diff --git a/.coveragerc-app b/.coveragerc-app new file mode 100644 index 00000000000000..18c81e3b4897bd --- /dev/null +++ b/.coveragerc-app @@ -0,0 +1,3 @@ +[run] +concurrency=multiprocessing + diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md deleted file mode 100644 index f01c556e8f4c05..00000000000000 --- a/.github/ISSUE_TEMPLATE/bug_report.md +++ /dev/null @@ -1,25 +0,0 @@ ---- -name: Bug report -about: Create a report to help us improve openpilot -title: '' -labels: 'bug' -assignees: '' - ---- - -**Describe the bug** -A clear and concise description of what the bug is. - -**How to reproduce or log data** -Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred. - -**Expected behavior** -A clear and concise description of what you expected to happen. - -**Device/Version information (please complete the following information):** - - Device: [e.g. EON/EON Gold] - - Version: [e.g. 0.6.4], or commit hash when on devel - - Car make/model [e.g. Toyota Prius 2016] - -**Additional context** -Add any other context about the problem here. diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index 823df3a097053e..3f2d095c89aa6b 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -1,2 +1,2 @@ ## discription -Please make a PR against the dev branch usually called something like 075-clean then remove this sentence and add a discription +Please make a PR against the dev branch usually called something like 077-clean then remove this sentence and add a discription diff --git a/.gitignore b/.gitignore index b8f1c7a8b0d41c..eaf23ca45ce4a1 100644 --- a/.gitignore +++ b/.gitignore @@ -60,7 +60,25 @@ selfdrive/mapd/MapsdThread-Thread.log.2 selfdrive/mapd/MapsdThread-Thread.log.3 selfdrive/mapd/MapsdThread-Thread.log.4 selfdrive/mapd/MapsdThread-Thread.log.5 -selfdrive/trafficd/trafficd +selfdrive/mapd/MessagedArneThread-Thread.log +selfdrive/mapd/MessagedArneThread-Thread.log.1 +selfdrive/mapd/MessagedArneThread-Thread.log.2 +selfdrive/mapd/MessagedArneThread-Thread.log.3 +selfdrive/mapd/MessagedArneThread-Thread.log.4 +selfdrive/mapd/MessagedArneThread-Thread.log.5 +selfdrive/mapd/MessagedGPSThread-Thread.log +selfdrive/mapd/MessagedGPSThread-Thread.log.1 +selfdrive/mapd/MessagedGPSThread-Thread.log.2 +selfdrive/mapd/MessagedGPSThread-Thread.log.3 +selfdrive/mapd/MessagedGPSThread-Thread.log.4 +selfdrive/mapd/MessagedGPSThread-Thread.log.5 +selfdrive/mapd/MessagedThread-Thread.log +selfdrive/mapd/MessagedThread-Thread.log.1 +selfdrive/mapd/MessagedThread-Thread.log.2 +selfdrive/mapd/MessagedThread-Thread.log.3 +selfdrive/mapd/MessagedThread-Thread.log.4 +selfdrive/mapd/MessagedThread-Thread.log.5 +selfdrive/trafficd/_trafficd phonelibs/libjson.a phonelibs/libjson11.a phonelibs/nanovg/nanovg.o @@ -71,8 +89,15 @@ openpilot notebooks xx panda_jungle +apks +openpilot-apks .coverage* +coverage.xml htmlcov pandaextra +.mypy_cache/ +flycheck_* + +cppcheck_report.txt diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 00000000000000..3b4fa8a3406517 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,46 @@ +repos: +- repo: https://github.com/pre-commit/pre-commit-hooks + rev: master + hooks: + - id: check-ast + - id: check-json + - id: check-xml + - id: check-yaml + - id: check-merge-conflict + - id: check-symlinks +- repo: https://github.com/pre-commit/mirrors-mypy + rev: master + hooks: + - id: mypy + exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/' + additional_dependencies: ['git+https://github.com/numpy/numpy-stubs'] +- repo: https://github.com/PyCQA/flake8 + rev: master + hooks: + - id: flake8 + exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/' + args: + - --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6 + - --max-line-length=240 + - --statistics +- repo: local + hooks: + - id: pylint + name: pylint + entry: pylint + language: system + types: [python] + exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/' +- repo: local + hooks: + - id: cppcheck + name: cppcheck + entry: cppcheck + language: system + types: [c++] + exclude: '^(phonelibs)|(external)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/' + args: + - --error-exitcode=1 + - --quiet + - --force + - -j8 diff --git a/.pylintrc b/.pylintrc index d45ad2d0824e18..be7701c906392d 100644 --- a/.pylintrc +++ b/.pylintrc @@ -1,585 +1,471 @@ -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code -extension-pkg-whitelist=scipy - -# Add files or directories to the blacklist. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the blacklist. