.ai strongly discourages the use of openpilot forks with safety code either missing or + not fully meeting the above requirements.

+

[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/WORKFLOW/index.html b/docs/WORKFLOW/index.html new file mode 100644 index 00000000..49d54d26 --- /dev/null +++ b/docs/WORKFLOW/index.html @@ -0,0 +1,190 @@ + + + + + + + + openpilot development workflow - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

openpilot development workflow

+

Aside from the ML models, most tools used for openpilot development are in this repo.

+

Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the setup guide for getting your PC setup for openpilot development.

+

Quick start

+
# get the latest stuff
+git pull
+git lfs pull
+git submodule update --init --recursive
+
+# update dependencies
+tools/ubuntu_setup.sh
+
+# build everything
+scons -j$(nproc)
+
+# build just the ui with either of these
+scons -j8 selfdrive/ui/
+cd selfdrive/ui/ && scons -u -j8
+
+# test everything
+pytest
+
+# test just logging services
+cd system/loggerd && pytest .
+
+# run the linter
+op lint
+
+

Testing

+

Automated Testing

+

All PRs and commits are automatically checked by GitHub Actions. Check out .github/workflows/ for what GitHub Actions runs. Any new tests should be added to GitHub Actions.

+

Code Style and Linting

+

Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running pre-commit run --all.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg new file mode 100644 index 00000000..448b20b9 --- /dev/null +++ b/docs/assets/icon-star-empty.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3142658fa2782d266028dcab491e02ab329a2cadcf9efb1846a5f9631d64cac1 +size 1947 diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg new file mode 100644 index 00000000..0e0bf52c --- /dev/null +++ b/docs/assets/icon-star-full.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fdcc85f3d8c9d0c2fb76b98ddd9f118c0e4a12c859a4281a04a0870d5de12c8 +size 1950 diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg new file mode 100644 index 00000000..11398fa6 --- /dev/null +++ b/docs/assets/icon-star-half.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdf5e7ae57626f4cda35973873a4696252babbbe473913fe0aafdd8ba39d7fc3 +size 2508 diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg new file mode 100644 index 00000000..f738dca1 --- /dev/null +++ b/docs/assets/icon-youtube.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb64f9da10b818c56763a7c48347f6043da20a2a77fb14f6d60d9457c575b6b +size 1278 diff --git a/docs/car-porting/brand-port/index.html b/docs/car-porting/brand-port/index.html new file mode 100644 index 00000000..c21c5263 --- /dev/null +++ b/docs/car-porting/brand-port/index.html @@ -0,0 +1,171 @@ + + + + + + + + Porting a car brand - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Developing a car brand port

+

A brand port is a port of openpilot to a substantially new car brand or platform within a brand.

+

Here's an example of one: https://github.com/commaai/openpilot/pull/23331.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + Next » + + +
+ + + + + + + + + diff --git a/docs/car-porting/model-port/index.html b/docs/car-porting/model-port/index.html new file mode 100644 index 00000000..4970022e --- /dev/null +++ b/docs/car-porting/model-port/index.html @@ -0,0 +1,171 @@ + + + + + + + + Porting a car model - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Developing a car model port

+

A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.

+

Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + Next » + + +
+ + + + + + + + + diff --git a/docs/car-porting/what-is-a-car-port/index.html b/docs/car-porting/what-is-a-car-port/index.html new file mode 100644 index 00000000..566a9fff --- /dev/null +++ b/docs/car-porting/what-is-a-car-port/index.html @@ -0,0 +1,199 @@ + + + + + + + + What is a car port? - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

What is a car port?

+

A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including:

+
    +
  • existing openpilot support for similar cars
    • +
  • architecture and APIs available in the car
    • +
+

Structure of a car port

+

Virtually all car-specific code is contained in two other repositories: opendbc and panda.

+

opendbc

+

Each car brand is supported by a standard interface structure in opendbc/car/[brand]:

+
    +
  • interface.py: Interface for the car, defines the CarInterface class
    • +
  • carstate.py: Reads CAN messages from the car and builds openpilot CarState messages
    • +
  • carcontroller.py: Control logic for executing openpilot CarControl actions on the car
    • +
  • [brand]can.py: Composes CAN messages for carcontroller to send
    • +
  • values.py: Limits for actuation, general constants for cars, and supported car documentation
    • +
  • radar_interface.py: Interface for parsing radar points from the car, if applicable
    • +
+

panda

+
    +
  • board/safety/safety_[brand].h: Brand-specific safety logic
    • +
  • tests/safety/test_[brand].py: Brand-specific safety CI tests
    • +
+

openpilot

+

For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.

+
    +
  • selfdrive/car/car_specific.py: Brand-specific event logic
    • +
+

Overview

+

Jason Young gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:

+

https://www.youtube.com/watch?v=XxPS5TpTUnI

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + Next » + + +
+ + + + + + + + + diff --git a/docs/concepts/glossary/index.html b/docs/concepts/glossary/index.html new file mode 100644 index 00000000..f7272cf6 --- /dev/null +++ b/docs/concepts/glossary/index.html @@ -0,0 +1,166 @@ + + + + + + + + openpilot glossary - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

openpilot glossary

+
    +
  • route:
    • +
  • segment: routes are split into one minute chunks called segments.
    • +
  • panda: this is . See the repo.
    • +
  • onroad:
    • +
  • offroad:
    • +
  • comma 3X:
    • +
+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/concepts/logs/index.html b/docs/concepts/logs/index.html new file mode 100644 index 00000000..afe1c517 --- /dev/null +++ b/docs/concepts/logs/index.html @@ -0,0 +1,191 @@ + + + + + + + + Logs - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Logging

+

openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.

+

Check out our Python library for reading openpilot logs. Also checkout our tools to replay and view your data. These are the same tools we use to debug and develop openpilot.

+

For each segment, openpilot records the following log types:

+

rlog.bz2

+

rlogs contain all the messages passed amongst openpilot's processes. See cereal/services.py for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.

+

{f,e,d}camera.hevc

+

Each camera stream is H.265 encoded and written to its respective file.

+
    +
  • fcamera.hevc is the road camera
    • +
  • ecamera.hevc is the wide road camera
    • +
  • dcamera.hevc is the driver camera
    • +
+

qlog.bz2 & qcamera.ts

+

qlogs are a decimated subset of the rlogs. Check out cereal/services.py for the decimation.

+

qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in comma connect is from the qcameras.

+

qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + Next » + + +
+ + + + + + + + + diff --git a/docs/concepts/safety/index.html b/docs/concepts/safety/index.html new file mode 100644 index 00000000..d9c4852a --- /dev/null +++ b/docs/concepts/safety/index.html @@ -0,0 +1,196 @@ + + + + + + + + Safety - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Safety

+

openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. +Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the +driver to be alert and to pay attention at all times.

+

In order to enforce driver alertness, openpilot includes a driver monitoring feature +that alerts the driver when distracted.

+

However, even with an attentive driver, we must make further efforts for the system to be +safe. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be +used safely and openpilot is provided with no warranty of fitness for any purpose.

+

openpilot is developed in good faith to be compliant with FMVSS requirements and to follow +industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe +ISO26262 guidelines, including those from pertinent documents +released by NHTSA. In addition, we impose strict coding guidelines (like MISRA C : 2012) +on parts of openpilot that are safety relevant. We also perform software-in-the-loop, +hardware-in-the-loop and in-vehicle tests before each software release.

+

Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot +ensuring two main safety requirements.

+
    +
  1. The driver must always be capable to immediately retake manual control of the vehicle, + by stepping on the brake pedal or by pressing the cancel button.
    2. +
  2. The vehicle must not alter its trajectory too quickly for the driver to safely + react. This means that while the system is engaged, the actuators are constrained + to operate within reasonable limits[^1].
    3. +
+

For additional safety implementation details, refer to panda safety model. For vehicle specific implementation of the safety concept, refer to panda/board/safety/.

+

Extra note: comma.ai strongly discourages the use of openpilot forks with safety code either missing or + not fully meeting the above requirements.

+

[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + Next » + + +
+ + + + + + + + + diff --git a/docs/contributing/architecture/index.html b/docs/contributing/architecture/index.html new file mode 100644 index 00000000..32a8a519 --- /dev/null +++ b/docs/contributing/architecture/index.html @@ -0,0 +1,158 @@ + + + + + + + + Architecture - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Architecture

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/contributing/roadmap/index.html b/docs/contributing/roadmap/index.html new file mode 100644 index 00000000..4985ed01 --- /dev/null +++ b/docs/contributing/roadmap/index.html @@ -0,0 +1,198 @@ + + + + + + + + Roadmap - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Roadmap

+

This is the roadmap for the next major openpilot releases. Also check out

+ +

openpilot 0.10

+

openpilot 0.10 will be the first release with a driving policy trained in +a learned simulator.

+
    +
  • Driving model trained in a learned simlator
    • +
  • Always-on driver monitoring (behind a toggle)
    • +
  • GPS removed from the driving stack
    • +
  • 100KB qlogs
    • +
  • master-ci pushed after 1000 hours of hardware-in-the-loop testing
    • +
  • Car interface code moved into opendbc
    • +
  • openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
    • +
+

openpilot 1.0

+

openpilot 1.0 will feature a fully end-to-end driving policy.

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  • End-to-end longitudinal control in Chill mode
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  • Automatic Emergency Braking (AEB)
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  • Driver monitoring with sleep detection
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  • Rolling updates/releases pushed out by CI
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  • panda safety 1.0
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+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + +
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The CSS classes from highlight.js seem to clash with the + * ReadTheDocs theme causing some code to be incorrectly made + * bold and italic. + * + * https://github.com/mkdocs/mkdocs/issues/411 + */ +pre .cs, pre .c { + font-weight: inherit; + font-style: inherit; +} + +/* + * Fix some issues with the theme and non-highlighted code + * samples. Without and highlighting styles attached the + * formatting is broken. + * + * https://github.com/mkdocs/mkdocs/issues/319 + */ +.rst-content .no-highlight { + display: block; + padding: 0.5em; + color: #333; +} + + +/* + * Additions specific to the search functionality provided by MkDocs + */ + +.search-results { + margin-top: 23px; +} + +.search-results article { + border-top: 1px solid #E1E4E5; + padding-top: 24px; +} + +.search-results article:first-child { + border-top: none; +} + +form .search-query { + width: 100%; + border-radius: 50px; + padding: 6px 12px; + border-color: #D1D4D5; +} + +/* + * Improve inline code blocks within admonitions. + * + * https://github.com/mkdocs/mkdocs/issues/656 + */ + .rst-content .admonition code { + color: #404040; + border: 1px solid #c7c9cb; + border: 1px solid rgba(0, 0, 0, 0.2); + background: #f8fbfd; + background: rgba(255, 255, 255, 0.7); +} + +/* + * Account for wide tables which go off the side. + * Override borders to avoid weirdness on narrow tables. + * + * https://github.com/mkdocs/mkdocs/issues/834 + * https://github.com/mkdocs/mkdocs/pull/1034 + */ +.rst-content .section .docutils { + width: 100%; + overflow: auto; + display: block; + border: none; +} + +td, th { + border: 1px solid #e1e4e5 !important; + border-collapse: collapse; +} + +/* + * Without the following amendments, the navigation in the theme will be + * slightly cut off. This is due to the fact that the .wy-nav-side has a + * padding-bottom of 2em, which must not necessarily align with the font-size of + * 90 % on the .rst-current-version container, combined with the padding of 12px + * above and below. These amendments fix this in two steps: First, make sure the + * .rst-current-version container has a fixed height of 40px, achieved using + * line-height, and then applying a padding-bottom of 40px to this container. In + * a second step, the items within that container are re-aligned using flexbox. + * + * https://github.com/mkdocs/mkdocs/issues/2012 + */ + .wy-nav-side { + padding-bottom: 40px; +} + +/* For section-index only */ +.wy-menu-vertical .current-section p { + background-color: #e3e3e3; + color: #404040; +} + +/* + * The second step of above amendment: Here we make sure the items are aligned + * correctly within the .rst-current-version container. Using flexbox, we + * achieve it in such a way that it will look like the following: + * + * [No repo_name] + * Next >> // On the first page + * << Previous Next >> // On all subsequent pages + * + * [With repo_name] + * Next >> // On the first page + * << Previous Next >> // On all subsequent pages + * + * https://github.com/mkdocs/mkdocs/issues/2012 + */ +.rst-versions .rst-current-version { + padding: 0 12px; + display: flex; + font-size: initial; + justify-content: space-between; + align-items: center; + line-height: 40px; +} + +/* + * Please note that this amendment also involves removing certain inline-styles + * from the file ./mkdocs/themes/readthedocs/versions.html. + * + * https://github.com/mkdocs/mkdocs/issues/2012 + */ +.rst-current-version span { + flex: 1; + text-align: center; +} diff --git a/docs/getting-started/what-is-openpilot/index.html b/docs/getting-started/what-is-openpilot/index.html new file mode 100644 index 00000000..c7f5d792 --- /dev/null +++ b/docs/getting-started/what-is-openpilot/index.html @@ -0,0 +1,175 @@ + + + + + + + + What is openpilot? - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

What is openpilot?

+

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years. In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

+

How do I use it?

+

openpilot is designed to be used on the comma 3X.

+

How does it work?

+

In short, openpilot uses the car's existing APIs for the built-in ADAS system and simply provides better acceleration, braking, and steering inputs than the stock system.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + Next » + + +
+ + + + + + + + + diff --git a/docs/how-to/connect-to-comma/index.html b/docs/how-to/connect-to-comma/index.html new file mode 100644 index 00000000..eb601554 --- /dev/null +++ b/docs/how-to/connect-to-comma/index.html @@ -0,0 +1,236 @@ + + + + + + + + Connect to a comma 3/3X - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

connect to a comma 3/3X

+

A comma 3/3X is a normal Linux computer that exposes SSH and a serial console.

+

Serial Console

+

On both the comma three and 3X, the serial console is accessible from the main OBD-C port. +Connect the comma 3/3X to your computer with a normal USB C cable, or use a comma serial for steady 12V power.

+

On the comma three, the serial console is exposed through a UART-to-USB chip, and tools/scripts/serial.sh can be used to connect.

+

On the comma 3X, the serial console is accessible through the panda using the panda/tests/som_debug.sh script.

+

SSH

+

In order to SSH into your device, you'll need a GitHub account with SSH keys. See this GitHub article for getting your account setup with SSH keys.

+
    +
  • Enable SSH in your device's settings
    • +
  • Enter your GitHub username in the device's settings
    • +
  • Connect to your device
      +
    • Username: comma
      • +
    • Port: 22
      • +
    +
    • +
+

Here's an example command for connecting to your device using its tethered connection:
+ssh comma@192.168.43.1

+

For doing development work on device, it's recommended to use SSH agent forwarding.

+

Notes

+

The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.

+

The id_rsa key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.

+

ssh.comma.ai proxy

+

With a comma prime subscription, you can SSH into your comma device from anywhere.

+

With the below SSH configuration, you can type ssh comma-{dongleid} to connect to your device through ssh.comma.ai.

+
Host comma-*
+  Port 22
+  User comma
+  IdentityFile ~/.ssh/my_github_key
+  ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+
+Host ssh.comma.ai
+  Hostname ssh.comma.ai
+  Port 22
+  IdentityFile ~/.ssh/my_github_key
+
+

One-off connection

+
ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
+
+

(Replace ffffffffffffffff with your dongle_id)

+

ssh.comma.ai host key fingerprint

+
Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
++---[RSA 4096]----+
+|                 |
+|                 |
+|        .        |
+|         +   o   |
+|        S = + +..|
+|         + @ = .=|
+|        . B @ ++=|
+|         o * B XE|
+|         .o o OB/|
++----[SHA256]-----+
+
+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + Next » + + +
+ + + + + + + + + diff --git a/docs/how-to/replay-a-drive/index.html b/docs/how-to/replay-a-drive/index.html new file mode 100644 index 00000000..9c59fb29 --- /dev/null +++ b/docs/how-to/replay-a-drive/index.html @@ -0,0 +1,168 @@ + + + + + + + + Replay - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Replay

+

Replaying is a critical tool for openpilot development and debugging.

+

Replaying a route

+

Hardware required: none

+

Just run tools/replay/replay --demo.

+

Replaying CAN data

+

Hardware required: jungle and comma 3/3X

+
    +
  1. Connect your PC to a jungle. +2.
    2. +
+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + diff --git a/docs/how-to/turn-the-speed-blue/index.html b/docs/how-to/turn-the-speed-blue/index.html new file mode 100644 index 00000000..b1fac89b --- /dev/null +++ b/docs/how-to/turn-the-speed-blue/index.html @@ -0,0 +1,248 @@ + + + + + + + + Turn the speed blue - openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

Turn the speed blue

+

A getting started guide for openpilot development

+

In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.

+

And if you have a comma 3/3X, we'll deploy the change to your device for testing.

+

1. Setup your development environment

+

Run this to clone openpilot and install all the dependencies:

+
bash <(curl -fsSL openpilot.comma.ai)
+
+

Navigate to openpilot folder & activate a Python virtual environment

+
cd openpilot
+source .venv/bin/activate
+
+

Then, compile openpilot:

+
scons -j8
+
+

2. Run replay

+

We'll run the replay tool with the demo route to get data streaming for testing our UI changes.

+
# in terminal 1
+tools/replay/replay --demo
+
+# in terminal 2
+selfdrive/ui/ui
+
+

The openpilot UI should launch and show a replay of the demo route.

+

If you have your own comma device, you can replace --demo with one of your own routes from comma connect.

+

3. Make the speed blue

+

Search for “mph” with git grep in the ui folder.

+
$ git grep "mph" selfdrive/ui/
+paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+
+

The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.

+
$ git diff
+diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
+index 821d95115..cc996eaa1 100644
+--- a/selfdrive/ui/paint.cc
++++ b/selfdrive/ui/paint.cc
+@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
+   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
+   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
+   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+-  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
+-  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
++  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
++  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
+ }
+
+ static void ui_draw_vision_event(UIState *s) {
+
+

4. Rebuild UI, and admire your work

+
scons -j8 && selfdrive/ui/ui
+
+

+

5. Push your fork to GitHub

+

Click fork on GitHub. Then, push with:

+
git remote rm origin
+git remote add origin git@github.com:<your-github-username>/openpilot.git
+git add .
+git commit -m "Make the speed blue."
+git push --set-upstream origin master
+
+

6. Run your fork on device in your car!

+

Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:

+
installer.comma.ai/<your-github-username>/master
+
+

7. Admire your work IRL

+

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + « Previous + + + Next » + + +
+ + + + + + + + + diff --git a/docs/img/favicon.ico b/docs/img/favicon.ico new file mode 100644 index 00000000..e85006a3 Binary files /dev/null and b/docs/img/favicon.ico differ diff --git a/docs/index.html b/docs/index.html new file mode 100644 index 00000000..ffd8f851 --- /dev/null +++ b/docs/index.html @@ -0,0 +1,168 @@ + + + + + + + + openpilot docs + + + + + + + + + + + + + +
+ + +
+ +
+
+ +
+
+
+
+ +

What is openpilot?

+

openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years. In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

+

How do I use it?

+

openpilot is designed to be used on the comma 3X.

+

How does it work?

+

In short, openpilot uses the car's existing APIs for the built-in ADAS system and simply provides better acceleration, braking, and steering inputs than the stock system.

