sunnypilot v2026.02.09-4080

version: sunnypilot v2025.003.000 (dev)
date: 2026-02-09T02:04:38
master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f

tools/scripts/adb_ssh.sh

@@ -0,0 +1,42 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Forward all openpilot service ports
+mapfile -t SERVICE_PORTS < <(python3 - <<'PY'
+from cereal.services import SERVICE_LIST
+
+FNV_PRIME = 0x100000001b3
+FNV_OFFSET_BASIS = 0xcbf29ce484222325
+START_PORT = 8023
+MAX_PORT = 65535
+PORT_RANGE = MAX_PORT - START_PORT
+MASK = 0xffffffffffffffff
+
+def fnv1a(endpoint: str) -> int:
+  h = FNV_OFFSET_BASIS
+  for b in endpoint.encode():
+    h ^= b
+    h = (h * FNV_PRIME) & MASK
+  return h
+
+ports = set()
+for name in SERVICE_LIST.keys():
+  port = START_PORT + fnv1a(name) % PORT_RANGE
+  ports.add((name, port))
+
+for name, port in sorted(ports):
+  print(f"{name} {port}")
+PY
+)
+
+for entry in "${SERVICE_PORTS[@]}"; do
+  name="${entry% *}"
+  port="${entry##* }"
+  adb forward "tcp:${port}" "tcp:${port}" > /dev/null
+done
+
+# Forward SSH port first for interactive shell access.
+adb forward tcp:2222 tcp:22
+
+# SSH!
+ssh comma@localhost -p 2222 "$@"

tools/scripts/extract_audio.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+import os
+import sys
+import wave
+import argparse
+import numpy as np
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+
+def extract_audio(route_or_segment_name, output_file=None, play=False):
+  lr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
+  audio_messages = list(lr.filter("rawAudioData"))
+  if not audio_messages:
+    print("No rawAudioData messages found in logs")
+    return
+  sample_rate = audio_messages[0].sampleRate
+
+  audio_chunks = []
+  total_frames = 0
+  for msg in audio_messages:
+    audio_array = np.frombuffer(msg.data, dtype=np.int16)
+    audio_chunks.append(audio_array)
+    total_frames += len(audio_array)
+  full_audio = np.concatenate(audio_chunks)
+
+  print(f"Found {total_frames} frames from {len(audio_messages)} audio messages at {sample_rate} Hz")
+
+  if output_file:
+    if write_wav_file(output_file, full_audio, sample_rate):
+      print(f"Audio written to {output_file}")
+    else:
+      print("Audio extraction canceled.")
+  if play:
+    play_audio(full_audio, sample_rate)
+
+
+def write_wav_file(filename, audio_data, sample_rate):
+  if os.path.exists(filename):
+    if input(f"File '{filename}' exists. Overwrite? (y/N): ").lower() not in ['y', 'yes']:
+      return False
+
+  with wave.open(filename, 'wb') as wav_file:
+    wav_file.setnchannels(1)  # Mono
+    wav_file.setsampwidth(2)  # 16-bit
+    wav_file.setframerate(sample_rate)
+    wav_file.writeframes(audio_data.tobytes())
+  return True
+
+
+def play_audio(audio_data, sample_rate):
+  try:
+    import sounddevice as sd
+
+    print("Playing audio... Press Ctrl+C to stop")
+    sd.play(audio_data, sample_rate)
+    sd.wait()
+  except KeyboardInterrupt:
+    print("\nPlayback stopped")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Extract audio data from openpilot logs")
+  parser.add_argument("-o", "--output", help="Output WAV file path")
+  parser.add_argument("--play", action="store_true", help="Play audio with sounddevice")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+  args = parser.parse_args()
+
+  output_file = args.output
+  if not args.output and not args.play:
+    output_file = "extracted_audio.wav"
+
+  extract_audio(args.route_or_segment_name.strip(), output_file, args.play)

tools/scripts/fetch_image_from_route.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import sys
+
+if len(sys.argv) < 4:
+  print(f"{sys.argv[0]} <route> <segment> <frame number> [front|wide|driver]")
+  print('example: ./fetch_image_from_route.py "02c45f73a2e5c6e9|2020-06-01--18-03-08" 3 500 driver')
+  exit(0)
+
+cameras = {
+  "front": "cameras",
+  "wide": "ecameras",
+  "driver": "dcameras"
+}
+
+import requests
+from PIL import Image
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.framereader import FrameReader
+
+jwt = get_token()
+
+route = sys.argv[1]
+segment = int(sys.argv[2])
+frame = int(sys.argv[3])
+camera = cameras[sys.argv[4]] if len(sys.argv) > 4 and sys.argv[4] in cameras else "cameras"
+
+url = f'https://api.commadotai.com/v1/route/{route}/files'
+r = requests.get(url, headers={"Authorization": f"JWT {jwt}"}, timeout=10)
+assert r.status_code == 200
+print("got api response")
+
+segments = r.json()[camera]
+if segment >= len(segments):
+  raise Exception(f"segment {segment} not found, got {len(segments)} segments")
+
+fr = FrameReader(segments[segment])
+if frame >= fr.frame_count:
+  raise Exception("frame {frame} not found, got {fr.frame_count} frames")
+
+im = Image.fromarray(fr.get(frame))
+fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
+im.save(fn)
+print(f"saved {fn}")