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. -jobs=4 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# When enabled, pylint would attempt to guess common misconfiguration and emit -# user-friendly hints instead of false-positive error messages -suggestion-mode=yes - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once).You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use"--disable=all --enable=classes -# --disable=W" -disable=print-statement, - parameter-unpacking, - unpacking-in-except, - old-raise-syntax, - backtick, - long-suffix, - old-ne-operator, - old-octal-literal, - import-star-module-level, - non-ascii-bytes-literal, - raw-checker-failed, - bad-inline-option, - locally-disabled, - locally-enabled, - file-ignored, - suppressed-message, - useless-suppression, - deprecated-pragma, - apply-builtin, - basestring-builtin, - buffer-builtin, - cmp-builtin, - coerce-builtin, - execfile-builtin, - file-builtin, - long-builtin, - raw_input-builtin, - reduce-builtin, - standarderror-builtin, - unicode-builtin, - xrange-builtin, - coerce-method, - delslice-method, - getslice-method, - setslice-method, - no-absolute-import, - old-division, - dict-iter-method, - dict-view-method, - next-method-called, - metaclass-assignment, - indexing-exception, - raising-string, - reload-builtin, - oct-method, - hex-method, - nonzero-method, - cmp-method, - input-builtin, - round-builtin, - intern-builtin, - unichr-builtin, - map-builtin-not-iterating, - zip-builtin-not-iterating, - range-builtin-not-iterating, - filter-builtin-not-iterating, - using-cmp-argument, - eq-without-hash, - div-method, - idiv-method, - rdiv-method, - exception-message-attribute, - invalid-str-codec, - sys-max-int, - bad-python3-import, - deprecated-string-function, - deprecated-str-translate-call, - deprecated-itertools-function, - deprecated-types-field, - next-method-defined, - dict-items-not-iterating, - dict-keys-not-iterating, - dict-values-not-iterating, - bad-indentation, - line-too-long, - missing-docstring, - multiple-statements, - bad-continuation, - invalid-name, - too-many-arguments, - too-many-locals, - superfluous-parens, - bad-whitespace, - too-many-instance-attributes, - wrong-import-position, - ungrouped-imports, - wrong-import-order, - protected-access, - trailing-whitespace, - too-many-branches, - too-few-public-methods, - too-many-statements, - trailing-newlines, - attribute-defined-outside-init, - too-many-return-statements, - too-many-public-methods, - unused-argument, - old-style-class, - no-init, - len-as-condition, - unneeded-not, - no-self-use, - multiple-imports, - no-else-return, - logging-not-lazy, - fixme, - redefined-outer-name, - unused-variable, - unsubscriptable-object, - expression-not-assigned, - too-many-boolean-expressions, - consider-using-ternary, - invalid-unary-operand-type, - relative-import, - deprecated-lambda - - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable=c-extension-no-member - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio).You can also give a reporter class, eg -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - -# Complete name of functions that never returns. When checking for -# inconsistent-return-statements if a never returning function is called then -# it will be considered as an explicit return statement and no message will be -# printed. -never-returning-functions=optparse.Values,sys.exit - - -[LOGGING] - -# Logging modules to check that the string format arguments are in logging -# function parameter format -logging-modules=logging - - -[SPELLING] - -# Limits count of emitted suggestions for spelling mistakes -max-spelling-suggestions=4 - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package. -spelling-dict= +[MASTER] -# List of comma separated words that should not be checked. -spelling-ignore-words= +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code +extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= +# Add files or directories to the blacklist. They should be base names, not +# paths. +ignore=CVS -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no +# Add files or directories matching the regex patterns to the blacklist. The +# regex matches against base names, not paths. +ignore-patterns= +# Python code to execute, usually for sys.path manipulation such as +# pygtk.require(). +#init-hook= -[MISCELLANEOUS] +# Use multiple processes to speed up Pylint. +jobs=4 -# List of note tags to take in consideration, separated by a comma. -notes=FIXME, - XXX, - TODO +# List of plugins (as comma separated values of python modules names) to