Tesla unity release c3

.gitignore

@@ -20,6 +20,7 @@ a.out
 *.d
 *.pyc
 *.pyo
+__pycache__/
 .*.swp
 .*.swo
 .*.un~
@@ -91,3 +92,7 @@ build/
 
 poetry.toml
 Pipfile
+
+# Porting documentation and reference (internal only)
+taskguide/
+openpilot-0.10.3/

INSTALL_COMMA3.md

@@ -0,0 +1,178 @@
+# Tesla Unity OpenPilot 0.10.3 - Comma 3 Installation Guide
+
+## Prerequisites
+
+- Comma 3 device with SSH access
+- Pre-Autopilot Tesla Model S with Tinkla OBD-C interface
+- WiFi network with device connected
+
+## Pre-Installation Validation
+
+Run on your development machine:
+```bash
+./scripts/validate_syntax.sh
+```
+
+This validates all Python syntax and Cap'n Proto schemas compile correctly.
+
+## Installation Steps
+
+### 1. Connect to Comma 3
+
+```bash
+# Find your device IP (check router or Comma Connect app)
+ssh comma@<device-ip>
+# Default password: comma
+```
+
+### 2. Stop OpenPilot
+
+```bash
+tmux kill-server
+sudo systemctl stop comma
+```
+
+### 3. Backup Existing Installation
+
+```bash
+mv /data/openpilot /data/openpilot.bak
+```
+
+### 4. Transfer Files
+
+From your development machine:
+```bash
+cd /Users/williamliu/Desktop/tesla_unity_C3
+
+# Option A: Full sync (recommended)
+rsync -avz --exclude='.git' --exclude='__pycache__' --exclude='*.pyc' \
+    --exclude='openpilot-0.10.3' --exclude='.scons*' \
+    . comma@<device-ip>:/data/openpilot/
+
+# Option B: SCP (slower, but works everywhere)
+scp -r . comma@<device-ip>:/data/openpilot/
+```
+
+### 5. Set Permissions (on device)
+
+```bash
+ssh comma@<device-ip>
+cd /data/openpilot
+chmod +x scripts/*.sh launch_*.sh
+```
+
+### 6. Rebuild Cereal (on device)
+
+```bash
+cd /data/openpilot
+scons -j4 cereal/
+```
+
+### 7. Reboot Device
+
+```bash
+sudo reboot
+```
+
+## Post-Installation Verification
+
+### On-Device Validation
+
+After reboot, SSH back in and run:
+```bash
+cd /data/openpilot
+python3 scripts/validate_port.py
+```
+
+### Check Logs
+
+```bash
+# View openpilot startup logs
+journalctl -u comma -f
+
+# Check for errors
+tail -f /data/log/error.txt
+```
+
+## Troubleshooting
+
+### OpenPilot Won't Start
+
+```bash
+# Check system status
+sudo systemctl status comma
+
+# View full logs
+journalctl -u comma --no-pager | tail -100
+```
+
+### Cereal Errors
+
+If you see cereal-related errors, rebuild:
+```bash
+cd /data/openpilot
+scons -c cereal/  # Clean
+scons -j4 cereal/ # Rebuild
+sudo reboot
+```
+
+### Import Errors
+
+Check the specific import:
+```bash
+cd /data/openpilot
+python3 -c "from selfdrive.controls import plannerd; print('OK')"
+python3 -c "from selfdrive.car.tesla import carstate; print('OK')"
+```
+
+### Rollback
+
+If issues occur, restore backup:
+```bash
+sudo systemctl stop comma
+rm -rf /data/openpilot
+mv /data/openpilot.bak /data/openpilot
+sudo reboot
+```
+
+## What Was Changed
+
+### Core Updates (0.10.3 Compatibility)
+
+1. **cereal/log.capnp**: Added new structs
+   - `SelfdriveState` (state machine info)
+   - `DriverAssistance` (LDW warnings)
+   - `LiveDelayData` (latency tracking)
+   - New `LongitudinalPlan` fields: `aTarget`, `shouldStop`, `allowThrottle`, `allowBrake`
+
+2. **cereal/car.capnp**: Added `CarOutput` struct
+
+3. **cereal/services.py**: Added `QueueSize` for memory optimization
+
+4. **selfdrive/controls/controlsd.py**: Now publishes `selfdriveState`
+
+5. **selfdrive/controls/plannerd.py**: Added Lane Departure Warning integration
+
+6. **selfdrive/controls/lib/ldw.py**: New file for LDW logic
+
+7. **selfdrive/controls/lib/longitudinal_planner.py**: New output fields
+
+8. **common/constants.py**: New file with CV constants
+
+### Tesla-Specific Files (Preserved)
+
+- `selfdrive/car/tesla/` - All files preserved and compatible
+- Tinkla OBD-C interface support maintained
+
+## Testing Recommendations
+
+1. **Static Test**: Start car, don't drive, verify UI works
+2. **Parking Lot Test**: Low-speed driving in safe area
+3. **Road Test**: Normal driving with fallback driver ready
+
+## Support
+
+For issues specific to:
+- Tesla integration: Check Tinkla community resources
+- OpenPilot 0.10.3: Check comma.ai Discord
+- This port: Review taskguide/ documentation

cereal/car.capnp

@@ -442,6 +442,11 @@ struct CarControl {
   pitchDEPRECATED @9 :Float32;
 }
 
+# 0.10.3: New car output struct
+struct CarOutput {
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
 # ****** car param ******
 
 struct CarParams {