+ +
+
+ +
+
+ +
+ +
+ +
+ + + + GitHub + + + + + +
+ + + + + + + + + + + diff --git a/docs/js/html5shiv.min.js b/docs/js/html5shiv.min.js new file mode 100644 index 00000000..1a01c94b --- /dev/null +++ b/docs/js/html5shiv.min.js @@ -0,0 +1,4 @@ +/** +* @preserve HTML5 Shiv 3.7.3 | @afarkas @jdalton @jon_neal @rem | MIT/GPL2 Licensed +*/ +!function(a,b){function c(a,b){var c=a.createElement("p"),d=a.getElementsByTagName("head")[0]||a.documentElement;return c.innerHTML="x",d.insertBefore(c.lastChild,d.firstChild)}function d(){var a=t.elements;return"string"==typeof a?a.split(" "):a}function e(a,b){var c=t.elements;"string"!=typeof c&&(c=c.join(" ")),"string"!=typeof a&&(a=a.join(" ")),t.elements=c+" "+a,j(b)}function f(a){var b=s[a[q]];return b||(b={},r++,a[q]=r,s[r]=b),b}function g(a,c,d){if(c||(c=b),l)return c.createElement(a);d||(d=f(c));var e;return e=d.cache[a]?d.cache[a].cloneNode():p.test(a)?(d.cache[a]=d.createElem(a)).cloneNode():d.createElem(a),!e.canHaveChildren||o.test(a)||e.tagUrn?e:d.frag.appendChild(e)}function 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+ + + + + + + + + diff --git a/docs/search/lunr.js b/docs/search/lunr.js new file mode 100644 index 00000000..aca0a167 --- /dev/null +++ b/docs/search/lunr.js @@ -0,0 +1,3475 @@ +/** + * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 2.3.9 + * Copyright (C) 2020 Oliver Nightingale + * @license MIT + */ + +;(function(){ + +/** + * A convenience function for configuring and constructing + * a new lunr Index. + * + * A lunr.Builder instance is created and the pipeline setup + * with a trimmer, stop word filter and stemmer. + * + * This builder object is yielded to the configuration function + * that is passed as a parameter, allowing the list of fields + * and other builder parameters to be customised. + * + * All documents _must_ be added within the passed config function. + * + * @example + * var idx = lunr(function () { + * this.field('title') + * this.field('body') + * this.ref('id') + * + * documents.forEach(function (doc) { + * this.add(doc) + * }, this) + * }) + * + * @see {@link lunr.Builder} + * @see {@link lunr.Pipeline} + * @see {@link lunr.trimmer} + * @see {@link lunr.stopWordFilter} + * @see {@link lunr.stemmer} + * @namespace {function} lunr + */ +var lunr = function (config) { + var builder = new lunr.Builder + + builder.pipeline.add( + lunr.trimmer, + lunr.stopWordFilter, + lunr.stemmer + ) + + builder.searchPipeline.add( + lunr.stemmer + ) + + config.call(builder, builder) + return builder.build() +} + +lunr.version = "2.3.9" +/*! + * lunr.utils + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * A namespace containing utils for the rest of the lunr library + * @namespace lunr.utils + */ +lunr.utils = {} + +/** + * Print a warning message to the console. + * + * @param {String} message The message to be printed. + * @memberOf lunr.utils + * @function + */ +lunr.utils.warn = (function (global) { + /* eslint-disable no-console */ + return function (message) { + if (global.console && console.warn) { + console.warn(message) + } + } + /* eslint-enable no-console */ +})(this) + +/** + * Convert an object to a string. + * + * In the case of `null` and `undefined` the function returns + * the empty string, in all other cases the result of calling + * `toString` on the passed object is returned. + * + * @param {Any} obj The object to convert to a string. + * @return {String} string representation of the passed object. + * @memberOf lunr.utils + */ +lunr.utils.asString = function (obj) { + if (obj === void 0 || obj === null) { + return "" + } else { + return obj.toString() + } +} + +/** + * Clones an object. + * + * Will create a copy of an existing object such that any mutations + * on the copy cannot affect the original. + * + * Only shallow objects are supported, passing a nested object to this + * function will cause a TypeError. + * + * Objects with primitives, and arrays of primitives are supported. + * + * @param {Object} obj The object to clone. + * @return {Object} a clone of the passed object. + * @throws {TypeError} when a nested object is passed. + * @memberOf Utils + */ +lunr.utils.clone = function (obj) { + if (obj === null || obj === undefined) { + return obj + } + + var clone = Object.create(null), + keys = Object.keys(obj) + + for (var i = 0; i < keys.length; i++) { + var key = keys[i], + val = obj[key] + + if (Array.isArray(val)) { + clone[key] = val.slice() + continue + } + + if (typeof val === 'string' || + typeof val === 'number' || + typeof val === 'boolean') { + clone[key] = val + continue + } + + throw new TypeError("clone is not deep and does not support nested objects") + } + + return clone +} +lunr.FieldRef = function (docRef, fieldName, stringValue) { + this.docRef = docRef + this.fieldName = fieldName + this._stringValue = stringValue +} + +lunr.FieldRef.joiner = "/" + +lunr.FieldRef.fromString = function (s) { + var n = s.indexOf(lunr.FieldRef.joiner) + + if (n === -1) { + throw "malformed field ref string" + } + + var fieldRef = s.slice(0, n), + docRef = s.slice(n + 1) + + return new lunr.FieldRef (docRef, fieldRef, s) +} + +lunr.FieldRef.prototype.toString = function () { + if (this._stringValue == undefined) { + this._stringValue = this.fieldName + lunr.FieldRef.joiner + this.docRef + } + + return this._stringValue +} +/*! + * lunr.Set + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * A lunr set. + * + * @constructor + */ +lunr.Set = function (elements) { + this.elements = Object.create(null) + + if (elements) { + this.length = elements.length + + for (var i = 0; i < this.length; i++) { + this.elements[elements[i]] = true + } + } else { + this.length = 0 + } +} + +/** + * A complete set that contains all elements. + * + * @static + * @readonly + * @type {lunr.Set} + */ +lunr.Set.complete = { + intersect: function (other) { + return other + }, + + union: function () { + return this + }, + + contains: function () { + return true + } +} + +/** + * An empty set that contains no elements. + * + * @static + * @readonly + * @type {lunr.Set} + */ +lunr.Set.empty = { + intersect: function () { + return this + }, + + union: function (other) { + return other + }, + + contains: function () { + return false + } +} + +/** + * Returns true if this set contains the specified object. + * + * @param {object} object - Object whose presence in this set is to be tested. + * @returns {boolean} - True if this set contains the specified object. + */ +lunr.Set.prototype.contains = function (object) { + return !!this.elements[object] +} + +/** + * Returns a new set containing only the elements that are present in both + * this set and the specified set. + * + * @param {lunr.Set} other - set to intersect with this set. + * @returns {lunr.Set} a new set that is the intersection of this and the specified set. + */ + +lunr.Set.prototype.intersect = function (other) { + var a, b, elements, intersection = [] + + if (other === lunr.Set.complete) { + return this + } + + if (other === lunr.Set.empty) { + return other + } + + if (this.length < other.length) { + a = this + b = other + } else { + a = other + b = this + } + + elements = Object.keys(a.elements) + + for (var i = 0; i < elements.length; i++) { + var element = elements[i] + if (element in b.elements) { + intersection.push(element) + } + } + + return new lunr.Set (intersection) +} + +/** + * Returns a new set combining the elements of this and the specified set. + * + * @param {lunr.Set} other - set to union with this set. + * @return {lunr.Set} a new set that is the union of this and the specified set. + */ + +lunr.Set.prototype.union = function (other) { + if (other === lunr.Set.complete) { + return lunr.Set.complete + } + + if (other === lunr.Set.empty) { + return this + } + + return new lunr.Set(Object.keys(this.elements).concat(Object.keys(other.elements))) +} +/** + * A function to calculate the inverse document frequency for + * a posting. This is shared between the builder and the index + * + * @private + * @param {object} posting - The posting for a given term + * @param {number} documentCount - The total number of documents. + */ +lunr.idf = function (posting, documentCount) { + var documentsWithTerm = 0 + + for (var fieldName in posting) { + if (fieldName == '_index') continue // Ignore the term index, its not a field + documentsWithTerm += Object.keys(posting[fieldName]).length + } + + var x = (documentCount - documentsWithTerm + 0.5) / (documentsWithTerm + 0.5) + + return Math.log(1 + Math.abs(x)) +} + +/** + * A token wraps a string representation of a token + * as it is passed through the text processing pipeline. + * + * @constructor + * @param {string} [str=''] - The string token being wrapped. + * @param {object} [metadata={}] - Metadata associated with this token. + */ +lunr.Token = function (str, metadata) { + this.str = str || "" + this.metadata = metadata || {} +} + +/** + * Returns the token string that is being wrapped by this object. + * + * @returns {string} + */ +lunr.Token.prototype.toString = function () { + return this.str +} + +/** + * A token update function is used when updating or optionally + * when cloning a token. + * + * @callback lunr.Token~updateFunction + * @param {string} str - The string representation of the token. + * @param {Object} metadata - All metadata associated with this token. + */ + +/** + * Applies the given function to the wrapped string token. + * + * @example + * token.update(function (str, metadata) { + * return str.toUpperCase() + * }) + * + * @param {lunr.Token~updateFunction} fn - A function to apply to the token string. + * @returns {lunr.Token} + */ +lunr.Token.prototype.update = function (fn) { + this.str = fn(this.str, this.metadata) + return this +} + +/** + * Creates a clone of this token. Optionally a function can be + * applied to the cloned token. + * + * @param {lunr.Token~updateFunction} [fn] - An optional function to apply to the cloned token. + * @returns {lunr.Token} + */ +lunr.Token.prototype.clone = function (fn) { + fn = fn || function (s) { return s } + return new lunr.Token (fn(this.str, this.metadata), this.metadata) +} +/*! + * lunr.tokenizer + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * A function for splitting a string into tokens ready to be inserted into + * the search index. Uses `lunr.tokenizer.separator` to split strings, change + * the value of this property to change how strings are split into tokens. + * + * This tokenizer will convert its parameter to a string by calling `toString` and + * then will split this string on the character in `lunr.tokenizer.separator`. + * Arrays will have their elements converted to strings and wrapped in a lunr.Token. + * + * Optional metadata can be passed to the tokenizer, this metadata will be cloned and + * added as metadata to every token that is created from the object to be tokenized. + * + * @static + * @param {?(string|object|object[])} obj - The object to convert into tokens + * @param {?object} metadata - Optional metadata to associate with every token + * @returns {lunr.Token[]} + * @see {@link lunr.Pipeline} + */ +lunr.tokenizer = function (obj, metadata) { + if (obj == null || obj == undefined) { + return [] + } + + if (Array.isArray(obj)) { + return obj.map(function (t) { + return new lunr.Token( + lunr.utils.asString(t).toLowerCase(), + lunr.utils.clone(metadata) + ) + }) + } + + var str = obj.toString().toLowerCase(), + len = str.length, + tokens = [] + + for (var sliceEnd = 0, sliceStart = 0; sliceEnd <= len; sliceEnd++) { + var char = str.charAt(sliceEnd), + sliceLength = sliceEnd - sliceStart + + if ((char.match(lunr.tokenizer.separator) || sliceEnd == len)) { + + if (sliceLength > 0) { + var tokenMetadata = lunr.utils.clone(metadata) || {} + tokenMetadata["position"] = [sliceStart, sliceLength] + tokenMetadata["index"] = tokens.length + + tokens.push( + new lunr.Token ( + str.slice(sliceStart, sliceEnd), + tokenMetadata + ) + ) + } + + sliceStart = sliceEnd + 1 + } + + } + + return tokens +} + +/** + * The separator used to split a string into tokens. Override this property to change the behaviour of + * `lunr.tokenizer` behaviour when tokenizing strings. By default this splits on whitespace and hyphens. + * + * @static + * @see lunr.tokenizer + */ +lunr.tokenizer.separator = /[\s\-]+/ +/*! + * lunr.Pipeline + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * lunr.Pipelines maintain an ordered list of functions to be applied to all + * tokens in documents entering the search index and queries being ran against + * the index. + * + * An instance of lunr.Index created with the lunr shortcut will contain a + * pipeline with a stop word filter and an English language stemmer. Extra + * functions can be added before or after either of these functions or these + * default functions can be removed. + * + * When run the pipeline will call each function in turn, passing a token, the + * index of that token in the original list of all tokens and finally a list of + * all the original tokens. + * + * The output of functions in the pipeline will be passed to the next function + * in the pipeline. To exclude a token from entering the index the function + * should return undefined, the rest of the pipeline will not be called with + * this token. + * + * For serialisation of pipelines to work, all functions used in an instance of + * a pipeline should be registered with lunr.Pipeline. Registered functions can + * then be loaded. If trying to load a serialised pipeline that uses functions + * that are not registered an error will be thrown. + * + * If not planning on serialising the pipeline then registering pipeline functions + * is not necessary. + * + * @constructor + */ +lunr.Pipeline = function () { + this._stack = [] +} + +lunr.Pipeline.registeredFunctions = Object.create(null) + +/** + * A pipeline function maps lunr.Token to lunr.Token. A lunr.Token contains the token + * string as well as all known metadata. A pipeline function can mutate the token string + * or mutate (or add) metadata for a given token. + * + * A pipeline function can indicate that the passed token should be discarded by returning + * null, undefined or an empty string. This token will not be passed to any downstream pipeline + * functions and will not be added to the index. + * + * Multiple tokens can be returned by returning an array of tokens. Each token will be passed + * to any downstream pipeline functions and all will returned tokens will be added to the index. + * + * Any number of pipeline functions may be chained together using a lunr.Pipeline. + * + * @interface lunr.PipelineFunction + * @param {lunr.Token} token - A token from the document being processed. + * @param {number} i - The index of this token in the complete list of tokens for this document/field. + * @param {lunr.Token[]} tokens - All tokens for this document/field. + * @returns {(?lunr.Token|lunr.Token[])} + */ + +/** + * Register a function with the pipeline. + * + * Functions that are used in the pipeline should be registered if the pipeline + * needs to be serialised, or a serialised pipeline needs to be loaded. + * + * Registering a function does not add it to a pipeline, functions must still be + * added to instances of the pipeline for them to be used when running a pipeline. + * + * @param {lunr.PipelineFunction} fn - The function to check for. + * @param {String} label - The label to register this function with + */ +lunr.Pipeline.registerFunction = function (fn, label) { + if (label in this.registeredFunctions) { + lunr.utils.warn('Overwriting existing registered function: ' + label) + } + + fn.label = label + lunr.Pipeline.registeredFunctions[fn.label] = fn +} + +/** + * Warns if the function is not registered as a Pipeline function. + * + * @param {lunr.PipelineFunction} fn - The function to check for. + * @private + */ +lunr.Pipeline.warnIfFunctionNotRegistered = function (fn) { + var isRegistered = fn.label && (fn.label in this.registeredFunctions) + + if (!isRegistered) { + lunr.utils.warn('Function is not registered with pipeline. This may cause problems when serialising the index.\n', fn) + } +} + +/** + * Loads a previously serialised pipeline. + * + * All functions to be loaded must already be registered with lunr.Pipeline. + * If any function from the serialised data has not been registered then an + * error will be thrown. + * + * @param {Object} serialised - The serialised pipeline to load. + * @returns {lunr.Pipeline} + */ +lunr.Pipeline.load = function (serialised) { + var pipeline = new lunr.Pipeline + + serialised.forEach(function (fnName) { + var fn = lunr.Pipeline.registeredFunctions[fnName] + + if (fn) { + pipeline.add(fn) + } else { + throw new Error('Cannot load unregistered function: ' + fnName) + } + }) + + return pipeline +} + +/** + * Adds new functions to the end of the pipeline. + * + * Logs a warning if the function has not been registered. + * + * @param {lunr.PipelineFunction[]} functions - Any number of functions to add to the pipeline. + */ +lunr.Pipeline.prototype.add = function () { + var fns = Array.prototype.slice.call(arguments) + + fns.forEach(function (fn) { + lunr.Pipeline.warnIfFunctionNotRegistered(fn) + this._stack.push(fn) + }, this) +} + +/** + * Adds a single function after a function that already exists in the + * pipeline. + * + * Logs a warning if the function has not been registered. + * + * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline. + * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline. + */ +lunr.Pipeline.prototype.after = function (existingFn, newFn) { + lunr.Pipeline.warnIfFunctionNotRegistered(newFn) + + var pos = this._stack.indexOf(existingFn) + if (pos == -1) { + throw new Error('Cannot find existingFn') + } + + pos = pos + 1 + this._stack.splice(pos, 0, newFn) +} + +/** + * Adds a single function before a function that already exists in the + * pipeline. + * + * Logs a warning if the function has not been registered. + * + * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline. + * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline. + */ +lunr.Pipeline.prototype.before = function (existingFn, newFn) { + lunr.Pipeline.warnIfFunctionNotRegistered(newFn) + + var pos = this._stack.indexOf(existingFn) + if (pos == -1) { + throw new Error('Cannot find existingFn') + } + + this._stack.splice(pos, 0, newFn) +} + +/** + * Removes a function from the pipeline. + * + * @param {lunr.PipelineFunction} fn The function to remove from the pipeline. + */ +lunr.Pipeline.prototype.remove = function (fn) { + var pos = this._stack.indexOf(fn) + if (pos == -1) { + return + } + + this._stack.splice(pos, 1) +} + +/** + * Runs the current list of functions that make up the pipeline against the + * passed tokens. + * + * @param {Array} tokens The tokens to run through the pipeline. + * @returns {Array} + */ +lunr.Pipeline.prototype.run = function (tokens) { + var stackLength = this._stack.length + + for (var i = 0; i < stackLength; i++) { + var fn = this._stack[i] + var memo = [] + + for (var j = 0; j < tokens.length; j++) { + var result = fn(tokens[j], j, tokens) + + if (result === null || result === void 0 || result === '') continue + + if (Array.isArray(result)) { + for (var k = 0; k < result.length; k++) { + memo.push(result[k]) + } + } else { + memo.push(result) + } + } + + tokens = memo + } + + return tokens +} + +/** + * Convenience method for passing a string through a pipeline and getting + * strings out. This method takes care of wrapping the passed string in a + * token and mapping the resulting tokens back to strings. + * + * @param {string} str - The string to pass through the pipeline. + * @param {?object} metadata - Optional metadata to associate with the token + * passed to the pipeline. + * @returns {string[]} + */ +lunr.Pipeline.prototype.runString = function (str, metadata) { + var token = new lunr.Token (str, metadata) + + return this.run([token]).map(function (t) { + return t.toString() + }) +} + +/** + * Resets the pipeline by removing any existing processors. + * + */ +lunr.Pipeline.prototype.reset = function () { + this._stack = [] +} + +/** + * Returns a representation of the pipeline ready for serialisation. + * + * Logs a warning if the function has not been registered. + * + * @returns {Array} + */ +lunr.Pipeline.prototype.toJSON = function () { + return this._stack.map(function (fn) { + lunr.Pipeline.warnIfFunctionNotRegistered(fn) + + return fn.label + }) +} +/*! + * lunr.Vector + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * A vector is used to construct the vector space of documents and queries. These + * vectors support operations to determine the similarity between two documents or + * a document and a query. + * + * Normally no parameters are required for initializing a vector, but in the case of + * loading a previously dumped vector the raw elements can be provided to the constructor. + * + * For performance reasons vectors are implemented with a flat array, where an elements + * index is immediately followed by its value. E.g. [index, value, index, value]. This + * allows the underlying array to be as sparse as possible and still offer decent + * performance when being used for vector calculations. + * + * @constructor + * @param {Number[]} [elements] - The flat list of element index and element value pairs. + */ +lunr.Vector = function (elements) { + this._magnitude = 0 + this.elements = elements || [] +} + + +/** + * Calculates the position within the vector to insert a given index. + * + * This is used internally by insert and upsert. If there are duplicate indexes then + * the position is returned as if the value for that index were to be updated, but it + * is the callers responsibility to check whether there is a duplicate at that index + * + * @param {Number} insertIdx - The index at which the element should be inserted. + * @returns {Number} + */ +lunr.Vector.prototype.positionForIndex = function (index) { + // For an empty vector the tuple can be inserted at the beginning + if (this.elements.length == 0) { + return 0 + } + + var start = 0, + end = this.elements.length / 2, + sliceLength = end - start, + pivotPoint = Math.floor(sliceLength / 2), + pivotIndex = this.elements[pivotPoint * 2] + + while (sliceLength > 1) { + if (pivotIndex < index) { + start = pivotPoint + } + + if (pivotIndex > index) { + end = pivotPoint + } + + if (pivotIndex == index) { + break + } + + sliceLength = end - start + pivotPoint = start + Math.floor(sliceLength / 2) + pivotIndex = this.elements[pivotPoint * 2] + } + + if (pivotIndex == index) { + return pivotPoint * 2 + } + + if (pivotIndex > index) { + return pivotPoint * 2 + } + + if (pivotIndex < index) { + return (pivotPoint + 1) * 2 + } +} + +/** + * Inserts an element at an index within the vector. + * + * Does not allow duplicates, will throw an error if there is already an entry + * for this index. + * + * @param {Number} insertIdx - The index at which the element should be inserted. + * @param {Number} val - The value to be inserted into the vector. + */ +lunr.Vector.prototype.insert = function (insertIdx, val) { + this.upsert(insertIdx, val, function () { + throw "duplicate index" + }) +} + +/** + * Inserts or updates an existing index within the vector. + * + * @param {Number} insertIdx - The index at which the element should be inserted. + * @param {Number} val - The value to be inserted into the vector. + * @param {function} fn - A function that is called for updates, the existing value and the + * requested value are passed as arguments + */ +lunr.Vector.prototype.upsert = function (insertIdx, val, fn) { + this._magnitude = 0 + var position = this.positionForIndex(insertIdx) + + if (this.elements[position] == insertIdx) { + this.elements[position + 1] = fn(this.elements[position + 1], val) + } else { + this.elements.splice(position, 0, insertIdx, val) + } +} + +/** + * Calculates the magnitude of this vector. + * + * @returns {Number} + */ +lunr.Vector.prototype.magnitude = function () { + if (this._magnitude) return this._magnitude + + var sumOfSquares = 0, + elementsLength = this.elements.length + + for (var i = 1; i < elementsLength; i += 2) { + var val = this.elements[i] + sumOfSquares += val * val + } + + return this._magnitude = Math.sqrt(sumOfSquares) +} + +/** + * Calculates the dot product of this vector and another vector. + * + * @param {lunr.Vector} otherVector - The vector to compute the dot product with. + * @returns {Number} + */ +lunr.Vector.prototype.dot = function (otherVector) { + var dotProduct = 0, + a = this.elements, b = otherVector.elements, + aLen = a.length, bLen = b.length, + aVal = 0, bVal = 0, + i = 0, j = 0 + + while (i < aLen && j < bLen) { + aVal = a[i], bVal = b[j] + if (aVal < bVal) { + i += 2 + } else if (aVal > bVal) { + j += 2 + } else if (aVal == bVal) { + dotProduct += a[i + 1] * b[j + 1] + i += 2 + j += 2 + } + } + + return dotProduct +} + +/** + * Calculates the similarity between this vector and another vector. + * + * @param {lunr.Vector} otherVector - The other vector to calculate the + * similarity with. + * @returns {Number} + */ +lunr.Vector.prototype.similarity = function (otherVector) { + return this.dot(otherVector) / this.magnitude() || 0 +} + +/** + * Converts the vector to an array of the elements within the vector. + * + * @returns {Number[]} + */ +lunr.Vector.prototype.toArray = function () { + var output = new Array (this.elements.length / 2) + + for (var i = 1, j = 0; i < this.elements.length; i += 2, j++) { + output[j] = this.elements[i] + } + + return output +} + +/** + * A JSON serializable representation of the vector. + * + * @returns {Number[]} + */ +lunr.Vector.prototype.toJSON = function () { + return this.elements +} +/* eslint-disable */ +/*! + * lunr.stemmer + * Copyright (C) 2020 Oliver Nightingale + * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt + */ + +/** + * lunr.stemmer is an english language stemmer, this is a JavaScript + * implementation of the PorterStemmer taken from http://tartarus.org/~martin + * + * @static + * @implements {lunr.PipelineFunction} + * @param {lunr.Token} token - The string to stem + * @returns {lunr.Token} + * @see {@link lunr.Pipeline} + * @function + */ +lunr.stemmer = (function(){ + var step2list = { + "ational" : "ate", + "tional" : "tion", + "enci" : "ence", + "anci" : "ance", + "izer" : "ize", + "bli" : "ble", + "alli" : "al", + "entli" : "ent", + "eli" : "e", + "ousli" : "ous", + "ization" : "ize", + "ation" : "ate", + "ator" : "ate", + "alism" : "al", + "iveness" : "ive", + "fulness" : "ful", + "ousness" : "ous", + "aliti" : "al", + "iviti" : "ive", + "biliti" : "ble", + "logi" : "log" + }, + + step3list = { + "icate" : "ic", + "ative" : "", + "alize" : "al", + "iciti" : "ic", + "ical" : "ic", + "ful" : "", + "ness" : "" + }, + + c = "[^aeiou]", // consonant + v = "[aeiouy]", // vowel + C = c + "[^aeiouy]*", // consonant sequence + V = v + "[aeiou]*", // vowel sequence + + mgr0 = "^(" + C + ")?" + V + C, // [C]VC... is m>0 + meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$", // [C]VC[V] is m=1 + mgr1 = "^(" + C + ")?" + V + C + V + C, // [C]VCVC... is m>1 + s_v = "^(" + C + ")?" + v; // vowel in stem + + var re_mgr0 = new RegExp(mgr0); + var re_mgr1 = new RegExp(mgr1); + var re_meq1 = new RegExp(meq1); + var re_s_v = new RegExp(s_v); + + var re_1a = /^(.+?)(ss|i)es$/; + var re2_1a = /^(.+?)([^s])s$/; + var re_1b = /^(.+?)eed$/; + var re2_1b = /^(.+?)(ed|ing)$/; + var re_1b_2 = /.$/; + var re2_1b_2 = /(at|bl|iz)$/; + var re3_1b_2 = new RegExp("([^aeiouylsz])\\1$"); + var re4_1b_2 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + + var re_1c = /^(.+?[^aeiou])y$/; + var re_2 = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/; + + var re_3 = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/; + + var re_4 = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/; + var re2_4 = /^(.+?)(s|t)(ion)$/; + + var re_5 = /^(.+?)e$/; + var re_5_1 = /ll$/; + var re3_5 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + + var porterStemmer = function porterStemmer(w) { + var stem, + suffix, + firstch, + re, + re2, + re3, + re4; + + if (w.length < 3) { return w; } + + firstch = w.substr(0,1); + if (firstch == "y") { + w = firstch.toUpperCase() + w.substr(1); + } + + // Step 1a + re = re_1a + re2 = re2_1a; + + if (re.test(w)) { w = w.replace(re,"$1$2"); } + else if (re2.test(w)) { w = w.replace(re2,"$1$2"); } + + // Step 1b + re = re_1b; + re2 = re2_1b; + if (re.test(w)) { + var fp = re.exec(w); + re = re_mgr0; + if (re.test(fp[1])) { + re = re_1b_2; + w = w.replace(re,""); + } + } else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1]; + re2 = re_s_v; + if (re2.test(stem)) { + w = stem; + re2 = re2_1b_2; + re3 = re3_1b_2; + re4 = re4_1b_2; + if (re2.test(w)) { w = w + "e"; } + else if (re3.test(w)) { re = re_1b_2; w = w.replace(re,""); } + else if (re4.test(w)) { w = w + "e"; } + } + } + + // Step 1c - replace suffix y or Y by i if preceded by a non-vowel which is not the first letter of the word (so cry -> cri, by -> by, say -> say) + re = re_1c; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + w = stem + "i"; + } + + // Step 2 + re = re_2; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = re_mgr0; + if (re.test(stem)) { + w = stem + step2list[suffix]; + } + } + + // Step 3 + re = re_3; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = re_mgr0; + if (re.test(stem)) { + w = stem + step3list[suffix]; + } + } + + // Step 4 + re = re_4; + re2 = re2_4; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = re_mgr1; + if (re.test(stem)) { + w = stem; + } + } else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1] + fp[2]; + re2 = re_mgr1; + if (re2.test(stem)) { + w = stem; + } + } + + // Step 5 + re = re_5; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = re_mgr1; + re2 = re_meq1; + re3 = re3_5; + if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) { + w = stem; + } + } + + re = re_5_1; + re2 = re_mgr1; + if (re.test(w) && re2.test(w)) { + re = re_1b_2; + w = w.replace(re,""); + } + + // and turn initial Y back to y + + if (firstch == "y") { + w = firstch.toLowerCase() + w.substr(1); + } + + return w; + }; + + return function (token) { + return token.update(porterStemmer); + } +})(); + +lunr.Pipeline.registerFunction(lunr.stemmer, 'stemmer') +/*! + * lunr.stopWordFilter + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * lunr.generateStopWordFilter builds a stopWordFilter function from the provided + * list of stop words. + * + * The built in lunr.stopWordFilter is built using this generator and can be used + * to generate custom stopWordFilters for applications or non English languages. + * + * @function + * @param {Array} token The token to pass through the filter + * @returns {lunr.PipelineFunction} + * @see lunr.Pipeline + * @see lunr.stopWordFilter + */ +lunr.generateStopWordFilter = function (stopWords) { + var words = stopWords.reduce(function (memo, stopWord) { + memo[stopWord] = stopWord + return memo + }, {}) + + return function (token) { + if (token && words[token.toString()] !== token.toString()) return token + } +} + +/** + * lunr.stopWordFilter is an English language stop word list filter, any words + * contained in the list will not be passed through the filter. + * + * This is intended to be used in the Pipeline. If the token does not pass the + * filter then undefined will be returned. + * + * @function + * @implements {lunr.PipelineFunction} + * @params {lunr.Token} token - A token to check for being a stop word. + * @returns {lunr.Token} + * @see {@link lunr.Pipeline} + */ +lunr.stopWordFilter = lunr.generateStopWordFilter([ + 'a', + 'able', + 'about', + 'across', + 'after', + 'all', + 'almost', + 'also', + 'am', + 'among', + 'an', + 'and', + 'any', + 'are', + 'as', + 'at', + 'be', + 'because', + 'been', + 'but', + 'by', + 'can', + 'cannot', + 'could', + 'dear', + 'did', + 'do', + 'does', + 'either', + 'else', + 'ever', + 'every', + 'for', + 'from', + 'get', + 'got', + 'had', + 'has', + 'have', + 'he', + 'her', + 'hers', + 'him', + 'his', + 'how', + 'however', + 'i', + 'if', + 'in', + 'into', + 'is', + 'it', + 'its', + 'just', + 'least', + 'let', + 'like', + 'likely', + 'may', + 'me', + 'might', + 'most', + 'must', + 'my', + 'neither', + 'no', + 'nor', + 'not', + 'of', + 'off', + 'often', + 'on', + 'only', + 'or', + 'other', + 'our', + 'own', + 'rather', + 'said', + 'say', + 'says', + 'she', + 'should', + 'since', + 'so', + 'some', + 'than', + 'that', + 'the', + 'their', + 'them', + 'then', + 'there', + 'these', + 'they', + 'this', + 'tis', + 'to', + 'too', + 'twas', + 'us', + 'wants', + 'was', + 'we', + 'were', + 'what', + 'when', + 'where', + 'which', + 'while', + 'who', + 'whom', + 'why', + 'will', + 'with', + 'would', + 'yet', + 'you', + 'your' +]) + +lunr.Pipeline.registerFunction(lunr.stopWordFilter, 'stopWordFilter') +/*! + * lunr.trimmer + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * lunr.trimmer is a pipeline function for trimming non word + * characters from the beginning and end of tokens before they + * enter the index. + * + * This implementation may not work correctly for non latin + * characters and should either be removed or adapted for use + * with languages with non-latin characters. + * + * @static + * @implements {lunr.PipelineFunction} + * @param {lunr.Token} token The token to pass through the filter + * @returns {lunr.Token} + * @see lunr.Pipeline + */ +lunr.trimmer = function (token) { + return token.update(function (s) { + return s.replace(/^\W+/, '').replace(/\W+$/, '') + }) +} + +lunr.Pipeline.registerFunction(lunr.trimmer, 'trimmer') +/*! + * lunr.TokenSet + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * A token set is used to store the unique list of all tokens + * within an index. Token sets are also used to represent an + * incoming query to the index, this query token set and index + * token set are then intersected to find which tokens to look + * up in the inverted index. + * + * A token set can hold multiple tokens, as in the case of the + * index token set, or it can hold a single token as in the + * case of a simple query token set. + * + * Additionally token sets are used to perform wildcard matching. + * Leading, contained and trailing wildcards are supported, and + * from this edit distance matching can also be provided. + * + * Token sets are implemented as a minimal finite state automata, + * where both common prefixes and suffixes are shared between tokens. + * This helps to reduce the space used for storing the token set. + * + * @constructor + */ +lunr.TokenSet = function () { + this.final = false + this.edges = {} + this.id = lunr.TokenSet._nextId + lunr.TokenSet._nextId += 1 +} + +/** + * Keeps track of the next, auto increment, identifier to assign + * to a new tokenSet. + * + * TokenSets require a unique identifier to be correctly minimised. + * + * @private + */ +lunr.TokenSet._nextId = 1 + +/** + * Creates a TokenSet instance from the given sorted array of words. + * + * @param {String[]} arr - A sorted array of strings to create the set from. + * @returns {lunr.TokenSet} + * @throws Will throw an error if the input array is not sorted. + */ +lunr.TokenSet.fromArray = function (arr) { + var builder = new lunr.TokenSet.Builder + + for (var i = 0, len = arr.length; i < len; i++) { + builder.insert(arr[i]) + } + + builder.finish() + return builder.root +} + +/** + * Creates a token set from a query clause. + * + * @private + * @param {Object} clause - A single clause from lunr.Query. + * @param {string} clause.term - The query clause term. + * @param {number} [clause.editDistance] - The optional edit distance for the term. + * @returns {lunr.TokenSet} + */ +lunr.TokenSet.fromClause = function (clause) { + if ('editDistance' in clause) { + return lunr.TokenSet.fromFuzzyString(clause.term, clause.editDistance) + } else { + return lunr.TokenSet.fromString(clause.term) + } +} + +/** + * Creates a token set representing a single string with a specified + * edit distance. + * + * Insertions, deletions, substitutions and transpositions are each + * treated as an edit distance of 1. + * + * Increasing the allowed edit distance will have a dramatic impact + * on the performance of both creating and intersecting these TokenSets. + * It is advised to keep the edit distance less than 3. + * + * @param {string} str - The string to create the token set from. + * @param {number} editDistance - The allowed edit distance to match. + * @returns {lunr.Vector} + */ +lunr.TokenSet.fromFuzzyString = function (str, editDistance) { + var root = new lunr.TokenSet + + var stack = [{ + node: root, + editsRemaining: editDistance, + str: str + }] + + while (stack.length) { + var frame = stack.pop() + + // no edit + if (frame.str.length > 0) { + var char = frame.str.charAt(0), + noEditNode + + if (char in frame.node.edges) { + noEditNode = frame.node.edges[char] + } else { + noEditNode = new lunr.TokenSet + frame.node.edges[char] = noEditNode + } + + if (frame.str.length == 1) { + noEditNode.final = true + } + + stack.push({ + node: noEditNode, + editsRemaining: frame.editsRemaining, + str: frame.str.slice(1) + }) + } + + if (frame.editsRemaining == 0) { + continue + } + + // insertion + if ("*" in frame.node.edges) { + var insertionNode = frame.node.edges["*"] + } else { + var insertionNode = new lunr.TokenSet + frame.node.edges["*"] = insertionNode + } + + if (frame.str.length == 0) { + insertionNode.final = true + } + + stack.push({ + node: insertionNode, + editsRemaining: frame.editsRemaining - 1, + str: frame.str + }) + + // deletion + // can only do a deletion if we have enough edits remaining + // and if there are characters left to delete in the string + if (frame.str.length > 1) { + stack.push({ + node: frame.node, + editsRemaining: frame.editsRemaining - 1, + str: frame.str.slice(1) + }) + } + + // deletion + // just removing the last character from the str + if (frame.str.length == 1) { + frame.node.final = true + } + + // substitution + // can only do a substitution if we have enough edits remaining + // and if there are characters left to substitute + if (frame.str.length >= 1) { + if ("*" in frame.node.edges) { + var substitutionNode = frame.node.edges["*"] + } else { + var substitutionNode = new lunr.TokenSet + frame.node.edges["*"] = substitutionNode + } + + if (frame.str.length == 1) { + substitutionNode.final = true + } + + stack.push({ + node: substitutionNode, + editsRemaining: frame.editsRemaining - 1, + str: frame.str.slice(1) + }) + } + + // transposition + // can only do a transposition if there are edits remaining + // and there are enough characters to transpose + if (frame.str.length > 1) { + var charA = frame.str.charAt(0), + charB = frame.str.charAt(1), + transposeNode + + if (charB in frame.node.edges) { + transposeNode = frame.node.edges[charB] + } else { + transposeNode = new lunr.TokenSet + frame.node.edges[charB] = transposeNode + } + + if (frame.str.length == 1) { + transposeNode.final = true + } + + stack.push({ + node: transposeNode, + editsRemaining: frame.editsRemaining - 1, + str: charA + frame.str.slice(2) + }) + } + } + + return root +} + +/** + * Creates a TokenSet from a string. + * + * The string may contain one or more wildcard characters (*) + * that will allow wildcard matching when intersecting with + * another TokenSet. + * + * @param {string} str - The string to create a TokenSet from. + * @returns {lunr.TokenSet} + */ +lunr.TokenSet.fromString = function (str) { + var node = new lunr.TokenSet, + root = node + + /* + * Iterates through all characters within the passed string + * appending a node for each character. + * + * When a wildcard character is found then a self + * referencing edge is introduced to continually match + * any number of any characters. + */ + for (var i = 0, len = str.length; i < len; i++) { + var char = str[i], + final = (i == len - 1) + + if (char == "*") { + node.edges[char] = node + node.final = final + + } else { + var next = new lunr.TokenSet + next.final = final + + node.edges[char] = next + node = next + } + } + + return root +} + +/** + * Converts this TokenSet into an array of strings + * contained within the TokenSet. + * + * This is not intended to be used on a TokenSet that + * contains wildcards, in these cases the results are + * undefined and are likely to cause an infinite loop. + * + * @returns {string[]} + */ +lunr.TokenSet.prototype.toArray = function () { + var words = [] + + var stack = [{ + prefix: "", + node: this + }] + + while (stack.length) { + var frame = stack.pop(), + edges = Object.keys(frame.node.edges), + len = edges.length + + if (frame.node.final) { + /* In Safari, at this point the prefix is sometimes corrupted, see: + * https://github.com/olivernn/lunr.js/issues/279 Calling any + * String.prototype method forces Safari to "cast" this string to what + * it's supposed to be, fixing the bug. */ + frame.prefix.charAt(0) + words.push(frame.prefix) + } + + for (var i = 0; i < len; i++) { + var edge = edges[i] + + stack.push({ + prefix: frame.prefix.concat(edge), + node: frame.node.edges[edge] + }) + } + } + + return words +} + +/** + * Generates a string representation of a TokenSet. + * + * This is intended to allow TokenSets to be used as keys + * in objects, largely to aid the construction and minimisation + * of a TokenSet. As such it is not designed to be a human + * friendly representation of the TokenSet. + * + * @returns {string} + */ +lunr.TokenSet.prototype.toString = function () { + // NOTE: Using Object.keys here as this.edges is very likely + // to enter 'hash-mode' with many keys being added + // + // avoiding a for-in loop here as it leads to the function + // being de-optimised (at least in V8). From some simple + // benchmarks the performance is comparable, but allowing + // V8 to optimize may mean easy performance wins in the future. + + if (this._str) { + return this._str + } + + var str = this.final ? '1' : '0', + labels = Object.keys(this.edges).sort(), + len = labels.length + + for (var i = 0; i < len; i++) { + var label = labels[i], + node = this.edges[label] + + str = str + label + node.id + } + + return str +} + +/** + * Returns a new TokenSet that is the intersection of + * this TokenSet and the passed TokenSet. + * + * This intersection will take into account any wildcards + * contained within the TokenSet. + * + * @param {lunr.TokenSet} b - An other TokenSet to intersect with. + * @returns {lunr.TokenSet} + */ +lunr.TokenSet.prototype.intersect = function (b) { + var output = new lunr.TokenSet, + frame = undefined + + var stack = [{ + qNode: b, + output: output, + node: this + }] + + while (stack.length) { + frame = stack.pop() + + // NOTE: As with the #toString method, we are using + // Object.keys and a for loop instead of a for-in loop + // as both of these objects enter 'hash' mode, causing + // the function to be de-optimised in V8 + var qEdges = Object.keys(frame.qNode.edges), + qLen = qEdges.length, + nEdges = Object.keys(frame.node.edges), + nLen = nEdges.length + + for (var q = 0; q < qLen; q++) { + var qEdge = qEdges[q] + + for (var n = 0; n < nLen; n++) { + var nEdge = nEdges[n] + + if (nEdge == qEdge || qEdge == '*') { + var node = frame.node.edges[nEdge], + qNode = frame.qNode.edges[qEdge], + final = node.final && qNode.final, + next = undefined + + if (nEdge in frame.output.edges) { + // an edge already exists for this character + // no need to create a new node, just set the finality + // bit unless this node is already final + next = frame.output.edges[nEdge] + next.final = next.final || final + + } else { + // no edge exists yet, must create one + // set the finality bit and insert it + // into the output + next = new lunr.TokenSet + next.final = final + frame.output.edges[nEdge] = next + } + + stack.push({ + qNode: qNode, + output: next, + node: node + }) + } + } + } + } + + return output +} +lunr.TokenSet.Builder = function () { + this.previousWord = "" + this.root = new lunr.TokenSet + this.uncheckedNodes = [] + this.minimizedNodes = {} +} + +lunr.TokenSet.Builder.prototype.insert = function (word) { + var node, + commonPrefix = 0 + + if (word < this.previousWord) { + throw new Error ("Out of order word insertion") + } + + for (var i = 0; i < word.length && i < this.previousWord.length; i++) { + if (word[i] != this.previousWord[i]) break + commonPrefix++ + } + + this.minimize(commonPrefix) + + if (this.uncheckedNodes.length == 0) { + node = this.root + } else { + node = this.uncheckedNodes[this.uncheckedNodes.length - 1].child + } + + for (var i = commonPrefix; i < word.length; i++) { + var nextNode = new lunr.TokenSet, + char = word[i] + + node.edges[char] = nextNode + + this.uncheckedNodes.push({ + parent: node, + char: char, + child: nextNode + }) + + node = nextNode + } + + node.final = true + this.previousWord = word +} + +lunr.TokenSet.Builder.prototype.finish = function () { + this.minimize(0) +} + +lunr.TokenSet.Builder.prototype.minimize = function (downTo) { + for (var i = this.uncheckedNodes.length - 1; i >= downTo; i--) { + var node = this.uncheckedNodes[i], + childKey = node.child.toString() + + if (childKey in this.minimizedNodes) { + node.parent.edges[node.char] = this.minimizedNodes[childKey] + } else { + // Cache the key for this node since + // we know it can't change anymore + node.child._str = childKey + + this.minimizedNodes[childKey] = node.child + } + + this.uncheckedNodes.pop() + } +} +/*! + * lunr.Index + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * An index contains the built index of all documents and provides a query interface + * to the index. + * + * Usually instances of lunr.Index will not be created using this constructor, instead + * lunr.Builder should be used to construct new indexes, or lunr.Index.load should be + * used to load previously built and serialized indexes. + * + * @constructor + * @param {Object} attrs - The attributes of the built search index. + * @param {Object} attrs.invertedIndex - An index of term/field to document reference. + * @param {Object} attrs.fieldVectors - Field vectors + * @param {lunr.TokenSet} attrs.tokenSet - An set of all corpus tokens. + * @param {string[]} attrs.fields - The names of indexed document fields. + * @param {lunr.Pipeline} attrs.pipeline - The pipeline to use for search terms. + */ +lunr.Index = function (attrs) { + this.invertedIndex = attrs.invertedIndex + this.fieldVectors = attrs.fieldVectors + this.tokenSet = attrs.tokenSet + this.fields = attrs.fields + this.pipeline = attrs.pipeline +} + +/** + * A result contains details of a document matching a search query. + * @typedef {Object} lunr.Index~Result + * @property {string} ref - The reference of the document this result represents. + * @property {number} score - A number between 0 and 1 representing how similar this document is to the query. + * @property {lunr.MatchData} matchData - Contains metadata about this match including which term(s) caused the match. + */ + +/** + * Although lunr provides the ability to create queries using lunr.Query, it also provides a simple + * query language which itself is parsed into an instance of lunr.Query. + * + * For programmatically building queries it is advised to directly use lunr.Query, the query language + * is best used for human entered text rather than program generated text. + * + * At its simplest queries can just be a single term, e.g. `hello`, multiple terms are also supported + * and will be combined with OR, e.g `hello world` will match documents that contain either 'hello' + * or 'world', though those that contain both will rank higher in the results. + * + * Wildcards can be included in terms to match one or more unspecified characters, these wildcards can + * be inserted anywhere within the term, and more than one wildcard can exist in a single term. Adding + * wildcards will increase the number of documents that will be found but can also have a negative + * impact on query performance, especially with wildcards at the beginning of a term. + * + * Terms can be restricted to specific fields, e.g. `title:hello`, only documents with the term + * hello in the title field will match this query. Using a field not present in the index will lead + * to an error being thrown. + * + * Modifiers can also be added to terms, lunr supports edit distance and boost modifiers on terms. A term + * boost will make documents matching that term score higher, e.g. `foo^5`. Edit distance is also supported + * to provide fuzzy matching, e.g. 'hello~2' will match documents with hello with an edit distance of 2. + * Avoid large values for edit distance to improve query performance. + * + * Each term also supports a presence modifier. By default a term's presence in document is optional, however + * this can be changed to either required or prohibited. For a term's presence to be required in a document the + * term should be prefixed with a '+', e.g. `+foo bar` is a search for documents that must contain 'foo' and + * optionally contain 'bar'. Conversely a leading '-' sets the terms presence to prohibited, i.e. it must not + * appear in a document, e.g. `-foo bar` is a search for documents that do not contain 'foo' but may contain 'bar'. + * + * To escape special characters the backslash character '\' can be used, this allows searches to include + * characters that would normally be considered modifiers, e.g. `foo\~2` will search for a term "foo~2" instead + * of attempting to apply a boost of 2 to the search term "foo". + * + * @typedef {string} lunr.Index~QueryString + * @example Simple single term query + * hello + * @example Multiple term query + * hello world + * @example term scoped to a field + * title:hello + * @example term with a boost of 10 + * hello^10 + * @example term with an edit distance of 2 + * hello~2 + * @example terms with presence modifiers + * -foo +bar baz + */ + +/** + * Performs a search against the index using lunr query syntax. + * + * Results will be returned sorted by their score, the most relevant results + * will be returned first. For details on how the score is calculated, please see + * the {@link https://lunrjs.com/guides/searching.html#scoring|guide}. + * + * For more programmatic querying use lunr.Index#query. + * + * @param {lunr.Index~QueryString} queryString - A string containing a lunr query. + * @throws {lunr.QueryParseError} If the passed query string cannot be parsed. + * @returns {lunr.Index~Result[]} + */ +lunr.Index.prototype.search = function (queryString) { + return this.query(function (query) { + var parser = new lunr.QueryParser(queryString, query) + parser.parse() + }) +} + +/** + * A query builder callback provides a query object to be used to express + * the query to perform on the index. + * + * @callback lunr.Index~queryBuilder + * @param {lunr.Query} query - The query object to build up. + * @this lunr.Query + */ + +/** + * Performs a query against the index using the yielded lunr.Query object. + * + * If performing programmatic queries against the index, this method is preferred + * over lunr.Index#search so as to avoid the additional query parsing overhead. + * + * A query object is yielded to the supplied function which should be used to + * express the query to be run against the index. + * + * Note that although this function takes a callback parameter it is _not_ an + * asynchronous operation, the callback is just yielded a query object to be + * customized. + * + * @param {lunr.Index~queryBuilder} fn - A function that is used to build the query. + * @returns {lunr.Index~Result[]} + */ +lunr.Index.prototype.query = function (fn) { + // for each query clause + // * process terms + // * expand terms from token set + // * find matching documents and metadata + // * get document vectors + // * score documents + + var query = new lunr.Query(this.fields), + matchingFields = Object.create(null), + queryVectors = Object.create(null), + termFieldCache = Object.create(null), + requiredMatches = Object.create(null), + prohibitedMatches = Object.create(null) + + /* + * To support field level boosts a query vector is created per + * field. An empty vector is eagerly created to support negated + * queries. + */ + for (var i = 0; i < this.fields.length; i++) { + queryVectors[this.fields[i]] = new lunr.Vector + } + + fn.call(query, query) + + for (var i = 0; i < query.clauses.length; i++) { + /* + * Unless the pipeline has been disabled for this term, which is + * the case for terms with wildcards, we need to pass the clause + * term through the search pipeline. A pipeline returns an array + * of processed terms. Pipeline functions may expand the passed + * term, which means we may end up performing multiple index lookups + * for a single query term. + */ + var clause = query.clauses[i], + terms = null, + clauseMatches = lunr.Set.empty + + if (clause.usePipeline) { + terms = this.pipeline.runString(clause.term, { + fields: clause.fields + }) + } else { + terms = [clause.term] + } + + for (var m = 0; m < terms.length; m++) { + var term = terms[m] + + /* + * Each term returned from the pipeline needs to use the same query + * clause object, e.g. the same boost and or edit distance. The + * simplest way to do this is to re-use the clause object but mutate + * its term property. + */ + clause.term = term + + /* + * From the term in the clause we create a token set which will then + * be used to intersect the indexes token set to get a list of terms + * to lookup in the inverted index + */ + var termTokenSet = lunr.TokenSet.fromClause(clause), + expandedTerms = this.tokenSet.intersect(termTokenSet).toArray() + + /* + * If a term marked as required does not exist in the tokenSet it is + * impossible for the search to return any matches. We set all the field + * scoped required matches set to empty and stop examining any further + * clauses. + */ + if (expandedTerms.length === 0 && clause.presence === lunr.Query.presence.REQUIRED) { + for (var k = 0; k < clause.fields.length; k++) { + var field = clause.fields[k] + requiredMatches[field] = lunr.Set.empty + } + + break + } + + for (var j = 0; j < expandedTerms.length; j++) { + /* + * For each term get the posting and termIndex, this is required for + * building the query vector. + */ + var expandedTerm = expandedTerms[j], + posting = this.invertedIndex[expandedTerm], + termIndex = posting._index + + for (var k = 0; k < clause.fields.length; k++) { + /* + * For each field that this query term is scoped by (by default + * all fields are in scope) we need to get all the document refs + * that have this term in that field. + * + * The posting is the entry in the invertedIndex for the matching + * term from above. + */ + var field = clause.fields[k], + fieldPosting = posting[field], + matchingDocumentRefs = Object.keys(fieldPosting), + termField = expandedTerm + "/" + field, + matchingDocumentsSet = new lunr.Set(matchingDocumentRefs) + + /* + * if the presence of this term is required ensure that the matching + * documents are added to the set of required matches for this clause. + * + */ + if (clause.presence == lunr.Query.presence.REQUIRED) { + clauseMatches = clauseMatches.union(matchingDocumentsSet) + + if (requiredMatches[field] === undefined) { + requiredMatches[field] = lunr.Set.complete + } + } + + /* + * if the presence of this term is prohibited ensure that the matching + * documents are added to the set of prohibited matches for this field, + * creating that set if it does not yet exist. + */ + if (clause.presence == lunr.Query.presence.PROHIBITED) { + if (prohibitedMatches[field] === undefined) { + prohibitedMatches[field] = lunr.Set.empty + } + + prohibitedMatches[field] = prohibitedMatches[field].union(matchingDocumentsSet) + + /* + * Prohibited matches should not be part of the query vector used for + * similarity scoring and no metadata should be extracted so we continue + * to the next field + */ + continue + } + + /* + * The query field vector is populated using the termIndex found for + * the term and a unit value with the appropriate boost applied. + * Using upsert because there could already be an entry in the vector + * for the term we are working with. In that case we just add the scores + * together. + */ + queryVectors[field].upsert(termIndex, clause.boost, function (a, b) { return a + b }) + + /** + * If we've already seen this term, field combo then we've already collected + * the matching documents and metadata, no need to go through all that again + */ + if (termFieldCache[termField]) { + continue + } + + for (var l = 0; l < matchingDocumentRefs.length; l++) { + /* + * All metadata for this term/field/document triple + * are then extracted and collected into an instance + * of lunr.MatchData ready to be returned in the query + * results + */ + var matchingDocumentRef = matchingDocumentRefs[l], + matchingFieldRef = new lunr.FieldRef (matchingDocumentRef, field), + metadata = fieldPosting[matchingDocumentRef], + fieldMatch + + if ((fieldMatch = matchingFields[matchingFieldRef]) === undefined) { + matchingFields[matchingFieldRef] = new lunr.MatchData (expandedTerm, field, metadata) + } else { + fieldMatch.add(expandedTerm, field, metadata) + } + + } + + termFieldCache[termField] = true + } + } + } + + /** + * If the presence was required we need to update the requiredMatches field sets. + * We do this after all fields for the term have collected their matches because + * the clause terms presence is required in _any_ of the fields not _all_ of the + * fields. + */ + if (clause.presence === lunr.Query.presence.REQUIRED) { + for (var k = 0; k < clause.fields.length; k++) { + var field = clause.fields[k] + requiredMatches[field] = requiredMatches[field].intersect(clauseMatches) + } + } + } + + /** + * Need to combine the field scoped required and prohibited + * matching documents into a global set of required and prohibited + * matches + */ + var allRequiredMatches = lunr.Set.complete, + allProhibitedMatches = lunr.Set.empty + + for (var i = 0; i < this.fields.length; i++) { + var field = this.fields[i] + + if (requiredMatches[field]) { + allRequiredMatches = allRequiredMatches.intersect(requiredMatches[field]) + } + + if (prohibitedMatches[field]) { + allProhibitedMatches = allProhibitedMatches.union(prohibitedMatches[field]) + } + } + + var matchingFieldRefs = Object.keys(matchingFields), + results = [], + matches = Object.create(null) + + /* + * If the query is negated (contains only prohibited terms) + * we need to get _all_ fieldRefs currently existing in the + * index. This is only done when we know that the query is + * entirely prohibited terms to avoid any cost of getting all + * fieldRefs unnecessarily. + * + * Additionally, blank MatchData must be created to correctly + * populate the results. + */ + if (query.isNegated()) { + matchingFieldRefs = Object.keys(this.fieldVectors) + + for (var i = 0; i < matchingFieldRefs.length; i++) { + var matchingFieldRef = matchingFieldRefs[i] + var fieldRef = lunr.FieldRef.fromString(matchingFieldRef) + matchingFields[matchingFieldRef] = new lunr.MatchData + } + } + + for (var i = 0; i < matchingFieldRefs.length; i++) { + /* + * Currently we have document fields that match the query, but we + * need to return documents. The matchData and scores are combined + * from multiple fields belonging to the same document. + * + * Scores are calculated by field, using the query vectors created + * above, and combined into a final document score using addition. + */ + var fieldRef = lunr.FieldRef.fromString(matchingFieldRefs[i]), + docRef = fieldRef.docRef + + if (!allRequiredMatches.contains(docRef)) { + continue + } + + if (allProhibitedMatches.contains(docRef)) { + continue + } + + var fieldVector = this.fieldVectors[fieldRef], + score = queryVectors[fieldRef.fieldName].similarity(fieldVector), + docMatch + + if ((docMatch = matches[docRef]) !