load, +# usually to register additional checkers. +load-plugins= +# Pickle collected data for later comparisons. +persistent=yes -[SIMILARITIES] +# Specify a configuration file. +#rcfile= -# Ignore comments when computing similarities. -ignore-comments=yes +# When enabled, pylint would attempt to guess common misconfiguration and emit +# user-friendly hints instead of false-positive error messages +suggestion-mode=yes -# Ignore docstrings when computing similarities. -ignore-docstrings=yes +# Allow loading of arbitrary C extensions. Extensions are imported into the +# active Python interpreter and may run arbitrary code. +unsafe-load-any-extension=no -# Ignore imports when computing similarities. -ignore-imports=no -# Minimum lines number of a similarity. -min-similarity-lines=4 +[MESSAGES CONTROL] +# Only show warnings with the listed confidence levels. Leave empty to show +# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED +confidence= -[TYPECHECK] +# Disable the message, report, category or checker with the given id(s). You +# can either give multiple identifiers separated by comma (,) or put this +# option multiple times (only on the command line, not in the configuration +# file where it should appear only once).You can also use "--disable=all" to +# disable everything first and then reenable specific checks. For example, if +# you want to run only the similarities checker, you can use "--disable=all +# --enable=similarities". If you want to run only the classes checker, but have +# no Warning level messages displayed, use"--disable=all --enable=classes +# --disable=W" +disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136 -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* +# Enable the message, report, category or checker with the given id(s). You can +# either give multiple identifier separated by comma (,) or put this option +# multiple time (only on the command line, not in the configuration file where +# it should appear only once). See also the "--disable" option for examples. +enable=c-extension-no-member -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes +[REPORTS] -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local +# Python expression which should return a note less than 10 (10 is the highest +# note). You have access to the variables errors warning, statement which +# respectively contain the number of errors / warnings messages and the total +# number of statements analyzed. This is used by the global evaluation report +# (RP0004). +evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.* +# Template used to display messages. This is a python new-style format string +# used to format the message information. See doc for all details +#msg-template= -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes +# Set the output format. Available formats are text, parseable, colorized, json +# and msvs (visual studio).You can also give a reporter class, eg +# mypackage.mymodule.MyReporterClass. +output-format=text -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 +# Tells whether to display a full report or only the messages +reports=no -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 +# Activate the evaluation score. +score=yes -[VARIABLES] +[REFACTORING] -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid to define new builtins when possible. -additional-builtins= +# Maximum number of nested blocks for function / method body +max-nested-blocks=5 -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes +# Complete name of functions that never returns. When checking for +# inconsistent-return-statements if a never returning function is called then +# it will be considered as an explicit return statement and no message will be +# printed. +never-returning-functions=optparse.Values,sys.exit -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_, - _cb -# A regular expression matching the name of dummy variables (i.e. expectedly -# not used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ +[LOGGING] -# Argument names that match this expression will be ignored. Default to name -# with leading underscore -ignored-argument-names=_.