tools/scripts/save_ubloxraw_stream.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.lib.logreader import LogReader
+
+os.environ['BASEDIR'] = BASEDIR
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+      description="Unlogging and save to file",
+      formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?",
+                      help="The route whose messages will be published.")
+  parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream',
+                      help="Output pickle file path")
+  return parser
+
+
+def main():
+  args = get_arg_parser().parse_args(sys.argv[1:])
+
+  lr = LogReader(args.route)
+
+  with open(args.out_path, 'wb') as f:
+    try:
+      done = False
+      i = 0
+      while not done:
+        msg = next(lr)
+        if not msg:
+          break
+        smsg = msg.as_builder()
+        typ = smsg.which()
+        if typ == 'ubloxRaw':
+          f.write(smsg.to_bytes())
+          i += 1
+    except StopIteration:
+      print('All done')
+  print(f'Writed {i} msgs')
+
+
+if __name__ == "__main__":
+  main()

tools/scripts/serial.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+while true; do
+  if ls /dev/serial/by-id/usb-FTDI_FT230X* 2> /dev/null; then
+    sudo screen /dev/serial/by-id/usb-FTDI_FT230X* 115200
+  fi
+  sleep 0.005
+done

tools/scripts/setup_ssh_keys.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+import requests
+from openpilot.common.params import Params
+import sys
+
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print(f"{sys.argv[0]} <github username>")
+    exit(1)
+
+  username = sys.argv[1]
+  keys = requests.get(f"https://github.com/{username}.keys", timeout=10)
+
+  if keys.status_code == 200:
+    params = Params()
+    params.put_bool("SshEnabled", True)
+    params.put("GithubSshKeys", keys.text)
+    params.put("GithubUsername", username)
+    print("Set up ssh keys successfully")
+  else:
+    print("Error getting public keys from github")

tools/scripts/ssh.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+import os
+import sys
+import argparse
+import re
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.api import CommaApi
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="A helper for connecting to devices over the comma prime SSH proxy.\
+      Adding your SSH key to your SSH config is recommended for more convenient use; see https://docs.comma.ai/how-to/connect-to-comma/.")
+  parser.add_argument("device", help="device name or dongle id")
+  parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
+  parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
+  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "system/hardware/tici/id_rsa"))
+  parser.add_argument("--debug", help="enable debug output", action="store_true")
+  args = parser.parse_args()
+
+  r = CommaApi(get_token()).get("v1/me/devices")
+  devices = {x['dongle_id']: x['alias'] for x in r}
+
+  if not re.match("[0-9a-zA-Z]{16}", args.device):
+    user_input = args.device.replace(" ", "").lower()
+    matches = { k: v for k, v in devices.items() if isinstance(v, str) and user_input in v.replace(" ", "").lower() }
+    if len(matches) == 1:
+      dongle_id = list(matches.keys())[0]
+    else:
+      print(f"failed to look up dongle id for \"{args.device}\"", file=sys.stderr)
+      if len(matches) > 1:
+        print("found multiple matches:", file=sys.stderr)
+        for k, v in matches.items():
+          print(f"  \"{v}\" ({k})", file=sys.stderr)
+      exit(1)
+  else:
+    dongle_id = args.device
+
+  name = dongle_id
+  if dongle_id in devices:
+    name = f"{devices[dongle_id]} ({dongle_id})"
+  print(f"connecting to {name} through {args.host}:{args.port} ...")
+
+  command = [
+    "ssh",
+    "-i", args.key,
+    "-o", f"ProxyCommand=ssh -i {args.key} -W %h:%p -p %p %h@{args.host}",
+    "-p", str(args.port),
+  ]
+  if args.debug:
+    command += ["-v"]
+  command += [
+    f"comma@comma-{dongle_id}",
+  ]
+  if args.debug:
+    print(" ".join([f"'{c}'" if " " in c else c for c in command]))
+  os.execvp(command[0], command)