0b1d97fc72
* Add Sunnylink integration for improved device communication This commit introduces Sunnylink support, including modules for API interactions, device registration, logging, and uploader processes. Key changes involve adding Sunnylink-related components, such as sunnylinkd, manage_sunnylinkd, and associated utilities, along with seamless integration into process management. * Refactor Sunnylink modules and update import paths Standardize parameter handling in Sunnylink functions by initializing Params within functions as needed. Update imports to use fully-qualified paths for better clarity and consistency. Also, refactor logging messages for improved readability and maintainability. * Add Sunnylink support and improve log handling Introduced Sunnylink-specific functionality, including compression for oversized logs and platform-specific socket handling for macOS. Improved logging mechanisms, refactored log queue management, and fixed exception handling in sunnylinkd. * Refactor and fix minor coding style inconsistencies Remove unnecessary string concatenation, adjust spacing for better readability, and ensure cleaner code in `athenad.py` and `sunnylink.py`. Added a macOS-specific comment for TCP_KEEPALIVE configuration to improve code clarity. * Replace platform system check with sys platform in athenad.py To check for macOS platform, the code in athenad.py has been altered. Originally, the platform.system() function was used. However, the function has been replaced with sys.platform for a more consistent and preferable syntax. Particularly, this has been modified in the context of setting socket options. * Apply suggestions from code review Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Simplify imports and reformat API function. Removed unused `platform` import for cleanup in `athenad.py`. Improved readability of `api_get` in `__init__.py` by reformatting the long return statement into multiple lines. * Adjust backoff logic and refactor API call formatting. Introduce randomness to backoff calculation in Sunnylink API to reduce synchronization issues. Minor code refactoring improves readability in the API call logic. * Refactor Sunnylink network check logic. Removed hardware-based network check due to performance concerns and replaced it with a real-time device state monitoring loop. This improves efficiency and ensures accurate online status before proceeding with Sunnylink registration. * Apply suggestions from code review * `Refactor saveParams error handling and simplify logic` Removed redundant try-except block wrapping the entire method for clarity. Moved error logging directly inside the loop to handle individual parameter exceptions more effectively. Simplified dictionary construction and improved error logging format. * Add BACKUP flag to select persistent parameters This commit introduces a new BACKUP flag and applies it to specific persistent parameters in `params.cc` and `params.h`. The BACKUP flag enhances data retention by designating parameters for inclusion in backups, ensuring crucial information is preserved across sessions. * Simplify Sunnypilot params formatting Removed unnecessary blank lines and adjusted the Sunnypilot comment format for better readability and consistency. No functional changes were made. * SP: Move Sunnypilot-related code to sunnypilot/sunnylink (#504) * Refactor and relocate sunnylink-related modules sunnylink components have been reorganized for better modularity and clarity, with files moved under `sunnypilot/sunnylink`. Unused code was removed, and reusable utilities were separated for easier maintenance. Adjusted references across the project to reflect these changes. * Permissions * adding init py * more --------- Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
openpilot
openpilot is an operating system for robotics.
Currently, it upgrades the driver assistance system in 275+ 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 3/3X, available at comma.ai/shop.
- Software: The setup procedure for the comma 3/3X 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 3/3X 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
| branch | URL | description |
|---|---|---|
release3 |
openpilot.comma.ai | This is openpilot's release branch. |
release3-staging |
openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
nightly |
openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
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
- Read about the development workflow
- 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.
Licensing
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 is only logged if you explicitly opt-in in settings. The microphone is not recorded.
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.