*|^ignored_|^unused_ +# Logging modules to check that the string format arguments are in logging +# function parameter format +logging-modules=logging -# Tells whether we should check for unused import in __init__ files. -init-import=no -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,past.builtins,future.builtins +[SPELLING] +# Limits count of emitted suggestions for spelling mistakes +max-spelling-suggestions=4 -[FORMAT] +# Spelling dictionary name. Available dictionaries: none. To make it working +# install python-enchant package. +spelling-dict= -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -expected-line-ending-format= +# List of comma separated words that should not be checked. +spelling-ignore-words= -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ +# A path to a file that contains private dictionary; one word per line. +spelling-private-dict-file= -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 +# Tells whether to store unknown words to indicated private dictionary in +# --spelling-private-dict-file option instead of raising a message. +spelling-store-unknown-words=no -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' -# Maximum number of characters on a single line. -max-line-length=100 +[MISCELLANEOUS] -# Maximum number of lines in a module -max-module-lines=1000 +# List of note tags to take in consideration, separated by a comma. +notes=FIXME, + XXX, + TODO -# List of optional constructs for which whitespace checking is disabled. `dict- -# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. -# `trailing-comma` allows a space between comma and closing bracket: (a, ). -# `empty-line` allows space-only lines. -no-space-check=trailing-comma, - dict-separator -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no +[SIMILARITIES] -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no +# Ignore comments when computing similarities. +ignore-comments=yes +# Ignore docstrings when computing similarities. +ignore-docstrings=yes -[BASIC] +# Ignore imports when computing similarities. +ignore-imports=no -# Naming style matching correct argument names -argument-naming-style=snake_case +# Minimum lines number of a similarity. +min-similarity-lines=4 -# Regular expression matching correct argument names. Overrides argument- -# naming-style -#argument-rgx= -# Naming style matching correct attribute names -attr-naming-style=snake_case +[TYPECHECK] -# Regular expression matching correct attribute names. Overrides attr-naming- -# style -#attr-rgx= +# List of decorators that produce context managers, such as +# contextlib.contextmanager. Add to this list to register other decorators that +# produce valid context managers. +contextmanager-decorators=contextlib.contextmanager -# Bad variable names which should always be refused, separated by a comma -bad-names=foo, - bar, - baz, - toto, - tutu, - tata +# List of members which are set dynamically and missed by pylint inference +# system, and so shouldn't trigger E1101 when accessed. Python regular +# expressions are accepted. +generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* -# Naming style matching correct class attribute names -class-attribute-naming-style=any +# Tells whether missing members accessed in mixin class should be ignored. A +# mixin class is detected if its name ends with "mixin" (case insensitive). +ignore-mixin-members=yes -# Regular expression matching correct class attribute names. Overrides class- -# attribute-naming-style -#class-attribute-rgx= +# This flag controls whether pylint should warn about no-member and similar +# checks whenever an opaque object is returned when inferring. The inference +# can return multiple potential results while evaluating a Python object, but +# some branches might not be evaluated, which results in partial inference. In +# that case, it might be useful to still emit no-member and other checks for +# the rest of the inferred objects. +ignore-on-opaque-inference=yes -# Naming style matching correct class names -class-naming-style=PascalCase +# List of class names for which member attributes should not be checked (useful +# for classes with dynamically set attributes). This supports the use of +# qualified names. +ignored-classes=optparse.Values,thread._local,_thread._local -# Regular expression matching correct class names. Overrides class-naming-style -#class-rgx= +# List of module names for which member attributes should not be checked +# (useful for modules/projects where namespaces are manipulated during runtime +# and thus existing member attributes cannot be deduced by static analysis. It +# supports qualified module names, as well as Unix pattern matching. +ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.