== undefined) { + docMatch.score += score + docMatch.matchData.combine(matchingFields[fieldRef]) + } else { + var match = { + ref: docRef, + score: score, + matchData: matchingFields[fieldRef] + } + matches[docRef] = match + results.push(match) + } + } + + /* + * Sort the results objects by score, highest first. + */ + return results.sort(function (a, b) { + return b.score - a.score + }) +} + +/** + * Prepares the index for JSON serialization. + * + * The schema for this JSON blob will be described in a + * separate JSON schema file. + * + * @returns {Object} + */ +lunr.Index.prototype.toJSON = function () { + var invertedIndex = Object.keys(this.invertedIndex) + .sort() + .map(function (term) { + return [term, this.invertedIndex[term]] + }, this) + + var fieldVectors = Object.keys(this.fieldVectors) + .map(function (ref) { + return [ref, this.fieldVectors[ref].toJSON()] + }, this) + + return { + version: lunr.version, + fields: this.fields, + fieldVectors: fieldVectors, + invertedIndex: invertedIndex, + pipeline: this.pipeline.toJSON() + } +} + +/** + * Loads a previously serialized lunr.Index + * + * @param {Object} serializedIndex - A previously serialized lunr.Index + * @returns {lunr.Index} + */ +lunr.Index.load = function (serializedIndex) { + var attrs = {}, + fieldVectors = {}, + serializedVectors = serializedIndex.fieldVectors, + invertedIndex = Object.create(null), + serializedInvertedIndex = serializedIndex.invertedIndex, + tokenSetBuilder = new lunr.TokenSet.Builder, + pipeline = lunr.Pipeline.load(serializedIndex.pipeline) + + if (serializedIndex.version != lunr.version) { + lunr.utils.warn("Version mismatch when loading serialised index. Current version of lunr '" + lunr.version + "' does not match serialized index '" + serializedIndex.version + "'") + } + + for (var i = 0; i < serializedVectors.length; i++) { + var tuple = serializedVectors[i], + ref = tuple[0], + elements = tuple[1] + + fieldVectors[ref] = new lunr.Vector(elements) + } + + for (var i = 0; i < serializedInvertedIndex.length; i++) { + var tuple = serializedInvertedIndex[i], + term = tuple[0], + posting = tuple[1] + + tokenSetBuilder.insert(term) + invertedIndex[term] = posting + } + + tokenSetBuilder.finish() + + attrs.fields = serializedIndex.fields + + attrs.fieldVectors = fieldVectors + attrs.invertedIndex = invertedIndex + attrs.tokenSet = tokenSetBuilder.root + attrs.pipeline = pipeline + + return new lunr.Index(attrs) +} +/*! + * lunr.Builder + * Copyright (C) 2020 Oliver Nightingale + */ + +/** + * lunr.Builder performs indexing on a set of documents and + * returns instances of lunr.Index ready for querying. + * + * All configuration of the index is done via the builder, the + * fields to index, the document reference, the text processing + * pipeline and document scoring parameters are all set on the + * builder before indexing. + * + * @constructor + * @property {string} _ref - Internal reference to the document reference field. + * @property {string[]} _fields - Internal reference to the document fields to index. + * @property {object} invertedIndex - The inverted index maps terms to document fields. + * @property {object} documentTermFrequencies - Keeps track of document term frequencies. + * @property {object} documentLengths - Keeps track of the length of documents added to the index. + * @property {lunr.tokenizer} tokenizer - Function for splitting strings into tokens for indexing. + * @property {lunr.Pipeline} pipeline - The pipeline performs text processing on tokens before indexing. + * @property {lunr.Pipeline} searchPipeline - A pipeline for processing search terms before querying the index. + * @property {number} documentCount - Keeps track of the total number of documents indexed. + * @property {number} _b - A parameter to control field length normalization, setting this to 0 disabled normalization, 1 fully normalizes field lengths, the default value is 0.75. + * @property {number} _k1 - A parameter to control how quickly an increase in term frequency results in term frequency saturation, the default value is 1.2. + * @property {number} termIndex - A counter incremented for each unique term, used to identify a terms position in the vector space. + * @property {array} metadataWhitelist - A list of metadata keys that have been whitelisted for entry in the index. + */ +lunr.Builder = function () { + this._ref = "id" + this._fields = Object.create(null) + this._documents = Object.create(null) + this.invertedIndex = Object.create(null) + this.fieldTermFrequencies = {} + this.fieldLengths = {} + this.tokenizer = lunr.tokenizer + this.pipeline = new lunr.Pipeline + this.searchPipeline = new lunr.Pipeline + this.documentCount = 0 + this._b = 0.75 + this._k1 = 1.2 + this.termIndex = 0 + this.metadataWhitelist = [] +} + +/** + * Sets the document field used as the document reference. Every document must have this field. + * The type of this field in the document should be a string, if it is not a string it will be + * coerced into a string by calling toString. + * + * The default ref is 'id'. + * + * The ref should _not_ be changed during indexing, it should be set before any documents are + * added to the index. Changing it during indexing can lead to inconsistent results. + * + * @param {string} ref - The name of the reference field in the document. + */ +lunr.Builder.prototype.ref = function (ref) { + this._ref = ref +} + +/** + * A function that is used to extract a field from a document. + * + * Lunr expects a field to be at the top level of a document, if however the field + * is deeply nested within a document an extractor function can be used to extract + * the right field for indexing. + * + * @callback fieldExtractor + * @param {object} doc - The document being added to the index. + * @returns {?(string|object|object[])} obj - The object that will be indexed for this field. + * @example Extracting a nested field + * function (doc) { return doc.nested.field } + */ + +/** + * Adds a field to the list of document fields that will be indexed. Every document being + * indexed should have this field. Null values for this field in indexed documents will + * not cause errors but will limit the chance of that document being retrieved by searches. + * + * All fields should be added before adding documents to the index. Adding fields after + * a document has been indexed will have no effect on already indexed documents. + * + * Fields can be boosted at build time. This allows terms within that field to have more + * importance when ranking search results. Use a field boost to specify that matches within + * one field are more important than other fields. + * + * @param {string} fieldName - The name of a field to index in all documents. + * @param {object} attributes - Optional attributes associated with this field. + * @param {number} [attributes.boost=1] - Boost applied to all terms within this field. + * @param {fieldExtractor} [attributes.extractor] - Function to extract a field from a document. + * @throws {RangeError} fieldName cannot contain unsupported characters '/' + */ +lunr.Builder.prototype.field = function (fieldName, attributes) { + if (/\//.test(fieldName)) { + throw new RangeError ("Field '" + fieldName + "' contains illegal character '/'") + } + + this._fields[fieldName] = attributes || {} +} + +/** + * A parameter to tune the amount of field length normalisation that is applied when + * calculating relevance scores. A value of 0 will completely disable any normalisation + * and a value of 1 will fully normalise field lengths. The default is 0.75. Values of b + * will be clamped to the range 0 - 1. + * + * @param {number} number - The value to set for this tuning parameter. + */ +lunr.Builder.prototype.b = function (number) { + if (number < 0) { + this._b = 0 + } else if (number > 1) { + this._b = 1 + } else { + this._b = number + } +} + +/** + * A parameter that controls the speed at which a rise in term frequency results in term + * frequency saturation. The default value is 1.2. Setting this to a higher value will give + * slower saturation levels, a lower value will result in quicker saturation. + * + * @param {number} number - The value to set for this tuning parameter. + */ +lunr.Builder.prototype.k1 = function (number) { + this._k1 = number +} + +/** + * Adds a document to the index. + * + * Before adding fields to the index the index should have been fully setup, with the document + * ref and all fields to index already having been specified. + * + * The document must have a field name as specified by the ref (by default this is 'id') and + * it should have all fields defined for indexing, though null or undefined values will not + * cause errors. + * + * Entire documents can be boosted at build time. Applying a boost to a document indicates that + * this document should rank higher in search results than other documents. + * + * @param {object} doc - The document to add to the index. + * @param {object} attributes - Optional attributes associated with this document. + * @param {number} [attributes.boost=1] - Boost applied to all terms within this document. + */ +lunr.Builder.prototype.add = function (doc, attributes) { + var docRef = doc[this._ref], + fields = Object.keys(this._fields) + + this._documents[docRef] = attributes || {} + this.documentCount += 1 + + for (var i = 0; i < fields.length; i++) { + var fieldName = fields[i], + extractor = this._fields[fieldName].extractor, + field = extractor ? extractor(doc) : doc[fieldName], + tokens = this.tokenizer(field, { + fields: [fieldName] + }), + terms = this.pipeline.run(tokens), + fieldRef = new lunr.FieldRef (docRef, fieldName), + fieldTerms = Object.create(null) + + this.fieldTermFrequencies[fieldRef] = fieldTerms + this.fieldLengths[fieldRef] = 0 + + // store the length of this field for this document + this.fieldLengths[fieldRef] += terms.length + + // calculate term frequencies for this field + for (var j = 0; j < terms.length; j++) { + var term = terms[j] + + if (fieldTerms[term] == undefined) { + fieldTerms[term] = 0 + } + + fieldTerms[term] += 1 + + // add to inverted index + // create an initial posting if one doesn't exist + if (this.invertedIndex[term] == undefined) { + var posting = Object.create(null) + posting["_index"] = this.termIndex + this.termIndex += 1 + + for (var k = 0; k < fields.length; k++) { + posting[fields[k]] = Object.create(null) + } + + this.invertedIndex[term] = posting + } + + // add an entry for this term/fieldName/docRef to the invertedIndex + if (this.invertedIndex[term][fieldName][docRef] == undefined) { + this.invertedIndex[term][fieldName][docRef] = Object.create(null) + } + + // store all whitelisted metadata about this token in the + // inverted index + for (var l = 0; l < this.metadataWhitelist.length; l++) { + var metadataKey = this.metadataWhitelist[l], + metadata = term.metadata[metadataKey] + + if (this.invertedIndex[term][fieldName][docRef][metadataKey] == undefined) { + this.invertedIndex[term][fieldName][docRef][metadataKey] = [] + } + + this.invertedIndex[term][fieldName][docRef][metadataKey].push(metadata) + } + } + + } +} + +/** + * Calculates the average document length for this index + * + * @private + */ +lunr.Builder.prototype.calculateAverageFieldLengths = function () { + + var fieldRefs = Object.keys(this.fieldLengths), + numberOfFields = fieldRefs.length, + accumulator = {}, + documentsWithField = {} + + for (var i = 0; i < numberOfFields; i++) { + var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]), + field = fieldRef.fieldName + + documentsWithField[field] || (documentsWithField[field] = 0) + documentsWithField[field] += 1 + + accumulator[field] || (accumulator[field] = 0) + accumulator[field] += this.fieldLengths[fieldRef] + } + + var fields = Object.keys(this._fields) + + for (var i = 0; i < fields.length; i++) { + var fieldName = fields[i] + accumulator[fieldName] = accumulator[fieldName] / documentsWithField[fieldName] + } + + this.averageFieldLength = accumulator +} + +/** + * Builds a vector space model of every document using lunr.Vector + * + * @private + */ +lunr.Builder.prototype.createFieldVectors = function () { + var fieldVectors = {}, + fieldRefs = Object.keys(this.fieldTermFrequencies), + fieldRefsLength = fieldRefs.length, + termIdfCache = Object.create(null) + + for (var i = 0; i < fieldRefsLength; i++) { + var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]), + fieldName = fieldRef.fieldName, + fieldLength = this.fieldLengths[fieldRef], + fieldVector = new lunr.Vector, + termFrequencies = this.fieldTermFrequencies[fieldRef], + terms = Object.keys(termFrequencies), + termsLength = terms.length + + + var fieldBoost = this._fields[fieldName].boost || 1, + docBoost = this._documents[fieldRef.docRef].boost || 1 + + for (var j = 0; j < termsLength; j++) { + var term = terms[j], + tf = termFrequencies[term], + termIndex = this.invertedIndex[term]._index, + idf, score, scoreWithPrecision + + if (termIdfCache[term] === undefined) { + idf = lunr.idf(this.invertedIndex[term], this.documentCount) + termIdfCache[term] = idf + } else { + idf = termIdfCache[term] + } + + score = idf * ((this._k1 + 1) * tf) / (this._k1 * (1 - this._b + this._b * (fieldLength / this.averageFieldLength[fieldName])) + tf) + score *= fieldBoost + score *= docBoost + scoreWithPrecision = Math.round(score * 1000) / 1000 + // Converts 1.23456789 to 1.234. + // Reducing the precision so that the vectors take up less + // space when serialised. Doing it now so that they behave + // the same before and after serialisation. Also, this is + // the fastest approach to reducing a number's precision in + // JavaScript. + + fieldVector.insert(termIndex, scoreWithPrecision) + } + + fieldVectors[fieldRef] = fieldVector + } + + this.fieldVectors = fieldVectors +} + +/** + * Creates a token set of all tokens in the index using lunr.TokenSet + * + * @private + */ +lunr.Builder.prototype.createTokenSet = function () { + this.tokenSet = lunr.TokenSet.fromArray( + Object.keys(this.invertedIndex).sort() + ) +} + +/** + * Builds the index, creating an instance of lunr.Index. + * + * This completes the indexing process and should only be called + * once all documents have been added to the index. + * + * @returns {lunr.Index} + */ +lunr.Builder.prototype.build = function () { + this.calculateAverageFieldLengths() + this.createFieldVectors() + this.createTokenSet() + + return new lunr.Index({ + invertedIndex: this.invertedIndex, + fieldVectors: this.fieldVectors, + tokenSet: this.tokenSet, + fields: Object.keys(this._fields), + pipeline: this.searchPipeline + }) +} + +/** + * Applies a plugin to the index builder. + * + * A plugin is a function that is called with the index builder as its context. + * Plugins can be used to customise or extend the behaviour of the index + * in some way. A plugin is just a function, that encapsulated the custom + * behaviour that should be applied when building the index. + * + * The plugin function will be called with the index builder as its argument, additional + * arguments can also be passed when calling use. The function will be called + * with the index builder as its context. + * + * @param {Function} plugin The plugin to apply. + */ +lunr.Builder.prototype.use = function (fn) { + var args = Array.prototype.slice.call(arguments, 1) + args.unshift(this) + fn.apply(this, args) +} +/** + * Contains and collects metadata about a matching document. + * A single instance of lunr.MatchData is returned as part of every + * lunr.Index~Result. + * + * @constructor + * @param {string} term - The term this match data is associated with + * @param {string} field - The field in which the term was found + * @param {object} metadata - The metadata recorded about this term in this field + * @property {object} metadata - A cloned collection of metadata associated with this document. + * @see {@link lunr.Index~Result} + */ +lunr.MatchData = function (term, field, metadata) { + var clonedMetadata = Object.create(null), + metadataKeys = Object.keys(metadata || {}) + + // Cloning the metadata to prevent the original + // being mutated during match data combination. + // Metadata is kept in an array within the inverted + // index so cloning the data can be done with + // Array#slice + for (var i = 0; i < metadataKeys.length; i++) { + var key = metadataKeys[i] + clonedMetadata[key] = metadata[key].slice() + } + + this.metadata = Object.create(null) + + if (term !== undefined) { + this.metadata[term] = Object.create(null) + this.metadata[term][field] = clonedMetadata + } +} + +/** + * An instance of lunr.MatchData will be created for every term that matches a + * document. However only one instance is required in a lunr.Index~Result. This + * method combines metadata from another instance of lunr.MatchData with this + * objects metadata. + * + * @param {lunr.MatchData} otherMatchData - Another instance of match data to merge with this one. + * @see {@link lunr.Index~Result} + */ +lunr.MatchData.prototype.combine = function (otherMatchData) { + var terms = Object.keys(otherMatchData.metadata) + + for (var i = 0; i < terms.length; i++) { + var term = terms[i], + fields = Object.keys(otherMatchData.metadata[term]) + + if (this.metadata[term] == undefined) { + this.metadata[term] = Object.create(null) + } + + for (var j = 0; j < fields.length; j++) { + var field = fields[j], + keys = Object.keys(otherMatchData.metadata[term][field]) + + if (this.metadata[term][field] == undefined) { + this.metadata[term][field] = Object.create(null) + } + + for (var k = 0; k < keys.length; k++) { + var key = keys[k] + + if (this.metadata[term][field][key] == undefined) { + this.metadata[term][field][key] = otherMatchData.metadata[term][field][key] + } else { + this.metadata[term][field][key] = this.metadata[term][field][key].concat(otherMatchData.metadata[term][field][key]) + } + + } + } + } +} + +/** + * Add metadata for a term/field pair to this instance of match data. + * + * @param {string} term - The term this match data is associated with + * @param {string} field - The field in which the term was found + * @param {object} metadata - The metadata recorded about this term in this field + */ +lunr.MatchData.prototype.add = function (term, field, metadata) { + if (!(term in this.metadata)) { + this.metadata[term] = Object.create(null) + this.metadata[term][field] = metadata + return + } + + if (!