opendbc/README.md

<div align="center" style="text-align: center;">

<h1>opendbc</h1>

<p>
  <b>opendbc is a Python API for your car.</b>
  <br>
  Read the speed, steering angle, and more. Send gas, braking, and steering commands.
</p>

<h3>
  <a href="https://docs.comma.ai">Docs</a>
  <span> · </span>
  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
  <span> · </span>
  <a href="https://discord.comma.ai">Discord</a>
</h3>

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)

</div>

---

Most cars since 2016 have electronically-actuatable steering, gas, and brakes thanks to [LKAS](https://en.wikipedia.org/wiki/Lane_departure_warning_system#Lane_keeping_and_next_technologies) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control).
The goal of this project is to support controlling every single one of those cars. See [docs/CARS.md](docs/CARS.md) for the current supported cars list.

While the primary focus is on supporting ADAS interfaces for [openpilot](https://github.com/commaai/openpilot), we're also interested in reading and writing as many things as we can: EV charge status, lock/unlocking doors, etc.

## Contributing

All opendbc development is coordinated on GitHub and [Discord](https://discord.comma.ai). Check out the `#dev-opendbc-cars` channel and `Vehicle Specific` section. 

### Roadmap

Short term
- [ ] `pip install opendbc`
- [ ] 100% type coverage
- [ ] 100% line coverage
- [ ] Make car ports easier: refactors, tools, tests, and docs
- [ ] Expose the state of all supported cars better: https://github.com/commaai/opendbc/issues/1144

Longer term
- [ ] Extend support to every car with LKAS + ACC interfaces
- [ ] Automatic lateral and longitudinal control/tuning evaluation
- [ ] Auto-tuning for [lateral](https://blog.comma.ai/090release/#torqued-an-auto-tuner-for-lateral-control) and longitudinal control
- [ ] [Automatic Emergency Braking](https://en.wikipedia.org/wiki/Automated_emergency_braking_system)

Contributions towards anything here are welcome.

### Bounties

Every car port is eligible for a bounty:
* $2000 - [Any car brand / platform port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913774)
* $250 - [Any car model port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913790)
* $300 - [Reverse Engineering a new Actuation Message](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=73445563)

In addition to the standard bounties, we also offer higher value bounties for more popular cars. See those at [comma.ai/bounties](comma.ai/bounties).

### Project Structure
* [`opendbc/dbc/`](opendbc/dbc/) is a repository of [DBC](https://en.wikipedia.org/wiki/CAN_bus#DBC) files
* [`opendbc/can/`](opendbc/can/) is a library for parsing and building CAN messages from DBC files
* [`opendbc/car/`](opendbc/car/) is a high-level library for interfacing with cars using Python

### Quick start

```bash
git clone https://github.com/commaai/opendbc.git

cd opendbc

# Install the dependencies
pip3 install -e .[testing,docs]

# Build
scons -j8

# Run the tests
pytest .

# Run the linter
pre-commit run --all-files

# ./test.sh is the all-in-one that will install deps, build, lint, and test
./test.sh
```

[`examples/`](examples/) contains small example programs that can read state from the car and control the steering, gas, and brakes.
[`examples/joystick.py`](examples/joystick.py) allows you to control a car with a joystick.

## FAQ

***How do I use this?***

Depends on what you want to do. [openpilot](https://github.com/commaai/openpilot) is our development target and offers a replacement for your car's ADAS, but you can also use a [panda](https://comma.ai/shop/panda) for basic control or just reading state from your car.

***What hardware do I need?***

* a [supported car](docs/CARS.md)
* a [car harness](https://comma.ai/shop/car-harness)
* a [comma 3X](https://comma.ai/shop/comma-3x) or [panda](https://comma.ai/shop/panda)

***Which cars are supported?***

See the [supported cars list](docs/CARS.md).

***Can I add support for my car?***

Yes, most car support comes from the community. Join the [Discord](https://discord.comma.ai) and watch this [talk](https://www.youtube.com/watch?v=XxPS5TpTUnI&t=142s&pp=ygUPY29tbWFfY29uIGphc29u) to get started. (We also offer [paid bounties](https://comma.ai/bounties) on car ports.)

***Which cars can be supported?***

Any car with LKAS and ACC. More info [here](https://github.com/commaai/openpilot/blob/master/docs/CARS.md#dont-see-your-car-here).

***How does this work?***

In short, we designed hardware to sit at a convenient spot on your car's communication bus that allows for filtering out interesting messages and replacing them with our own.  
See [this talk](https://www.youtube.com/watch?v=FL8CxUSfipM) for an in-depth explanation.

## Come work with us -- [comma.ai/jobs](https://comma.ai/jobs)

comma is hiring engineers to work on opendbc and [openpilot](https://github.com/commaai/openpilot). We love contributors.