* -# Naming style matching correct constant names -const-naming-style=UPPER_CASE +# Show a hint with possible names when a member name was not found. The aspect +# of finding the hint is based on edit distance. +missing-member-hint=yes -# Regular expression matching correct constant names. Overrides const-naming- -# style -#const-rgx= +# The minimum edit distance a name should have in order to be considered a +# similar match for a missing member name. +missing-member-hint-distance=1 -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 +# The total number of similar names that should be taken in consideration when +# showing a hint for a missing member. +missing-member-max-choices=1 -# Naming style matching correct function names -function-naming-style=snake_case -# Regular expression matching correct function names. Overrides function- -# naming-style -#function-rgx= +[VARIABLES] -# Good variable names which should always be accepted, separated by a comma -good-names=i, - j, - k, - ex, - Run, - _ +# List of additional names supposed to be defined in builtins. Remember that +# you should avoid to define new builtins when possible. +additional-builtins= -# Include a hint for the correct naming format with invalid-name -include-naming-hint=no +# Tells whether unused global variables should be treated as a violation. +allow-global-unused-variables=yes -# Naming style matching correct inline iteration names -inlinevar-naming-style=any +# List of strings which can identify a callback function by name. A callback +# name must start or end with one of those strings. +callbacks=cb_, + _cb -# Regular expression matching correct inline iteration names. Overrides -# inlinevar-naming-style -#inlinevar-rgx= +# A regular expression matching the name of dummy variables (i.e. expectedly +# not used). +dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ -# Naming style matching correct method names -method-naming-style=snake_case +# Argument names that match this expression will be ignored. Default to name +# with leading underscore +ignored-argument-names=_.*|^ignored_|^unused_ -# Regular expression matching correct method names. Overrides method-naming- -# style -#method-rgx= +# Tells whether we should check for unused import in __init__ files. +init-import=no -# Naming style matching correct module names -module-naming-style=snake_case +# List of qualified module names which can have objects that can redefine +# builtins. +redefining-builtins-modules=six.moves,past.builtins,future.builtins -# Regular expression matching correct module names. Overrides module-naming- -# style -#module-rgx= -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= +[FORMAT] -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ +# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. +expected-line-ending-format= -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -property-classes=abc.abstractproperty +# Regexp for a line that is allowed to be longer than the limit. +ignore-long-lines=^\s*(# )??$ -# Naming style matching correct variable names -variable-naming-style=snake_case +# Number of spaces of indent required inside a hanging or continued line. +indent-after-paren=4 -# Regular expression matching correct variable names. Overrides variable- -# naming-style -#variable-rgx= +# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 +# tab). +indent-string=' ' +# Maximum number of characters on a single line. +max-line-length=100 -[DESIGN] +# Maximum number of lines in a module +max-module-lines=1000 -# Maximum number of arguments for function / method -max-args=5 +# List of optional constructs for which whitespace checking is disabled. `dict- +# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. +# `trailing-comma` allows a space between comma and closing bracket: (a, ). +# `empty-line` allows space-only lines. +no-space-check=trailing-comma, + dict-separator -# Maximum number of attributes for a class (see R0902). -max-attributes=7 +# Allow the body of a class to be on the same line as the declaration if body +# contains single statement. +single-line-class-stmt=no -# Maximum number of boolean expressions in a if statement -max-bool-expr=5 +# Allow the body of an if to be on the same line as the test if there is no +# else. +single-line-if-stmt=no -# Maximum number of branch for function / method body -max-branches=12 -# Maximum number of locals for function / method body -max-locals=15 +[BASIC] -# Maximum number of parents for a class (see R0901). -max-parents=7 +# Naming style matching correct argument names +argument-naming-style=snake_case -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 +# Regular expression matching correct argument names. Overrides argument- +# naming-style +#argument-rgx= -# Maximum