(field in this.metadata[term])) { + this.metadata[term][field] = metadata + return + } + + var metadataKeys = Object.keys(metadata) + + for (var i = 0; i < metadataKeys.length; i++) { + var key = metadataKeys[i] + + if (key in this.metadata[term][field]) { + this.metadata[term][field][key] = this.metadata[term][field][key].concat(metadata[key]) + } else { + this.metadata[term][field][key] = metadata[key] + } + } +} +/** + * A lunr.Query provides a programmatic way of defining queries to be performed + * against a {@link lunr.Index}. + * + * Prefer constructing a lunr.Query using the {@link lunr.Index#query} method + * so the query object is pre-initialized with the right index fields. + * + * @constructor + * @property {lunr.Query~Clause[]} clauses - An array of query clauses. + * @property {string[]} allFields - An array of all available fields in a lunr.Index. + */ +lunr.Query = function (allFields) { + this.clauses = [] + this.allFields = allFields +} + +/** + * Constants for indicating what kind of automatic wildcard insertion will be used when constructing a query clause. + * + * This allows wildcards to be added to the beginning and end of a term without having to manually do any string + * concatenation. + * + * The wildcard constants can be bitwise combined to select both leading and trailing wildcards. + * + * @constant + * @default + * @property {number} wildcard.NONE - The term will have no wildcards inserted, this is the default behaviour + * @property {number} wildcard.LEADING - Prepend the term with a wildcard, unless a leading wildcard already exists + * @property {number} wildcard.TRAILING - Append a wildcard to the term, unless a trailing wildcard already exists + * @see lunr.Query~Clause + * @see lunr.Query#clause + * @see lunr.Query#term + * @example query term with trailing wildcard + * query.term('foo', { wildcard: lunr.Query.wildcard.TRAILING }) + * @example query term with leading and trailing wildcard + * query.term('foo', { + * wildcard: lunr.Query.wildcard.LEADING | lunr.Query.wildcard.TRAILING + * }) + */ + +lunr.Query.wildcard = new String ("*") +lunr.Query.wildcard.NONE = 0 +lunr.Query.wildcard.LEADING = 1 +lunr.Query.wildcard.TRAILING = 2 + +/** + * Constants for indicating what kind of presence a term must have in matching documents. + * + * @constant + * @enum {number} + * @see lunr.Query~Clause + * @see lunr.Query#clause + * @see lunr.Query#term + * @example query term with required presence + * query.term('foo', { presence: lunr.Query.presence.REQUIRED }) + */ +lunr.Query.presence = { + /** + * Term's presence in a document is optional, this is the default value. + */ + OPTIONAL: 1, + + /** + * Term's presence in a document is required, documents that do not contain + * this term will not be returned. + */ + REQUIRED: 2, + + /** + * Term's presence in a document is prohibited, documents that do contain + * this term will not be returned. + */ + PROHIBITED: 3 +} + +/** + * A single clause in a {@link lunr.Query} contains a term and details on how to + * match that term against a {@link lunr.Index}. + * + * @typedef {Object} lunr.Query~Clause + * @property {string[]} fields - The fields in an index this clause should be matched against. + * @property {number} [boost=1] - Any boost that should be applied when matching this clause. + * @property {number} [editDistance] - Whether the term should have fuzzy matching applied, and how fuzzy the match should be. + * @property {boolean} [usePipeline] - Whether the term should be passed through the search pipeline. + * @property {number} [wildcard=lunr.Query.wildcard.NONE] - Whether the term should have wildcards appended or prepended. + * @property {number} [presence=lunr.Query.presence.OPTIONAL] - The terms presence in any matching documents. + */ + +/** + * Adds a {@link lunr.Query~Clause} to this query. + * + * Unless the clause contains the fields to be matched all fields will be matched. In addition + * a default boost of 1 is applied to the clause. + * + * @param {lunr.Query~Clause} clause - The clause to add to this query. + * @see lunr.Query~Clause + * @returns {lunr.Query} + */ +lunr.Query.prototype.clause = function (clause) { + if (!('fields' in clause)) { + clause.fields = this.allFields + } + + if (!('boost' in clause)) { + clause.boost = 1 + } + + if (!('usePipeline' in clause)) { + clause.usePipeline = true + } + + if (!('wildcard' in clause)) { + clause.wildcard = lunr.Query.wildcard.NONE + } + + if ((clause.wildcard & lunr.Query.wildcard.LEADING) && (clause.term.charAt(0) != lunr.Query.wildcard)) { + clause.term = "*" + clause.term + } + + if ((clause.wildcard & lunr.Query.wildcard.TRAILING) && (clause.term.slice(-1) != lunr.Query.wildcard)) { + clause.term = "" + clause.term + "*" + } + + if (!('presence' in clause)) { + clause.presence = lunr.Query.presence.OPTIONAL + } + + this.clauses.push(clause) + + return this +} + +/** + * A negated query is one in which every clause has a presence of + * prohibited. These queries require some special processing to return + * the expected results. + * + * @returns boolean + */ +lunr.Query.prototype.isNegated = function () { + for (var i = 0; i < this.clauses.length; i++) { + if (this.clauses[i].presence != lunr.Query.presence.PROHIBITED) { + return false + } + } + + return true +} + +/** + * Adds a term to the current query, under the covers this will create a {@link lunr.Query~Clause} + * to the list of clauses that make up this query. + * + * The term is used as is, i.e. no tokenization will be performed by this method. Instead conversion + * to a token or token-like string should be done before calling this method. + * + * The term will be converted to a string by calling `toString`. Multiple terms can be passed as an + * array, each term in the array will share the same options. + * + * @param {object|object[]} term - The term(s) to add to the query. + * @param {object} [options] - Any additional properties to add to the query clause. + * @returns {lunr.Query} + * @see lunr.Query#clause + * @see lunr.Query~Clause + * @example adding a single term to a query + * query.term("foo") + * @example adding a single term to a query and specifying search fields, term boost and automatic trailing wildcard + * query.term("foo", { + * fields: ["title"], + * boost: 10, + * wildcard: lunr.Query.wildcard.TRAILING + * }) + * @example using lunr.tokenizer to convert a string to tokens before using them as terms + * query.term(lunr.tokenizer("foo bar")) + */ +lunr.Query.prototype.term = function (term, options) { + if (Array.isArray(term)) { + term.forEach(function (t) { this.term(t, lunr.utils.clone(options)) }, this) + return this + } + + var clause = options || {} + clause.term = term.toString() + + this.clause(clause) + + return this +} +lunr.QueryParseError = function (message, start, end) { + this.name = "QueryParseError" + this.message = message + this.start = start + this.end = end +} + +lunr.QueryParseError.prototype = new Error +lunr.QueryLexer = function (str) { + this.lexemes = [] + this.str = str + this.length = str.length + this.pos = 0 + this.start = 0 + this.escapeCharPositions = [] +} + +lunr.QueryLexer.prototype.run = function () { + var state = lunr.QueryLexer.lexText + + while (state) { + state = state(this) + } +} + +lunr.QueryLexer.prototype.sliceString = function () { + var subSlices = [], + sliceStart = this.start, + sliceEnd = this.pos + + for (var i = 0; i < this.escapeCharPositions.length; i++) { + sliceEnd = this.escapeCharPositions[i] + subSlices.push(this.str.slice(sliceStart, sliceEnd)) + sliceStart = sliceEnd + 1 + } + + subSlices.push(this.str.slice(sliceStart, this.pos)) + this.escapeCharPositions.length = 0 + + return subSlices.join('') +} + +lunr.QueryLexer.prototype.emit = function (type) { + this.lexemes.push({ + type: type, + str: this.sliceString(), + start: this.start, + end: this.pos + }) + + this.start = this.pos +} + +lunr.QueryLexer.prototype.escapeCharacter = function () { + this.escapeCharPositions.push(this.pos - 1) + this.pos += 1 +} + +lunr.QueryLexer.prototype.next = function () { + if (this.pos >= this.length) { + return lunr.QueryLexer.EOS + } + + var char = this.str.charAt(this.pos) + this.pos += 1 + return char +} + +lunr.QueryLexer.prototype.width = function () { + return this.pos - this.start +} + +lunr.QueryLexer.prototype.ignore = function () { + if (this.start == this.pos) { + this.pos += 1 + } + + this.start = this.pos +} + +lunr.QueryLexer.prototype.backup = function () { + this.pos -= 1 +} + +lunr.QueryLexer.prototype.acceptDigitRun = function () { + var char, charCode + + do { + char = this.next() + charCode = char.charCodeAt(0) + } while (charCode > 47 && charCode < 58) + + if (char != lunr.QueryLexer.EOS) { + this.backup() + } +} + +lunr.QueryLexer.prototype.more = function () { + return this.pos < this.length +} + +lunr.QueryLexer.EOS = 'EOS' +lunr.QueryLexer.FIELD = 'FIELD' +lunr.QueryLexer.TERM = 'TERM' +lunr.QueryLexer.EDIT_DISTANCE = 'EDIT_DISTANCE' +lunr.QueryLexer.BOOST = 'BOOST' +lunr.QueryLexer.PRESENCE = 'PRESENCE' + +lunr.QueryLexer.lexField = function (lexer) { + lexer.backup() + lexer.emit(lunr.QueryLexer.FIELD) + lexer.ignore() + return lunr.QueryLexer.lexText +} + +lunr.QueryLexer.lexTerm = function (lexer) { + if (lexer.width() > 1) { + lexer.backup() + lexer.emit(lunr.QueryLexer.TERM) + } + + lexer.ignore() + + if (lexer.more()) { + return lunr.QueryLexer.lexText + } +} + +lunr.QueryLexer.lexEditDistance = function (lexer) { + lexer.ignore() + lexer.acceptDigitRun() + lexer.emit(lunr.QueryLexer.EDIT_DISTANCE) + return lunr.QueryLexer.lexText +} + +lunr.QueryLexer.lexBoost = function (lexer) { + lexer.ignore() + lexer.acceptDigitRun() + lexer.emit(lunr.QueryLexer.BOOST) + return lunr.QueryLexer.lexText +} + +lunr.QueryLexer.lexEOS = function (lexer) { + if (lexer.width() > 0) { + lexer.emit(lunr.QueryLexer.TERM) + } +} + +// This matches the separator used when tokenising fields +// within a document. These should match otherwise it is +// not possible to search for some tokens within a document. +// +// It is possible for the user to change the separator on the +// tokenizer so it _might_ clash with any other of the special +// characters already used within the search string, e.g. :. +// +// This means that it is possible to change the separator in +// such a way that makes some words unsearchable using a search +// string. +lunr.QueryLexer.termSeparator = lunr.tokenizer.separator + +lunr.QueryLexer.lexText = function (lexer) { + while (true) { + var char = lexer.next() + + if (char == lunr.QueryLexer.EOS) { + return lunr.QueryLexer.lexEOS + } + + // Escape character is '\' + if (char.charCodeAt(0) == 92) { + lexer.escapeCharacter() + continue + } + + if (char == ":") { + return lunr.QueryLexer.lexField + } + + if (char == "~") { + lexer.backup() + if (lexer.width() > 0) { + lexer.emit(lunr.QueryLexer.TERM) + } + return lunr.QueryLexer.lexEditDistance + } + + if (char == "^") { + lexer.backup() + if (lexer.width() > 0) { + lexer.emit(lunr.QueryLexer.TERM) + } + return lunr.QueryLexer.lexBoost + } + + // "+" indicates term presence is required + // checking for length to ensure that only + // leading "+" are considered + if (char == "+" && lexer.width() === 1) { + lexer.emit(lunr.QueryLexer.PRESENCE) + return lunr.QueryLexer.lexText + } + + // "-" indicates term presence is prohibited + // checking for length to ensure that only + // leading "-" are considered + if (char == "-" && lexer.width() === 1) { + lexer.emit(lunr.QueryLexer.PRESENCE) + return lunr.QueryLexer.lexText + } + + if (char.match(lunr.QueryLexer.termSeparator)) { + return lunr.QueryLexer.lexTerm + } + } +} + +lunr.QueryParser = function (str, query) { + this.lexer = new lunr.QueryLexer (str) + this.query = query + this.currentClause = {} + this.lexemeIdx = 0 +} + +lunr.QueryParser.prototype.parse = function () { + this.lexer.run() + this.lexemes = this.lexer.lexemes + + var state = lunr.QueryParser.parseClause + + while (state) { + state = state(this) + } + + return this.query +} + +lunr.QueryParser.prototype.peekLexeme = function () { + return this.lexemes[this.lexemeIdx] +} + +lunr.QueryParser.prototype.consumeLexeme = function () { + var lexeme = this.peekLexeme() + this.lexemeIdx += 1 + return lexeme +} + +lunr.QueryParser.prototype.nextClause = function () { + var completedClause = this.currentClause + this.query.clause(completedClause) + this.currentClause = {} +} + +lunr.QueryParser.parseClause = function (parser) { + var lexeme = parser.peekLexeme() + + if (lexeme == undefined) { + return + } + + switch (lexeme.type) { + case lunr.QueryLexer.PRESENCE: + return lunr.QueryParser.parsePresence + case lunr.QueryLexer.FIELD: + return lunr.QueryParser.parseField + case lunr.QueryLexer.TERM: + return lunr.QueryParser.parseTerm + default: + var errorMessage = "expected either a field or a term, found " + lexeme.type + + if (lexeme.str.length >= 1) { + errorMessage += " with value '" + lexeme.str + "'" + } + + throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end) + } +} + +lunr.QueryParser.parsePresence = function (parser) { + var lexeme = parser.consumeLexeme() + + if (lexeme == undefined) { + return + } + + switch (lexeme.str) { + case "-": + parser.currentClause.presence = lunr.Query.presence.PROHIBITED + break + case "+": + parser.currentClause.presence = lunr.Query.presence.REQUIRED + break + default: + var errorMessage = "unrecognised presence operator'" + lexeme.str + "'" + throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end) + } + + var nextLexeme = parser.peekLexeme() + + if (nextLexeme == undefined) { + var errorMessage = "expecting term or field, found nothing" + throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end) + } + + switch (nextLexeme.type) { + case lunr.QueryLexer.FIELD: + return lunr.QueryParser.parseField + case lunr.QueryLexer.TERM: + return lunr.QueryParser.parseTerm + default: + var errorMessage = "expecting term or field, found '" + nextLexeme.type + "'" + throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end) + } +} + +lunr.QueryParser.parseField = function (parser) { + var lexeme = parser.consumeLexeme() + + if (lexeme == undefined) { + return + } + + if (parser.query.allFields.indexOf(lexeme.str) == -1) { + var possibleFields = parser.query.allFields.map(function (f) { return "'" + f + "'" }).join(', '), + errorMessage = "unrecognised field '" + lexeme.str + "', possible fields: " + possibleFields + + throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end) + } + + parser.currentClause.fields = [lexeme.str] + + var nextLexeme = parser.peekLexeme() + + if (nextLexeme == undefined) { + var errorMessage = "expecting term, found nothing" + throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end) + } + + switch (nextLexeme.type) { + case lunr.QueryLexer.TERM: + return lunr.QueryParser.parseTerm + default: + var errorMessage = "expecting term, found '" + nextLexeme.type + "'" + throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end) + } +} + +lunr.QueryParser.parseTerm = function (parser) { + var lexeme = parser.consumeLexeme() + + if (lexeme == undefined) { + return + } + + parser.currentClause.term = lexeme.str.toLowerCase() + + if (lexeme.str.indexOf("*") != -1) { + parser.currentClause.usePipeline = false + } + + var nextLexeme = parser.peekLexeme() + + if (nextLexeme == undefined) { + parser.nextClause() + return + } + + switch (nextLexeme.type) { + case lunr.QueryLexer.TERM: + parser.nextClause() + return lunr.QueryParser.parseTerm + case lunr.QueryLexer.FIELD: + parser.nextClause() + return lunr.QueryParser.parseField + case lunr.QueryLexer.EDIT_DISTANCE: + return lunr.QueryParser.parseEditDistance + case lunr.QueryLexer.BOOST: + return lunr.QueryParser.parseBoost + case lunr.QueryLexer.PRESENCE: + parser.nextClause() + return lunr.QueryParser.parsePresence + default: + var errorMessage = "Unexpected lexeme type '" + nextLexeme.type + "'" + throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end) + } +} + +lunr.QueryParser.parseEditDistance = function (parser) { + var lexeme = parser.consumeLexeme() + + if (lexeme == undefined) { + return + } + + var editDistance = parseInt(lexeme.str, 10) + + if (isNaN(editDistance)) { + var errorMessage = "edit distance must be numeric" + throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end) + } + + parser.currentClause.editDistance = editDistance + + var nextLexeme = parser.peekLexeme() + + if (nextLexeme == undefined) { + parser.nextClause() + return + } + + switch (nextLexeme.type) { + case lunr.QueryLexer.TERM: + parser.nextClause() + return lunr.QueryParser.parseTerm + case lunr.QueryLexer.FIELD: + parser.nextClause() + return lunr.QueryParser.parseField + case lunr.QueryLexer.EDIT_DISTANCE: + return lunr.QueryParser.parseEditDistance + case lunr.QueryLexer.BOOST: + return lunr.QueryParser.parseBoost + case lunr.QueryLexer.PRESENCE: + parser.nextClause() + return lunr.QueryParser.parsePresence + default: + var errorMessage = "Unexpected lexeme type '" + nextLexeme.type + "'" + throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end) + } +} + +lunr.QueryParser.parseBoost = function (parser) { + var lexeme = parser.consumeLexeme() + + if (lexeme == undefined) { + return + } + + var boost = parseInt(lexeme.str, 10) + + if (isNaN(boost)) { + var errorMessage = "boost must be numeric" + throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end) + } + + parser.currentClause.boost = boost + + var nextLexeme = parser.peekLexeme() + + if (nextLexeme == undefined) { + parser.nextClause() + return + } + + switch (nextLexeme.type) { + case lunr.QueryLexer.TERM: + parser.nextClause() + return lunr.QueryParser.parseTerm + case lunr.QueryLexer.FIELD: + parser.nextClause() + return lunr.QueryParser.parseField + case lunr.QueryLexer.EDIT_DISTANCE: + return lunr.QueryParser.parseEditDistance + case lunr.QueryLexer.BOOST: + return lunr.QueryParser.parseBoost + case lunr.QueryLexer.PRESENCE: + parser.nextClause() + return lunr.QueryParser.parsePresence + default: + var errorMessage = "Unexpected lexeme type '" + nextLexeme.type + "'" + throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end) + } +} + + /** + * export the module via AMD, CommonJS or as a browser global + * Export code from https://github.com/umdjs/umd/blob/master/returnExports.js + */ + ;(function (root, factory) { + if (typeof define === 'function' && define.amd) { + // AMD. Register as an anonymous module. + define(factory) + } else if (typeof exports === 'object') { + /** + * Node. Does not work with strict CommonJS, but + * only CommonJS-like environments that support module.exports, + * like Node. + */ + module.exports = factory() + } else { + // Browser globals (root is window) + root.lunr = factory() + } + }(this, function () { + /** + * Just return a value to define the module export. + * This example returns an object, but the module + * can return a function as the exported value. + */ + return lunr + })) +})(); diff --git a/docs/search/main.js b/docs/search/main.js new file mode 100644 index 00000000..a5e469d7 --- /dev/null +++ b/docs/search/main.js @@ -0,0 +1,109 @@ +function getSearchTermFromLocation() { + var sPageURL = window.location.search.substring(1); + var sURLVariables = sPageURL.split('&'); + for (var i = 0; i < sURLVariables.length; i++) { + var sParameterName = sURLVariables[i].split('='); + if (sParameterName[0] == 'q') { + return decodeURIComponent(sParameterName[1].replace(/\+/g, '%20')); + } + } +} + +function joinUrl (base, path) { + if (path.substring(0, 1) === "/") { + // path starts with `/`. Thus it is absolute. + return path; + } + if (base.substring(base.length-1) === "/") { + // base ends with `/` + return base + path; + } + return base + "/" + path; +} + +function escapeHtml (value) { + return value.replace(/&/g, '&') + .replace(/"/g, '"') + .replace(//g, '>'); +} + +function formatResult (location, title, summary) { + return ''; +} + +function displayResults (results) { + var search_results = document.getElementById("mkdocs-search-results"); + while (search_results.firstChild) { + search_results.removeChild(search_results.firstChild); + } + if (results.length > 0){ + for (var i=0; i < results.length; i++){ + var result = results[i]; + var html = formatResult(result.location, result.title, result.summary); + search_results.insertAdjacentHTML('beforeend', html); + } + } else { + var noResultsText = search_results.getAttribute('data-no-results-text'); + if (!noResultsText) { + noResultsText = "No results found"; + } + search_results.insertAdjacentHTML('beforeend', '

