125 lines
5.1 KiB
Markdown
125 lines
5.1 KiB
Markdown
<div align="center" style="text-align: center;">
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<h1>opendbc</h1>
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<p>
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<b>opendbc is a Python API for your car.</b>
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<br>
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Read the speed, steering angle, and more. Send gas, braking, and steering commands.
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</p>
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<h3>
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<a href="https://docs.comma.ai">Docs</a>
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<span> · </span>
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<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
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<span> · </span>
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<a href="https://discord.comma.ai">Discord</a>
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</h3>
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[](LICENSE)
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[](https://x.com/comma_ai)
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[](https://discord.comma.ai)
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</div>
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---
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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).
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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.
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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.
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## Contributing
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All opendbc development is coordinated on GitHub and [Discord](https://discord.comma.ai). Check out the `#dev-opendbc-cars` channel and `Vehicle Specific` section.
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### Roadmap
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Short term
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- [ ] `pip install opendbc`
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- [ ] 100% type coverage
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- [ ] 100% line coverage
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- [ ] Make car ports easier: refactors, tools, tests, and docs
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- [ ] Expose the state of all supported cars better: https://github.com/commaai/opendbc/issues/1144
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Longer term
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- [ ] Extend support to every car with LKAS + ACC interfaces
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- [ ] Automatic lateral and longitudinal control/tuning evaluation
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- [ ] Auto-tuning for [lateral](https://blog.comma.ai/090release/#torqued-an-auto-tuner-for-lateral-control) and longitudinal control
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- [ ] [Automatic Emergency Braking](https://en.wikipedia.org/wiki/Automated_emergency_braking_system)
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Contributions towards anything here are welcome.
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### Bounties
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Every car port is eligible for a bounty:
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* $2000 - [Any car brand / platform port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913774)
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* $250 - [Any car model port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913790)
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* $300 - [Reverse Engineering a new Actuation Message](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=73445563)
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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).
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### Project Structure
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* [`opendbc/dbc/`](opendbc/dbc/) is a repository of [DBC](https://en.wikipedia.org/wiki/CAN_bus#DBC) files
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* [`opendbc/can/`](opendbc/can/) is a library for parsing and building CAN messages from DBC files
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* [`opendbc/car/`](opendbc/car/) is a high-level library for interfacing with cars using Python
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### Quick start
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```bash
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git clone https://github.com/commaai/opendbc.git
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cd opendbc
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# Install the dependencies
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pip3 install -e .[testing,docs]
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# Build
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scons -j8
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# Run the tests
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pytest .
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# Run the linter
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pre-commit run --all-files
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# ./test.sh is the all-in-one that will install deps, build, lint, and test
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./test.sh
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```
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[`examples/`](examples/) contains small example programs that can read state from the car and control the steering, gas, and brakes.
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[`examples/joystick.py`](examples/joystick.py) allows you to control a car with a joystick.
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## FAQ
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***How do I use this?***
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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.
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***What hardware do I need?***
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* a [supported car](docs/CARS.md)
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* a [car harness](https://comma.ai/shop/car-harness)
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* a [comma 3X](https://comma.ai/shop/comma-3x) or [panda](https://comma.ai/shop/panda)
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***Which cars are supported?***
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See the [supported cars list](docs/CARS.md).
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***Can I add support for my car?***
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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.)
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***Which cars can be supported?***
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Any car with LKAS and ACC. More info [here](https://github.com/commaai/openpilot/blob/master/docs/CARS.md#dont-see-your-car-here).
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***How does this work?***
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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.
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See [this talk](https://www.youtube.com/watch?v=FL8CxUSfipM) for an in-depth explanation.
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## Come work with us -- [comma.ai/jobs](https://comma.ai/jobs)
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comma is hiring engineers to work on opendbc and [openpilot](https://github.com/commaai/openpilot). We love contributors.
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