number of return / yield for function / method body -max-returns=6 +# Naming style matching correct attribute names +attr-naming-style=snake_case -# Maximum number of statements in function / method body -max-statements=50 +# Regular expression matching correct attribute names. Overrides attr-naming- +# style +#attr-rgx= -# Minimum number of public methods for a class (see R0903). -min-public-methods=2 +# Bad variable names which should always be refused, separated by a comma +bad-names=foo, + bar, + baz, + toto, + tutu, + tata +# Naming style matching correct class attribute names +class-attribute-naming-style=any -[CLASSES] +# Regular expression matching correct class attribute names. Overrides class- +# attribute-naming-style +#class-attribute-rgx= -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__, - __new__, - setUp +# Naming style matching correct class names +class-naming-style=PascalCase -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict, - _fields, - _replace, - _source, - _make +# Regular expression matching correct class names. Overrides class-naming-style +#class-rgx= -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls +# Naming style matching correct constant names +const-naming-style=UPPER_CASE -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=mcs +# Regular expression matching correct constant names. Overrides const-naming- +# style +#const-rgx= +# Minimum line length for functions/classes that require docstrings, shorter +# ones are exempt. +docstring-min-length=-1 -[IMPORTS] +# Naming style matching correct function names +function-naming-style=snake_case -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no +# Regular expression matching correct function names. Overrides function- +# naming-style +#function-rgx= -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no +# Good variable names which should always be accepted, separated by a comma +good-names=i, + j, + k, + ex, + Run, + _ -# Deprecated modules which should not be used, separated by a comma -deprecated-modules=regsub, - TERMIOS, - Bastion, - rexec +# Include a hint for the correct naming format with invalid-name +include-naming-hint=no -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled) -ext-import-graph= +# Naming style matching correct inline iteration names +inlinevar-naming-style=any -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled) -import-graph= +# Regular expression matching correct inline iteration names. Overrides +# inlinevar-naming-style +#inlinevar-rgx= -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled) -int-import-graph= +# Naming style matching correct method names +method-naming-style=snake_case -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= +# Regular expression matching correct method names. Overrides method-naming- +# style +#method-rgx= -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant +# Naming style matching correct module names +module-naming-style=snake_case +# Regular expression matching correct module names. Overrides module-naming- +# style +#module-rgx= -[EXCEPTIONS] +# Colon-delimited sets of names that determine each other's naming style when +# the name regexes allow several styles. +name-group= -# Exceptions that will emit a warning when being caught. Defaults to -# "Exception" +# Regular expression which should only match function or class names that do +# not require a docstring. +no-docstring-rgx=^_ + +# List of decorators that produce properties, such as abc.abstractproperty. Add +# to this list to register other decorators that produce valid properties. +property-classes=abc.abstractproperty + +# Naming style matching correct variable names +variable-naming-style=snake_case + +# Regular expression matching correct variable names. Overrides variable- +# naming-style +#variable-rgx= + + +[DESIGN] + +# Maximum number of arguments for function / method +max-args=5 + +# Maximum number of attributes for a class (see R0902). +max-attributes=7 + +# Maximum number of boolean expressions in a if statement +max-bool-expr=5 + +# Maximum number of branch for function / method body +max-branches=12 + +# Maximum number of locals for function / method body +max-locals=15 + +# Maximum number of parents for a class (see R0901). +max-parents=7 + +# Maximum number of public methods for a class (see R0904). +max-public-methods=20 + +# Maximum number of return / yield for function / method body +max-returns=6 + +# Maximum number of statements in function / method body +max-statements=50 + +# Minimum number of public