03a4f7ef9a
* init: tizi_replay.py from pr 37123 * separate coverage folder * ui replay: adjust HOLD constant, fix coverage, use separate folder for coverage * openpilot prefix * fix directory * fix ui_state * fix settings click pos * remove * attempt merge replay files * remove * todo * fix recording * spacing * simplify * comment * refactor hold * refactor: remove layout definitions from VARIANTS and import conditionally in run_replay * refactor: remove VARIANTS config * add argparser with --big flag and improve coverage sources * refactor * lowercase * refactor: combine scripts * add types * refactor: move imports for gui_app and ui_state to improve coverage and organization * update * update script * comment * fix headless * todo * fix: get_time and get_frame_time determinism * todo * remove file accidently commited * fix: improve inject_click and handle_event for deterministic event timestamps * comment * simplify add * refactor script building * fix mici clicks * pass in pm * fix wifi state * refactor clicks * more refactor * click cancel instead of remove overlay * setup_send_fn * add setup fn * dummy update * change * remove todo * rename fn to frame_fn * refactor * fix workflow * rename raylib ui preview to old * rename mici workflow * fix diff videos * ignore sub html and mp4 files * rename for diff * rename for diff again (mici) * use ScriptEvent instead of DummyEvent, and move mouse events directly to it; rename hold to wait * fix: only import MouseEvent for type hint to fix coverage * adjust settings button click * clarify * move ScriptEvent to replay_script * add handle_event function * remove passing in setup function, and refactor click events * clean * formatting * refactor * no import * comment * refactor * refactor setup functions to replay_setup * refactor * add ReplayContext * refactor * move more setup functions * refactor and simplify * refactor * refactor: add Script class * refactor: enhance Script event handling and add wait functionality * refactor * remove setup_and_click * use script.setup instead * comments * rename wait_frames to wait_after * add comments * revert workflows * revert rename * move arg parsing to main * remove quotes * add type * return types * type * VariantType * rename to LayoutVariant * clarify * switch * todo * Revert "fix diff videos" This reverts commit 7a6e45a409cb7e6d7a330317639fcee74ef8bd31. * add todos * add more coverage * wait 2 frames by default * add comment * comment * switch * fix space Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * remove extra Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Remove unnecessary blank line in ReplayContext class * simplify --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
openpilot
openpilot is an operating system for robotics.
Currently, it upgrades the driver assistance system in 300+ supported cars.
Docs · Roadmap · Contribute · Community · Try it on a comma 3X
Quick start: bash <(curl -fsSL openpilot.comma.ai)
Using openpilot in a car
To use openpilot in a car, you need four things:
- Supported Device: a comma 3X, available at comma.ai/shop.
- Software: The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL
openpilot.comma.aito install the release version. - Supported Car: Ensure that you have one of the 275+ supported cars.
- Car Harness: You will also need a car harness to connect your comma 3X to your car.
We have detailed instructions for how to install the harness and device in a car. Note that it's possible to run openpilot on other hardware, although it's not plug-and-play.
Branches
Running master and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
| comma four branch | comma 3X branch | URL | description |
|---|---|---|---|
release-mici |
release-tizi |
openpilot.comma.ai | This is openpilot's release branch. |
release-mici-staging |
release-tizi-staging |
openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
nightly |
nightly |
openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
nightly-dev |
nightly-dev |
installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
To start developing openpilot
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub.
- Join the community Discord
- Check out the contributing docs
- Check out the openpilot tools
- Code documentation lives at https://docs.comma.ai
- Information about running openpilot lives on the community wiki
Want to get paid to work on openpilot? comma is hiring and offers lots of bounties for external contributors.
Safety and Testing
- openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
- openpilot has software-in-the-loop tests that run on every commit.
- The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
- panda has software-in-the-loop safety tests.
- Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
- panda has additional hardware-in-the-loop tests.
- We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
MIT Licensed
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.
User Data and comma Account
By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
By using openpilot, you agree to our Privacy Policy. You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.