' + noResultsText + '

'); + } +} + +function doSearch () { + var query = document.getElementById('mkdocs-search-query').value; + if (query.length > min_search_length) { + if (!window.Worker) { + displayResults(search(query)); + } else { + searchWorker.postMessage({query: query}); + } + } else { + // Clear results for short queries + displayResults([]); + } +} + +function initSearch () { + var search_input = document.getElementById('mkdocs-search-query'); + if (search_input) { + search_input.addEventListener("keyup", doSearch); + } + var term = getSearchTermFromLocation(); + if (term) { + search_input.value = term; + doSearch(); + } +} + +function onWorkerMessage (e) { + if (e.data.allowSearch) { + initSearch(); + } else if (e.data.results) { + var results = e.data.results; + displayResults(results); + } else if (e.data.config) { + min_search_length = e.data.config.min_search_length-1; + } +} + +if (!window.Worker) { + console.log('Web Worker API not supported'); + // load index in main thread + $.getScript(joinUrl(base_url, "search/worker.js")).done(function () { + console.log('Loaded worker'); + init(); + window.postMessage = function (msg) { + onWorkerMessage({data: msg}); + }; + }).fail(function (jqxhr, settings, exception) { + console.error('Could not load worker.js'); + }); +} else { + // Wrap search in a web worker + var searchWorker = new Worker(joinUrl(base_url, "search/worker.js")); + searchWorker.postMessage({init: true}); + searchWorker.onmessage = onWorkerMessage; +} diff --git a/docs/search/search_index.json b/docs/search/search_index.json new file mode 100644 index 00000000..0a2741ed --- /dev/null +++ b/docs/search/search_index.json @@ -0,0 +1 @@ +{"config":{"indexing":"full","lang":["en"],"min_search_length":3,"prebuild_index":false,"separator":"[\\s\\-]+"},"docs":[{"location":"","text":"What is openpilot? openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years . In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations . How do I use it? openpilot is designed to be used on the comma 3X. How does it work? In short, openpilot uses the car's existing APIs for the built-in ADAS system and simply provides better acceleration, braking, and steering inputs than the stock system.","title":"What is openpilot?"},{"location":"#what-is-openpilot","text":"openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years . In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations .","title":"What is openpilot?"},{"location":"#how-do-i-use-it","text":"openpilot is designed to be used on the comma 3X.","title":"How do I use it?"},{"location":"#how-does-it-work","text":"In short, openpilot uses the car's existing APIs for the built-in ADAS system and simply provides better acceleration, braking, and steering inputs than the stock system.","title":"How does it work?"},{"location":"CARS/","text":"Supported Cars A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. 289 Supported Cars Make Model Supported Package ACC No ACC accel below No ALC below Steering Torque Resume from stop Hardware Needed Video Acura ILX 2016-19 AcuraWatch Plus openpilot 26 mph 25 mph Parts - 1 Honda Nidec connector - 1 RJ45 cable (7 ft) - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Acura RDX 2016-18 AcuraWatch Plus openpilot 26 mph 12 mph Parts - 1 Honda Nidec connector - 1 RJ45 cable (7 ft) - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Acura RDX 2019-22 All openpilot available 1 0 mph 3 mph Parts - 1 Honda Bosch A connector - 1 RJ45 cable (7 ft) - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Audi A3 2014-19 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Audi A3 Sportback e-tron 2017-18 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Audi Q2 2018 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Audi Q3 2019-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Audi RS3 2018 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Audi S3 2015-17 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Chevrolet Bolt EUV 2022-23 Premier or Premier Redline Trim without Super Cruise Package openpilot available 1 3 mph 6 mph Parts - 1 GM connector - 1 comma 3X - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Chevrolet Bolt EV 2022-23 2LT Trim with Adaptive Cruise Control Package openpilot available 1 3 mph 6 mph Parts - 1 GM connector - 1 comma 3X - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Chevrolet Equinox 2019-22 Adaptive Cruise Control (ACC) openpilot available 1 3 mph 6 mph Parts - 1 GM connector - 1 comma 3X - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Chevrolet Silverado 1500 2020-21 Safety Package II openpilot available 1 0 mph 6 mph Parts - 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If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB). 3 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. 4 2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. 5 Requires a CAN FD panda kit if not using comma 3X for this CAN FD car . 6 In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. 7 Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. 8 openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. 9 Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. 10 Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. 11 Some \u0160koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. 12 Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. 13 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. 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 . Don't see your car here? openpilot can support many more cars than it currently does. There are a few reasons your car may not be supported. If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support , and in fact, most car support comes from users like you! Which cars are able to be supported? openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has ACC and any form of LKAS / LCA , then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own marketing terms for these features, such as Hyundai's \"Smart Cruise Control\" branding of Adaptive Cruise Control. If your car has the following packages or features, then it's a good candidate for support. Make Required Package/Features 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. Nissan Any car with ProPILOT will likely work. Toyota & Lexus Any car that has Toyota/Lexus Safety Sense with \"Lane Departure Alert with Steering Assist (LDA w/SA)\" and/or \"Lane Tracing Assist (LTA)\" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. Hyundai, Kia, & Genesis Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. Chrysler, Jeep, & Ram Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. FlexRay All the cars that openpilot supports use a CAN bus for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use FlexRay instead of a CAN bus: BMW, Mercedes, Audi, Land Rover, and some Volvo . These cars may one day be supported, but we have no immediate plans to support FlexRay. Toyota Security openpilot does not yet support these Toyota models due to a new message authentication method. Vote if you'd like to see openpilot support on these models. Toyota RAV4 Prime 2021+ Toyota Sienna 2021+ Toyota Venza 2021+ Toyota Sequoia 2023+ Toyota Tundra 2022+ Toyota Highlander 2024+ Toyota Corolla Cross 2022+ (only US model) Toyota Camry 2025+ Lexus NX 2022+ Toyota bZ4x 2023+ Subaru Solterra 2023+","title":"CARS"},{"location":"CARS/#supported-cars","text":"A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.","title":"Supported Cars"},{"location":"CARS/#289-supported-cars","text":"Make Model Supported Package ACC No ACC accel below No ALC below Steering Torque Resume from stop Hardware Needed Video Acura ILX 2016-19 AcuraWatch Plus openpilot 26 mph 25 mph Parts - 1 Honda Nidec connector - 1 RJ45 cable (7 ft) - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Acura RDX 2016-18 AcuraWatch Plus openpilot 26 mph 12 mph Parts - 1 Honda Nidec connector - 1 RJ45 cable (7 ft) - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Acura RDX 2019-22 All openpilot available 1 0 mph 3 mph Parts - 1 Honda Bosch A connector - 1 RJ45 cable (7 ft) - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Audi A3 2014-19 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 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1 right angle OBD-C cable (1.5 ft) Buy Here Toyota Avalon 2017-18 All openpilot available 2 19 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota Avalon 2019-21 All openpilot available 2 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota Avalon 2022 All openpilot 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota Avalon Hybrid 2019-21 All openpilot available 2 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota Avalon Hybrid 2022 All openpilot 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota C-HR 2017-20 All Stock 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota C-HR 2021 All openpilot available 1 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota C-HR Hybrid 2017-20 All Stock 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota C-HR Hybrid 2021-22 All openpilot available 1 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota Camry 2018-20 All Stock 0 mph 8 0 mph Parts - 1 RJ45 cable (7 ft) - 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1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota RAV4 2023-24 All openpilot available 1 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota RAV4 Hybrid 2016 Toyota Safety Sense P openpilot available 2 19 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota RAV4 Hybrid 2017-18 All openpilot available 2 19 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota RAV4 Hybrid 2019-21 All openpilot 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota RAV4 Hybrid 2022 All openpilot available 1 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota RAV4 Hybrid 2023-24 All openpilot available 1 0 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Toyota Sienna 2018-20 All openpilot available 2 19 mph 0 mph Parts - 1 RJ45 cable (7 ft) - 1 Toyota A connector - 1 comma 3X - 1 comma power v2 - 1 harness box - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Arteon 2018-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Arteon eHybrid 2020-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 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1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen California 2021-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 31 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 angled mount (8 degrees) - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Caravelle 2020 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 31 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 angled mount (8 degrees) - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen CC 2018-22 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Crafter 2017-24 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 31 mph Parts - 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1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Golf SportsVan 2015-20 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Grand California 2019-24 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 31 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 angled mount (8 degrees) - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Jetta 2018-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Jetta GLI 2021-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Passat 2015-22 10 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Passat Alltrack 2015-22 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Passat GTE 2015-22 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Polo 2018-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here 13 Volkswagen Polo GTI 2018-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here 13 Volkswagen T-Cross 2021 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here 13 Volkswagen T-Roc 2018-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Taos 2022-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Teramont 2018-22 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Teramont Cross Sport 2021-22 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Teramont X 2021-22 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Tiguan 2018-24 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Tiguan eHybrid 2021-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here Volkswagen Touran 2016-23 Adaptive Cruise Control (ACC) & Lane Assist openpilot available 1,12 0 mph 0 mph Parts - 1 USB-C coupler - 1 VW J533 connector - 1 comma 3X - 1 harness box - 1 long OBD-C cable - 1 mount - 1 right angle OBD-C cable (1.5 ft) Buy Here","title":"289 Supported Cars"},{"location":"CARS/#footnotes","text":"1 openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as devel or master-ci . 2 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. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB). 3 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. 4 2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. 5 Requires a CAN FD panda kit if not using comma 3X for this CAN FD car . 6 In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. 7 Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. 8 openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. 9 Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. 10 Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. 11 Some \u0160koda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. 12 Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. 13 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.","title":"Footnotes"},{"location":"CARS/#community-maintained-cars","text":"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 .","title":"Community Maintained Cars"},{"location":"CARS/#dont-see-your-car-here","text":"openpilot can support many more cars than it currently does. There are a few reasons your car may not be supported. If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support , and in fact, most car support comes from users like you!","title":"Don't see your car here?"},{"location":"CARS/#which-cars-are-able-to-be-supported","text":"openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has ACC and any form of LKAS / LCA , then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own marketing terms for these features, such as Hyundai's \"Smart Cruise Control\" branding of Adaptive Cruise Control. If your car has the following packages or features, then it's a good candidate for support. Make Required Package/Features 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. Nissan Any car with ProPILOT will likely work. Toyota & Lexus Any car that has Toyota/Lexus Safety Sense with \"Lane Departure Alert with Steering Assist (LDA w/SA)\" and/or \"Lane Tracing Assist (LTA)\" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. Hyundai, Kia, & Genesis Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. Chrysler, Jeep, & Ram Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models.","title":"Which cars are able to be supported?"},{"location":"CARS/#flexray","text":"All the cars that openpilot supports use a CAN bus for communication between all the car's computers, however a CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following manufacturers use FlexRay instead of a CAN bus: BMW, Mercedes, Audi, Land Rover, and some Volvo . These cars may one day be supported, but we have no immediate plans to support FlexRay.","title":"FlexRay"},{"location":"CARS/#toyota-security","text":"openpilot does not yet support these Toyota models due to a new message authentication method. Vote if you'd like to see openpilot support on these models. Toyota RAV4 Prime 2021+ Toyota Sienna 2021+ Toyota Venza 2021+ Toyota Sequoia 2023+ Toyota Tundra 2022+ Toyota Highlander 2024+ Toyota Corolla Cross 2022+ (only US model) Toyota Camry 2025+ Lexus NX 2022+ Toyota bZ4x 2023+ Subaru Solterra 2023+","title":"Toyota Security"},{"location":"CONTRIBUTING/","text":"How to contribute Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our post about externalization . Development is coordinated through Discord and GitHub. Getting Started Setup your development environment Read about the development workflow Join our Discord Docs are at https://docs.comma.ai and https://blog.comma.ai What contributions are we looking for? openpilot's priorities are safety , stability, quality, and features, in that order. openpilot is part of comma's mission to solve self-driving cars while delivering shippable intermediaries , and all development is towards that goal. What gets merged? The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. If a PR offers some value but will take lots of time to get merged, it will be closed. Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. All of these are examples of good PRs: * typo fix: https://github.com/commaai/openpilot/pull/30678 * removing unused code: https://github.com/commaai/openpilot/pull/30573 * simple car model port: https://github.com/commaai/openpilot/pull/30245 * car brand port: https://github.com/commaai/openpilot/pull/23331 What doesn't get merged? style changes : code is art, and it's up to the author to make it beautiful 500+ line PRs : clean it up, break it up into smaller PRs, or both PRs without a clear goal : every PR must have a singular and clear goal UI design : we do not have a good review process for this yet New features : We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't. Negative expected value : This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged. First contribution Projects / openpilot bounties is the best place to get started and goes in-depth on what's expected when working on a bounty. There's lot of bounties that don't require a comma 3/3X or a car. Pull Requests Pull requests should be against the master branch. A good pull request has all of the following: * a clearly stated purpose * every line changed directly contributes to the stated purpose * verification, i.e. how did you test your PR? * justification * if you've optimized something, post benchmarks to prove it's better * if you've improved your car's tuning, post before and after plots * passes the CI tests Contributing without Code Report bugs in GitHub issues. Report driving issues in the #driving-feedback Discord channel. Consider opting into driver camera uploads to improve the driver monitoring model. Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. Run the nightly branch and report issues. This branch is like master but it's built just like a release. Annotate images in the comma10k dataset .","title":"How to contribute"},{"location":"CONTRIBUTING/#how-to-contribute","text":"Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our post about externalization . Development is coordinated through Discord and GitHub.","title":"How to contribute"},{"location":"CONTRIBUTING/#getting-started","text":"Setup your development environment Read about the development workflow Join our Discord Docs are at https://docs.comma.ai and https://blog.comma.ai","title":"Getting Started"},{"location":"CONTRIBUTING/#what-contributions-are-we-looking-for","text":"openpilot's priorities are safety , stability, quality, and features, in that order. openpilot is part of comma's mission to solve self-driving cars while delivering shippable intermediaries , and all development is towards that goal.","title":"What contributions are we looking for?"},{"location":"CONTRIBUTING/#what-gets-merged","text":"The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged. If a PR offers some value but will take lots of time to get merged, it will be closed. Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. All of these are examples of good PRs: * typo fix: https://github.com/commaai/openpilot/pull/30678 * removing unused code: https://github.com/commaai/openpilot/pull/30573 * simple car model port: https://github.com/commaai/openpilot/pull/30245 * car brand port: https://github.com/commaai/openpilot/pull/23331","title":"What gets merged?"},{"location":"CONTRIBUTING/#what-doesnt-get-merged","text":"style changes : code is art, and it's up to the author to make it beautiful 500+ line PRs : clean it up, break it up into smaller PRs, or both PRs without a clear goal : every PR must have a singular and clear goal UI design : we do not have a good review process for this yet New features : We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't. Negative expected value : This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.","title":"What doesn't get merged?"},{"location":"CONTRIBUTING/#first-contribution","text":"Projects / openpilot bounties is the best place to get started and goes in-depth on what's expected when working on a bounty. There's lot of bounties that don't require a comma 3/3X or a car.","title":"First contribution"},{"location":"CONTRIBUTING/#pull-requests","text":"Pull requests should be against the master branch. A good pull request has all of the following: * a clearly stated purpose * every line changed directly contributes to the stated purpose * verification, i.e. how did you test your PR? * justification * if you've optimized something, post benchmarks to prove it's better * if you've improved your car's tuning, post before and after plots * passes the CI tests","title":"Pull Requests"},{"location":"CONTRIBUTING/#contributing-without-code","text":"Report bugs in GitHub issues. Report driving issues in the #driving-feedback Discord channel. Consider opting into driver camera uploads to improve the driver monitoring model. Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. Run the nightly branch and report issues. This branch is like master but it's built just like a release. Annotate images in the comma10k dataset .","title":"Contributing without Code"},{"location":"INTEGRATION/","text":"Integration with Stock Features In all supported cars: * Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user. * Stock LDW is replaced by openpilot LDW. Additionally, on specific supported cars (see ACC column in supported cars ): * Stock ACC is replaced by openpilot ACC. * openpilot FCW operates in addition to stock FCW. openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.","title":"Integration with Stock Features"},{"location":"INTEGRATION/#integration-with-stock-features","text":"In all supported cars: * Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user. * Stock LDW is replaced by openpilot LDW. Additionally, on specific supported cars (see ACC column in supported cars ): * Stock ACC is replaced by openpilot ACC. * openpilot FCW operates in addition to stock FCW. openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.","title":"Integration with Stock Features"},{"location":"LIMITATIONS/","text":"Limitations Limitations of openpilot ALC and LDW openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times. While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so. Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to: Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc. Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. The device is mounted incorrectly. When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce. In the presence of restricted lanes or construction zones. When driving on highly banked roads or in presence of strong cross-wind. Extremely hot or cold temperatures. Bright light (due to oncoming headlights, direct sunlight, etc.). Driving on hills, narrow, or winding roads. The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times. Limitations of openpilot ACC and FCW openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle\u2019s surroundings and to be ready to re-take control of the gas and the brake at all times. Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to: Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc. Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. The device is mounted incorrectly. Approaching a toll booth, a bridge or a large metal plate. When driving on roads with pedestrians, cyclists, etc... In presence of traffic signs or stop lights, which are not detected by openpilot at this time. When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time. In presence of vehicles in the same lane that are not moving. When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce. When surrounding vehicles perform close cut-ins from neighbor lanes. Driving on hills, narrow, or winding roads. Extremely hot or cold temperatures. Bright light (due to oncoming headlights, direct sunlight, etc.). Interference from other equipment that generates radar waves. The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times. Limitations of openpilot DM openpilot DM should not be considered an exact measurement of the alertness of the driver. Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to: Low light conditions, such as driving at night or in dark tunnels. Bright light (due to oncoming headlights, direct sunlight, etc.). The driver's face is partially or completely outside field of view of the driver facing camera. The driver facing camera is obstructed, covered, or damaged. The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.","title":"Limitations"},{"location":"LIMITATIONS/#limitations","text":"","title":"Limitations"},{"location":"LIMITATIONS/#limitations-of-openpilot-alc-and-ldw","text":"openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times. While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so. Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to: Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc. Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. The device is mounted incorrectly. When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce. In the presence of restricted lanes or construction zones. When driving on highly banked roads or in presence of strong cross-wind. Extremely hot or cold temperatures. Bright light (due to oncoming headlights, direct sunlight, etc.). Driving on hills, narrow, or winding roads. The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.","title":"Limitations of openpilot ALC and LDW"},{"location":"LIMITATIONS/#limitations-of-openpilot-acc-and-fcw","text":"openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle\u2019s surroundings and to be ready to re-take control of the gas and the brake at all times. Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to: Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation. The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc. Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle. The device is mounted incorrectly. Approaching a toll booth, a bridge or a large metal plate. When driving on roads with pedestrians, cyclists, etc... In presence of traffic signs or stop lights, which are not detected by openpilot at this time. When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time. In presence of vehicles in the same lane that are not moving. When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce. When surrounding vehicles perform close cut-ins from neighbor lanes. Driving on hills, narrow, or winding roads. Extremely hot or cold temperatures. Bright light (due to oncoming headlights, direct sunlight, etc.). Interference from other equipment that generates radar waves. The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.","title":"Limitations of openpilot ACC and FCW"},{"location":"LIMITATIONS/#limitations-of-openpilot-dm","text":"openpilot DM should not be considered an exact measurement of the alertness of the driver. Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to: Low light conditions, such as driving at night or in dark tunnels. Bright light (due to oncoming headlights, direct sunlight, etc.). The driver's face is partially or completely outside field of view of the driver facing camera. The driver facing camera is obstructed, covered, or damaged. The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.","title":"Limitations of openpilot DM"},{"location":"SAFETY/","text":"Safety openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the driver to be alert and to pay attention at all times. In order to enforce driver alertness, openpilot includes a driver monitoring feature that alerts the driver when distracted. However, even with an attentive driver, we must make further efforts for the system to be safe. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be used safely and openpilot is provided with no warranty of fitness for any purpose. openpilot is developed in good faith to be compliant with FMVSS requirements and to follow industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe ISO26262 guidelines, including those from pertinent documents released by NHTSA. In addition, we impose strict coding guidelines (like MISRA C : 2012 ) on parts of openpilot that are safety relevant. We also perform software-in-the-loop, hardware-in-the-loop and in-vehicle tests before each software release. Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot ensuring two main safety requirements. The driver must always be capable to immediately retake manual control of the vehicle, by stepping on the brake pedal or by pressing the cancel button. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained to operate within reasonable limits[^1]. For additional safety implementation details, refer to panda safety model . For vehicle specific implementation of the safety concept, refer to panda/board/safety/ . Extra note : comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. [^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.","title":"Safety"},{"location":"SAFETY/#safety","text":"openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the driver to be alert and to pay attention at all times. In order to enforce driver alertness, openpilot includes a driver monitoring feature that alerts the driver when distracted. However, even with an attentive driver, we must make further efforts for the system to be safe. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be used safely and openpilot is provided with no warranty of fitness for any purpose. openpilot is developed in good faith to be compliant with FMVSS requirements and to follow industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe ISO26262 guidelines, including those from pertinent documents released by NHTSA. In addition, we impose strict coding guidelines (like MISRA C : 2012 ) on parts of openpilot that are safety relevant. We also perform software-in-the-loop, hardware-in-the-loop and in-vehicle tests before each software release. Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot ensuring two main safety requirements. The driver must always be capable to immediately retake manual control of the vehicle, by stepping on the brake pedal or by pressing the cancel button. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained to operate within reasonable limits[^1]. For additional safety implementation details, refer to panda safety model . For vehicle specific implementation of the safety concept, refer to panda/board/safety/ . Extra note : comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. [^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.","title":"Safety"},{"location":"WORKFLOW/","text":"openpilot development workflow Aside from the ML models, most tools used for openpilot development are in this repo. Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the setup guide for getting your PC setup for openpilot development. Quick start # get the latest stuff git pull git lfs pull git submodule update --init --recursive # update dependencies tools/ubuntu_setup.sh # build everything scons -j$(nproc) # build just the ui with either of these scons -j8 selfdrive/ui/ cd selfdrive/ui/ && scons -u -j8 # test everything pytest # test just logging services cd system/loggerd && pytest . # run the linter op lint Testing Automated Testing All PRs and commits are automatically checked by GitHub Actions. Check out .github/workflows/ for what GitHub Actions runs. Any new tests should be added to GitHub Actions. Code Style and Linting Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running pre-commit run --all .","title":"openpilot development workflow"},{"location":"WORKFLOW/#openpilot-development-workflow","text":"Aside from the ML models, most tools used for openpilot development are in this repo. Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the setup guide for getting your PC setup for openpilot development.","title":"openpilot development workflow"},{"location":"WORKFLOW/#quick-start","text":"# get the latest stuff git pull git lfs pull git submodule update --init --recursive # update dependencies tools/ubuntu_setup.sh # build everything scons -j$(nproc) # build just the ui with either of these scons -j8 selfdrive/ui/ cd selfdrive/ui/ && scons -u -j8 # test everything pytest # test just logging services cd system/loggerd && pytest . # run the linter op lint","title":"Quick start"},{"location":"WORKFLOW/#testing","text":"","title":"Testing"},{"location":"WORKFLOW/#automated-testing","text":"All PRs and commits are automatically checked by GitHub Actions. Check out .github/workflows/ for what GitHub Actions runs. Any new tests should be added to GitHub Actions.","title":"Automated Testing"},{"location":"WORKFLOW/#code-style-and-linting","text":"Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running pre-commit run --all .","title":"Code Style and Linting"},{"location":"car-porting/brand-port/","text":"Developing a car brand port A brand port is a port of openpilot to a substantially new car brand or platform within a brand. Here's an example of one: https://github.com/commaai/openpilot/pull/23331.","title":"Porting a car brand"},{"location":"car-porting/brand-port/#developing-a-car-brand-port","text":"A brand port is a port of openpilot to a substantially new car brand or platform within a brand. Here's an example of one: https://github.com/commaai/openpilot/pull/23331.","title":"Developing a car brand port"},{"location":"car-porting/model-port/","text":"Developing a car model port A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known. Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.","title":"Porting a car model"},{"location":"car-porting/model-port/#developing-a-car-model-port","text":"A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known. Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.","title":"Developing a car model port"},{"location":"car-porting/what-is-a-car-port/","text":"What is a car port? A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including: existing openpilot support for similar cars architecture and APIs available in the car Structure of a car port Virtually all car-specific code is contained in two other repositories: opendbc and panda . opendbc Each car brand is supported by a standard interface structure in opendbc/car/[brand] : interface.py : Interface for the car, defines the CarInterface class carstate.py : Reads CAN messages from the car and builds openpilot CarState messages carcontroller.py : Control logic for executing openpilot CarControl actions on the car [brand]can.py : Composes CAN messages for carcontroller to send values.py : Limits for actuation, general constants for cars, and supported car documentation radar_interface.py : Interface for parsing radar points from the car, if applicable panda board/safety/safety_[brand].h : Brand-specific safety logic tests/safety/test_[brand].py : Brand-specific safety CI tests openpilot For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed. selfdrive/car/car_specific.py : Brand-specific event logic Overview Jason Young gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube: https://www.youtube.com/watch?v=XxPS5TpTUnI","title":"What is a car port?"},{"location":"car-porting/what-is-a-car-port/#what-is-a-car-port","text":"A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including: existing openpilot support for similar cars architecture and APIs available in the car","title":"What is a car port?"},{"location":"car-porting/what-is-a-car-port/#structure-of-a-car-port","text":"Virtually all car-specific code is contained in two other repositories: opendbc and panda .","title":"Structure of a car port"},{"location":"car-porting/what-is-a-car-port/#opendbc","text":"Each car brand is supported by a standard interface structure in opendbc/car/[brand] : interface.py : Interface for the car, defines the CarInterface class carstate.py : Reads CAN messages from the car and builds openpilot CarState messages carcontroller.py : Control logic for executing openpilot CarControl actions on the car [brand]can.py : Composes CAN messages for carcontroller to send values.py : Limits for actuation, general constants for cars, and supported car documentation radar_interface.py : Interface for parsing radar points from the car, if applicable","title":"opendbc"},{"location":"car-porting/what-is-a-car-port/#panda","text":"board/safety/safety_[brand].h : Brand-specific safety logic tests/safety/test_[brand].py : Brand-specific safety CI tests","title":"panda"},{"location":"car-porting/what-is-a-car-port/#openpilot","text":"For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed. selfdrive/car/car_specific.py : Brand-specific event logic","title":"openpilot"},{"location":"car-porting/what-is-a-car-port/#overview","text":"Jason Young gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube: https://www.youtube.com/watch?v=XxPS5TpTUnI","title":"Overview"},{"location":"concepts/glossary/","text":"openpilot glossary route : segment : routes are split into one minute chunks called segments. panda : this is . See the repo. onroad : offroad : comma 3X :","title":"openpilot glossary"},{"location":"concepts/glossary/#openpilot-glossary","text":"route : segment : routes are split into one minute chunks called segments. panda : this is . See the repo. onroad : offroad : comma 3X :","title":"openpilot glossary"},{"location":"concepts/logs/","text":"Logging openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge. Check out our Python library for reading openpilot logs. Also checkout our tools to replay and view your data. These are the same tools we use to debug and develop openpilot. For each segment, openpilot records the following log types: rlog.bz2 rlogs contain all the messages passed amongst openpilot's processes. See cereal/services.py for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages. {f,e,d}camera.hevc Each camera stream is H.265 encoded and written to its respective file. fcamera.hevc is the road camera ecamera.hevc is the wide road camera dcamera.hevc is the driver camera qlog.bz2 & qcamera.ts qlogs are a decimated subset of the rlogs. Check out cereal/services.py for the decimation. qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in comma connect is from the qcameras. qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.","title":"Logs"},{"location":"concepts/logs/#logging","text":"openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge. Check out our Python library for reading openpilot logs. Also checkout our tools to replay and view your data. These are the same tools we use to debug and develop openpilot. For each segment, openpilot records the following log types:","title":"Logging"},{"location":"concepts/logs/#rlogbz2","text":"rlogs contain all the messages passed amongst openpilot's processes. See cereal/services.py for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.","title":"rlog.bz2"},{"location":"concepts/logs/#fedcamerahevc","text":"Each camera stream is H.265 encoded and written to its respective file. fcamera.hevc is the road camera ecamera.hevc is the wide road camera dcamera.hevc is the driver camera","title":"{f,e,d}camera.hevc"},{"location":"concepts/logs/#qlogbz2-qcamerats","text":"qlogs are a decimated subset of the rlogs. Check out cereal/services.py for the decimation. qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in comma connect is from the qcameras. qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.","title":"qlog.bz2 & qcamera.ts"},{"location":"concepts/safety/","text":"Safety openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the driver to be alert and to pay attention at all times. In order to enforce driver alertness, openpilot includes a driver monitoring feature that alerts the driver when distracted. However, even with an attentive driver, we must make further efforts for the system to be safe. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be used safely and openpilot is provided with no warranty of fitness for any purpose. openpilot is developed in good faith to be compliant with FMVSS requirements and to follow industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe ISO26262 guidelines, including those from pertinent documents released by NHTSA. In addition, we impose strict coding guidelines (like MISRA C : 2012 ) on parts of openpilot that are safety relevant. We also perform software-in-the-loop, hardware-in-the-loop and in-vehicle tests before each software release. Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot ensuring two main safety requirements. The driver must always be capable to immediately retake manual control of the vehicle, by stepping on the brake pedal or by pressing the cancel button. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained to operate within reasonable limits[^1]. For additional safety implementation details, refer to panda safety model . For vehicle specific implementation of the safety concept, refer to panda/board/safety/ . Extra note : comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. [^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.","title":"Safety"},{"location":"concepts/safety/#safety","text":"openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the driver to be alert and to pay attention at all times. In order to enforce driver alertness, openpilot includes a driver monitoring feature that alerts the driver when distracted. However, even with an attentive driver, we must make further efforts for the system to be safe. We repeat, driver alertness is necessary, but not sufficient, for openpilot to be used safely and openpilot is provided with no warranty of fitness for any purpose. openpilot is developed in good faith to be compliant with FMVSS requirements and to follow industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe ISO26262 guidelines, including those from pertinent documents released by NHTSA. In addition, we impose strict coding guidelines (like MISRA C : 2012 ) on parts of openpilot that are safety relevant. We also perform software-in-the-loop, hardware-in-the-loop and in-vehicle tests before each software release. Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot ensuring two main safety requirements. The driver must always be capable to immediately retake manual control of the vehicle, by stepping on the brake pedal or by pressing the cancel button. The vehicle must not alter its trajectory too quickly for the driver to safely react. This means that while the system is engaged, the actuators are constrained to operate within reasonable limits[^1]. For additional safety implementation details, refer to panda safety model . For vehicle specific implementation of the safety concept, refer to panda/board/safety/ . Extra note : comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements. [^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.","title":"Safety"},{"location":"contributing/architecture/","text":"Architecture","title":"Architecture"},{"location":"contributing/architecture/#architecture","text":"","title":"Architecture"},{"location":"contributing/roadmap/","text":"Roadmap This is the roadmap for the next major openpilot releases. Also check out Milestones for minor releases Projects for shorter-term projects not tied to releases Bounties for paid individual issues #current-projects in Discord for discussion on work-in-progress projects openpilot 0.10 openpilot 0.10 will be the first release with a driving policy trained in a learned simulator . Driving model trained in a learned simlator Always-on driver monitoring (behind a toggle) GPS removed from the driving stack 100KB qlogs master-ci pushed after 1000 hours of hardware-in-the-loop testing Car interface code moved into opendbc openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon) openpilot 1.0 openpilot 1.0 will feature a fully end-to-end driving policy. End-to-end longitudinal control in Chill mode Automatic Emergency Braking (AEB) Driver monitoring with sleep detection Rolling updates/releases pushed out by CI panda safety 1.0","title":"Roadmap"},{"location":"contributing/roadmap/#roadmap","text":"This is the roadmap for the next major openpilot releases. Also check out Milestones for minor releases Projects for shorter-term projects not tied to releases Bounties for paid individual issues #current-projects in Discord for discussion on work-in-progress projects","title":"Roadmap"},{"location":"contributing/roadmap/#openpilot-010","text":"openpilot 0.10 will be the first release with a driving policy trained in a learned simulator . Driving model trained in a learned simlator Always-on driver monitoring (behind a toggle) GPS removed from the driving stack 100KB qlogs master-ci pushed after 1000 hours of hardware-in-the-loop testing Car interface code moved into opendbc openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)","title":"openpilot 0.10"},{"location":"contributing/roadmap/#openpilot-10","text":"openpilot 1.0 will feature a fully end-to-end driving policy. End-to-end longitudinal control in Chill mode Automatic Emergency Braking (AEB) Driver monitoring with sleep detection Rolling updates/releases pushed out by CI panda safety 1.0","title":"openpilot 1.0"},{"location":"getting-started/what-is-openpilot/","text":"What is openpilot? openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years . In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations . How do I use it? openpilot is designed to be used on the comma 3X. How does it work? In short, openpilot uses the car's existing APIs for the built-in ADAS system and simply provides better acceleration, braking, and steering inputs than the stock system.","title":"What is openpilot?"},{"location":"getting-started/what-is-openpilot/#what-is-openpilot","text":"openpilot is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of supported car makes, models, and model years . In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations .","title":"What is openpilot?"},{"location":"getting-started/what-is-openpilot/#how-do-i-use-it","text":"openpilot is designed to be used on the comma 3X.","title":"How do I use it?"},{"location":"getting-started/what-is-openpilot/#how-does-it-work","text":"In short, openpilot uses the car's existing APIs for the built-in ADAS system and simply provides better acceleration, braking, and steering inputs than the stock system.","title":"How does it work?"},{"location":"how-to/connect-to-comma/","text":"connect to a comma 3/3X A comma 3/3X is a normal Linux computer that exposes SSH and a serial console . Serial Console On both the comma three and 3X, the serial console is accessible from the main OBD-C port. Connect the comma 3/3X to your computer with a normal USB C cable, or use a comma serial for steady 12V power. On the comma three, the serial console is exposed through a UART-to-USB chip, and tools/scripts/serial.sh can be used to connect. On the comma 3X, the serial console is accessible through the panda using the panda/tests/som_debug.sh script. SSH In order to SSH into your device, you'll need a GitHub account with SSH keys. See this GitHub article for getting your account setup with SSH keys. Enable SSH in your device's settings Enter your GitHub username in the device's settings Connect to your device Username: comma Port: 22 Here's an example command for connecting to your device using its tethered connection: ssh comma@192.168.43.1 For doing development work on device, it's recommended to use SSH agent forwarding . Notes The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username. The id_rsa key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed. ssh.comma.ai proxy With a comma prime subscription , you can SSH into your comma device from anywhere. With the below SSH configuration, you can type ssh comma-{dongleid} to connect to your device through ssh.comma.ai . Host comma-* Port 22 User comma IdentityFile ~/.ssh/my_github_key ProxyCommand ssh %h@ssh.comma.ai -W %h:%p Host ssh.comma.ai Hostname ssh.comma.ai Port 22 IdentityFile ~/.ssh/my_github_key One-off connection ssh -i ~/.ssh/my_github_key -o ProxyCommand=\"ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai\" comma@ffffffffffffffff (Replace ffffffffffffffff with your dongle_id) ssh.comma.ai host key fingerprint Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4 +---[RSA 4096]----+ | | | | | . | | + o | | S = + +..| | + @ = .=| | . B @ ++=| | o * B XE| | .o o OB/| +----[SHA256]-----+","title":"Connect to a comma 3/3X"},{"location":"how-to/connect-to-comma/#connect-to-a-comma-33x","text":"A comma 3/3X is a normal Linux computer that exposes SSH and a serial console .","title":"connect to a comma 3/3X"},{"location":"how-to/connect-to-comma/#serial-console","text":"On both the comma three and 3X, the serial console is accessible from the main OBD-C port. Connect the comma 3/3X to your computer with a normal USB C cable, or use a comma serial for steady 12V power. On the comma three, the serial console is exposed through a UART-to-USB chip, and tools/scripts/serial.sh can be used to connect. On the comma 3X, the serial console is accessible through the panda using the panda/tests/som_debug.sh script.","title":"Serial Console"},{"location":"how-to/connect-to-comma/#ssh","text":"In order to SSH into your device, you'll need a GitHub account with SSH keys. See this GitHub article for getting your account setup with SSH keys. Enable SSH in your device's settings Enter your GitHub username in the device's settings Connect to your device Username: comma Port: 22 Here's an example command for connecting to your device using its tethered connection: ssh comma@192.168.43.1 For doing development work on device, it's recommended to use SSH agent forwarding .","title":"SSH"},{"location":"how-to/connect-to-comma/#notes","text":"The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username. The id_rsa key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.","title":"Notes"},{"location":"how-to/connect-to-comma/#sshcommaai-proxy","text":"With a comma prime subscription , you can SSH into your comma device from anywhere. With the below SSH configuration, you can type ssh comma-{dongleid} to connect to your device through ssh.comma.ai . Host comma-* Port 22 User comma IdentityFile ~/.ssh/my_github_key ProxyCommand ssh %h@ssh.comma.ai -W %h:%p Host ssh.comma.ai Hostname ssh.comma.ai Port 22 IdentityFile ~/.ssh/my_github_key","title":"ssh.comma.ai proxy"},{"location":"how-to/connect-to-comma/#one-off-connection","text":"ssh -i ~/.ssh/my_github_key -o ProxyCommand=\"ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai\" comma@ffffffffffffffff (Replace ffffffffffffffff with your dongle_id)","title":"One-off connection"},{"location":"how-to/connect-to-comma/#sshcommaai-host-key-fingerprint","text":"Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4 +---[RSA 4096]----+ | | | | | . | | + o | | S = + +..| | + @ = .=| | . B @ ++=| | o * B XE| | .o o OB/| +----[SHA256]-----+","title":"ssh.comma.ai host key fingerprint"},{"location":"how-to/replay-a-drive/","text":"Replay Replaying is a critical tool for openpilot development and debugging. Replaying a route Hardware required: none Just run tools/replay/replay --demo . Replaying CAN data Hardware required: jungle and comma 3/3X Connect your PC to a jungle. 2.","title":"Replay"},{"location":"how-to/replay-a-drive/#replay","text":"Replaying is a critical tool for openpilot development and debugging.","title":"Replay"},{"location":"how-to/replay-a-drive/#replaying-a-route","text":"Hardware required: none Just run tools/replay/replay --demo .","title":"Replaying a route"},{"location":"how-to/replay-a-drive/#replaying-can-data","text":"Hardware required: jungle and comma 3/3X Connect your PC to a jungle. 2.","title":"Replaying CAN data"},{"location":"how-to/turn-the-speed-blue/","text":"Turn the speed blue A getting started guide for openpilot development In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI. And if you have a comma 3/3X, we'll deploy the change to your device for testing. 1. Setup your development environment Run this to clone openpilot and install all the dependencies: bash <(curl -fsSL openpilot.comma.ai) Navigate to openpilot folder & activate a Python virtual environment cd openpilot source .venv/bin/activate Then, compile openpilot: scons -j8 2. Run replay We'll run the replay tool with the demo route to get data streaming for testing our UI changes. # in terminal 1 tools/replay/replay --demo # in terminal 2 selfdrive/ui/ui The openpilot UI should launch and show a replay of the demo route. If you have your own comma device, you can replace --demo with one of your own routes from comma connect. 3. Make the speed blue Search for \u201cmph\u201d with git grep in the ui folder. $ git grep \"mph\" selfdrive/ui/ paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? \"km/h\" : \"mph\", 36 * 2.5, COLOR_WHITE_ALPHA(200), \"sans-regular\"); The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn\u2019t defined, but a git grep of COLOR_WHITE shows it\u2019s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF. $ git diff diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc index 821d95115..cc996eaa1 100644 --- a/selfdrive/ui/paint.cc +++ b/selfdrive/ui/paint.cc @@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) { const float speed = std::max(0.0, (*s->sm)[\"carState\"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363)); const std::string speed_str = std::to_string((int)std::nearbyint(speed)); nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); - ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, \"sans-bold\"); - ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? \"km/h\" : \"mph\", 36 * 2.5, COLOR_WHITE_ALPHA(200), \"sans-regular\"); + ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), \"sans-bold\"); + ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? \"km/h\" : \"mph\", 36 * 2.5, nvgRGBA(128, 128, 255, 200), \"sans-regular\"); } static void ui_draw_vision_event(UIState *s) { 4. Rebuild UI, and admire your work scons -j8 && selfdrive/ui/ui 5. Push your fork to GitHub Click fork on GitHub. Then, push with: git remote rm origin git remote add origin git@github.com:/openpilot.git git add . git commit -m \"Make the speed blue.\" git push --set-upstream origin master 6. Run your fork on device in your car! Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer: installer.comma.ai//master 7. Admire your work IRL","title":"Turn the speed blue"},{"location":"how-to/turn-the-speed-blue/#turn-the-speed-blue","text":"A getting started guide for openpilot development In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI. And if you have a comma 3/3X, we'll deploy the change to your device for testing.","title":"Turn the speed blue"},{"location":"how-to/turn-the-speed-blue/#1-setup-your-development-environment","text":"Run this to clone openpilot and install all the dependencies: bash <(curl -fsSL openpilot.comma.ai) Navigate to openpilot folder & activate a Python virtual environment cd openpilot source .venv/bin/activate Then, compile openpilot: scons -j8","title":"1. Setup your development environment"},{"location":"how-to/turn-the-speed-blue/#2-run-replay","text":"We'll run the replay tool with the demo route to get data streaming for testing our UI changes. # in terminal 1 tools/replay/replay --demo # in terminal 2 selfdrive/ui/ui The openpilot UI should launch and show a replay of the demo route. If you have your own comma device, you can replace --demo with one of your own routes from comma connect.","title":"2. Run replay"},{"location":"how-to/turn-the-speed-blue/#3-make-the-speed-blue","text":"Search for \u201cmph\u201d with git grep in the ui folder. $ git grep \"mph\" selfdrive/ui/ paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? \"km/h\" : \"mph\", 36 * 2.5, COLOR_WHITE_ALPHA(200), \"sans-regular\"); The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn\u2019t defined, but a git grep of COLOR_WHITE shows it\u2019s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF. $ git diff diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc index 821d95115..cc996eaa1 100644 --- a/selfdrive/ui/paint.cc +++ b/selfdrive/ui/paint.cc @@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) { const float speed = std::max(0.0, (*s->sm)[\"carState\"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363)); const std::string speed_str = std::to_string((int)std::nearbyint(speed)); nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); - ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, \"sans-bold\"); - ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? \"km/h\" : \"mph\", 36 * 2.5, COLOR_WHITE_ALPHA(200), \"sans-regular\"); + ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), \"sans-bold\"); + ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? \"km/h\" : \"mph\", 36 * 2.5, nvgRGBA(128, 128, 255, 200), \"sans-regular\"); } static void ui_draw_vision_event(UIState *s) {","title":"3. Make the speed blue"},{"location":"how-to/turn-the-speed-blue/#4-rebuild-ui-and-admire-your-work","text":"scons -j8 && selfdrive/ui/ui","title":"4. Rebuild UI, and admire your work"},{"location":"how-to/turn-the-speed-blue/#5-push-your-fork-to-github","text":"Click fork on GitHub. Then, push with: git remote rm origin git remote add origin git@github.com:/openpilot.git git add . git commit -m \"Make the speed blue.\" git push --set-upstream origin master","title":"5. Push your fork to GitHub"},{"location":"how-to/turn-the-speed-blue/#6-run-your-fork-on-device-in-your-car","text":"Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer: installer.comma.ai//master","title":"6. Run your fork on device in your car!"},{"location":"how-to/turn-the-speed-blue/#7-admire-your-work-irl","text":"","title":"7. Admire your work IRL"}]} \ No newline at end of file diff --git a/docs/search/worker.js b/docs/search/worker.js new file mode 100644 index 00000000..8628dbce --- /dev/null +++ b/docs/search/worker.js @@ -0,0 +1,133 @@ +var base_path = 'function' === typeof importScripts ? '.' : '/search/'; +var allowSearch = false; +var index; +var documents = {}; +var lang = ['en']; +var data; + +function getScript(script, callback) { + console.log('Loading script: ' + script); + $.getScript(base_path + script).done(function () { + callback(); + }).fail(function (jqxhr, settings, exception) { + console.log('Error: ' + exception); + }); +} + +function getScriptsInOrder(scripts, callback) { + if (scripts.length === 0) { + callback(); + return; + } + getScript(scripts[0], function() { + getScriptsInOrder(scripts.slice(1), callback); + }); +} + +function loadScripts(urls, callback) { + if( 'function' === typeof importScripts ) { + importScripts.apply(null, urls); + callback(); + } else { + getScriptsInOrder(urls, callback); + } +} + +function onJSONLoaded () { + data = JSON.parse(this.responseText); + var scriptsToLoad = ['lunr.js']; + if (data.config && data.config.lang && data.config.lang.length) { + lang = data.config.lang; + } + if (lang.length > 1 || lang[0] !== "en") { + scriptsToLoad.push('lunr.stemmer.support.js'); + if (lang.length > 1) { + scriptsToLoad.push('lunr.multi.js'); + } + if (lang.includes("ja") || lang.includes("jp")) { + scriptsToLoad.push('tinyseg.js'); + } + for (var i=0; i < lang.length; i++) { + if (lang[i] != 'en') { + scriptsToLoad.push(['lunr', lang[i], 'js'].join('.')); + } + } + } + loadScripts(scriptsToLoad, onScriptsLoaded); +} + +function onScriptsLoaded () { + console.log('All search scripts loaded, building Lunr index...'); + if (data.config && data.config.separator && data.config.separator.length) { + lunr.tokenizer.separator = new RegExp(data.config.separator); + } + + if (data.index) { + index = lunr.Index.load(data.index); + data.docs.forEach(function (doc) { + documents[doc.location] = doc; + }); + console.log('Lunr pre-built index loaded, search ready'); + } else { + index = lunr(function () { + if (lang.length === 1 && lang[0] !== "en" && lunr[lang[0]]) { + this.use(lunr[lang[0]]); + } else if (lang.length > 1) { + this.use(lunr.multiLanguage.apply(null, lang)); // spread operator not supported in all browsers: https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Operators/Spread_operator#Browser_compatibility + } + this.field('title'); + this.field('text'); + this.ref('location'); + + for (var i=0; i < data.docs.length; i++) { + var doc = data.docs[i]; + this.add(doc); + documents[doc.location] = doc; + } + }); + console.log('Lunr index built, search ready'); + } + allowSearch = true; + postMessage({config: data.config}); + postMessage({allowSearch: allowSearch}); +} + +function init () { + var oReq = new XMLHttpRequest(); + oReq.addEventListener("load", onJSONLoaded); + var index_path = base_path + '/search_index.json'; + if( 'function' === typeof importScripts ){ + index_path = 'search_index.json'; + } + oReq.open("GET", index_path); + oReq.send(); +} + +function search (query) { + if (!allowSearch) { + console.error('Assets for search still loading'); + return; + } + + var resultDocuments = []; + var results = index.search(query); + for (var i=0; i < results.length; i++){ + var result = results[i]; + doc = documents[result.ref]; + doc.summary = doc.text.substring(0, 200); + resultDocuments.push(doc); + } + return resultDocuments; +} + +if( 'function' === typeof importScripts ) { + onmessage = function (e) { + if (e.data.init) { + init(); + } else if (e.data.query) { + postMessage({ results: search(e.data.query) }); + } else { + console.error("Worker - Unrecognized message: " + e); + } + }; +} diff --git a/docs/sitemap.xml b/docs/sitemap.xml new file mode 100644 index 00000000..77605361 --- /dev/null +++ b/docs/sitemap.xml @@ -0,0 +1,79 @@ + + + + https://docs.comma.ai/ + 2024-10-24 + + + https://docs.comma.ai/CARS/ + 2024-10-24 + + + https://docs.comma.ai/CONTRIBUTING/ + 2024-10-24 + + + https://docs.comma.ai/INTEGRATION/ + 2024-10-24 + + + https://docs.comma.ai/LIMITATIONS/ + 2024-10-24 + + + https://docs.comma.ai/SAFETY/ + 2024-10-24 + + + https://docs.comma.ai/WORKFLOW/ + 2024-10-24 + + + https://docs.comma.ai/car-porting/brand-port/ + 2024-10-24 + + + https://docs.comma.ai/car-porting/model-port/ + 2024-10-24 + + + https://docs.comma.ai/car-porting/what-is-a-car-port/ + 2024-10-24 + + + https://docs.comma.ai/concepts/glossary/ + 2024-10-24 + + + https://docs.comma.ai/concepts/logs/ + 2024-10-24 + + + https://docs.comma.ai/concepts/safety/ + 2024-10-24 + + + https://docs.comma.ai/contributing/architecture/ + 2024-10-24 + + + https://docs.comma.ai/contributing/roadmap/ + 2024-10-24 + + + https://docs.comma.ai/getting-started/what-is-openpilot/ + 2024-10-24 + + + https://docs.comma.ai/how-to/connect-to-comma/ + 2024-10-24 + + + https://docs.comma.ai/how-to/replay-a-drive/ + 2024-10-24 + + + https://docs.comma.ai/how-to/turn-the-speed-blue/ + 2024-10-24 + + \ No newline at end of file diff --git a/docs/sitemap.xml.gz b/docs/sitemap.xml.gz new file mode 100644 index 00000000..cd9c584c Binary files /dev/null and b/docs/sitemap.xml.gz differ