methods for a class (see R0903). +min-public-methods=2 + + +[CLASSES] + +# List of method names used to declare (i.e. assign) instance attributes. +defining-attr-methods=__init__, + __new__, + setUp + +# List of member names, which should be excluded from the protected access +# warning. +exclude-protected=_asdict, + _fields, + _replace, + _source, + _make + +# List of valid names for the first argument in a class method. +valid-classmethod-first-arg=cls + +# List of valid names for the first argument in a metaclass class method. +valid-metaclass-classmethod-first-arg=mcs + + +[IMPORTS] + +# Allow wildcard imports from modules that define __all__. +allow-wildcard-with-all=no + +# Analyse import fallback blocks. This can be used to support both Python 2 and +# 3 compatible code, which means that the block might have code that exists +# only in one or another interpreter, leading to false positives when analysed. +analyse-fallback-blocks=no + +# Deprecated modules which should not be used, separated by a comma +deprecated-modules=regsub, + TERMIOS, + Bastion, + rexec + +# Create a graph of external dependencies in the given file (report RP0402 must +# not be disabled) +ext-import-graph= + +# Create a graph of every (i.e. internal and external) dependencies in the +# given file (report RP0402 must not be disabled) +import-graph= + +# Create a graph of internal dependencies in the given file (report RP0402 must +# not be disabled) +int-import-graph= + +# Force import order to recognize a module as part of the standard +# compatibility libraries. +known-standard-library= + +# Force import order to recognize a module as part of a third party library. +known-third-party=enchant + + +[EXCEPTIONS] + +# Exceptions that will emit a warning when being caught. Defaults to +# "Exception" overgeneral-exceptions=Exception diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index dc42a314a5fc81..b8564c1e855183 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -2,7 +2,7 @@ Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. -Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/) +Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/). ## Getting Started @@ -18,11 +18,11 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This ### Automated Testing -All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions. +All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions. ### Code Style and Linting -Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`. +Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. ## Car Ports (openpilot) @@ -48,3 +48,4 @@ Modules that are in seperate repositories include: * laika * opendbc * panda +* rednose diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 95b406e86db3c9..f9092b256bb068 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -27,7 +27,8 @@ RUN apt-get update && apt-get install -y \ libsqlite3-dev \ libtool \ libusb-1.0-0-dev \ - libzmq5-dev \ + libczmq-dev \ + libzmq3-dev \ locales \ ocl-icd-libopencl1 \ ocl-icd-opencl-dev \ @@ -48,8 +49,8 @@ ENV LC_ALL en_US.UTF-8 RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}" -RUN pyenv install 3.7.3 -RUN pyenv global 3.7.3 +RUN pyenv install 3.8.2 +RUN pyenv global 3.8.2 RUN pyenv rehash RUN pip install pipenv==2018.11.26 @@ -61,7 +62,7 @@ RUN python --version RUN cd /tmp && pipenv install --system --deploy # Install subset of dev dependencies needed for CI -RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3 +RUN pip install overpy matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.4.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3 coverage==5.1 pre-commit==2.4.0 parameterized==0.7.4 COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh RUN /tmp/install_capnp.sh @@ -84,6 +85,7 @@ COPY ./panda /tmp/openpilot/panda COPY ./external /tmp/openpilot/external COPY ./tools /tmp/openpilot/tools COPY ./laika /tmp/openpilot/laika +COPY ./rednose /tmp/openpilot/rednose COPY SConstruct /tmp/openpilot/SConstruct diff --git a/Jenkinsfile b/Jenkinsfile new file mode 100644 index 00000000000000..c3625120386f04 --- /dev/null +++ b/Jenkinsfile @@ -0,0 +1,89 @@ +pipeline { + agent { + docker { + image 'python:3.7.3' + args '--user=root' + } + } + environment { + COMMA_JWT = credentials('athena-test-jwt') + } + + stages { + + stage('Release Build') { + when { + branch 'devel-staging' + } + steps { + lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){ + timeout(time: 60, unit: 'MINUTES') { + dir(path: 'selfdrive/test') { + sh 'pip install paramiko' + sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"' + } + } + } + } + } + + stage('On-device Tests') { + when { + not { + anyOf { + branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging' + } + } + } + + parallel { + + stage('Build') { + environment { + CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}" + } + + steps { + lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){ + timeout(time: 60, unit: 'MINUTES') { + dir(path: 'selfdrive/test') { + sh 'pip install paramiko' + sh 'python phone_ci.py "cd release && ./build_devel.sh"' + } + } + } + } + } + + stage('Replay Tests') { + steps { + lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){ + timeout(time: 60, unit: 'MINUTES') { + dir(path: 'selfdrive/test') { + sh 'pip install paramiko' + sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"' + } + } + } + } + } + + stage('HW Tests') { + steps { + lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){ + timeout(time: 60, unit: 'MINUTES') { + dir(path: 'selfdrive/test') { + sh 'pip install paramiko' + sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \ + nosetests -s selfdrive/test/test_sounds.py && \ + nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"' + } + } + } + } + } + + } + } + } +} diff --git a/Pipfile b/Pipfile index 4d3e046de077e2..5a0ef77d4eff76 100644 --- a/Pipfile +++ b/Pipfile @@ -4,73 +4,56 @@ url = "https://pypi.org/simple" verify_ssl = true [dev-packages] -opencv-python= "==3.4.2.17" -PyQt5 = "*" +opencv-python= "*" ipython = "*" -networkx = "==2.3" -azure-core = "==1.1.1" -azure-common = "==1.1.24" -azure-nspkg = "==3.0.2" -azure-storage-blob = "==2.1.0" -azure-storage-common = "==2.1.0" -azure-storage-nspkg = "==3.1.0" +networkx = "~=2.3" +azure-core = "*" +azure-common = "*" +azure-nspkg = "~=3.0" +azure-storage-blob = "~=2.1" +azure-storage-common = "~=2.1" +azure-storage-nspkg = "~=3.1" boto = "*" "boto3" = "*" control = "*" datadog = "*" dlib = "*" elasticsearch = "*" -future = "*" -futures = "*" -pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"} gunicorn = "*" "h5py" = "*" hexdump = "*" -"html5lib" = "*" imageio = "*" ipykernel = "*" joblib = "*" json-logging-py = "*" jupyter = "*" -libarchive = "*" -lru-dict = "*" "mpld3" = "*" msgpack-python = "*" -nbstripout = "*" numpy = "*" osmium = "*" -pbr = "*" -percache = "*" -pprofile = "*" pycurl = "*" git-pylint-commit-hook = "*" pymongo = "*" "pynmea2" = "*" -pypolyline = "*" python-logstash = "*" redis = "*" "s2sphere" = "*" -scikit-image = "*" "subprocess32" = "*" tenacity = "*" -tensorflow-gpu = "" -PyJWT = "==1.4.1" -PyMySQL = "==0.9.2" +tensorflow = "~=2.2" +keras_applications = "*" +PyMySQL = "~=0.9" Werkzeug = "*" "backports.lzma" = "*" Flask-Cors = "*" Flask-SocketIO = "*" "GeoAlchemy2" = "*" Pygments = "*" -PyNaCl = "*" -"PySDL2" = "*" reverse_geocoder = "*" Shapely = "*" SQLAlchemy = "*" scipy = "*" fastcluster = "*" -backports-abc = "*" -pygame = "*" simplejson = "*" python-logstash-async = "*" seaborn = "*" @@ -81,9 +64,18 @@ dictdiffer = "*" aenum = "*" coverage = "*" azure-cli-core = "*" +paramiko = "*" +aiohttp = "*" +lru-dict = "*" +scikit-image = "*" +pygame = "==2.0.0.dev8" +pprofile = "*" +pyprof2calltree = "*" +pre-commit = "*" +mypy = "*" +parameterized = "*" [packages] -overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"} atomicwrites = "*" cffi = "*" crcmod = "*" @@ -93,7 +85,6 @@ numpy = "*" psutil = "*" pycapnp = "*" cryptography = "*" -pyserial = "*" python-dateutil = "*" pyzmq = "*" raven = "*" @@ -108,21 +99,20 @@ PyYAML = "*" websocket_client = "*" Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"} urllib3 = "*" -chardet = "*" -idna = "*" gunicorn = "*" utm = "*" json-rpc = "*" Flask = "*" -PyJWT = "*" -"Jinja2" = "*" nose = "*" flake8 = "*" pylint = "*" -pycryptodome = "*" pillow = "*" scons = "*" cysignals = "*" +pycryptodome = "*" +"Jinja2" = "*" +PyJWT = "*" +pyserial = "*" [requires] -python_version = "3.7.3" +python_version = "3.8" diff --git a/Pipfile.lock b/Pipfile.lock index 045857cd1b6588..138e3c42c3f247 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,11 +1,11 @@ { "_meta": { "hash": { - "sha256": "bc5d2f0b8b59443cbdf4373de05f7522ff24afa7f6e55d1aae08c3961e970beb" + "sha256": "b65256d0b4dedee753a145abd1aff2f81d98ddb4015f69baa8ccb374121bb4c4" }, "pipfile-spec": 6, "requires": { - "python_version": "3.7.3" + "python_version": "3.8" }, "sources": [ { @@ -18,81 +18,75 @@ "default": { "astroid": { "hashes": [ - "sha256:71ea07f44df9568a75d0f354c49143a4575d90645e9fead6dfb52c26a85ed13a", - "sha256:840947ebfa8b58f318d42301cf8c0a20fd794a33b61cc4638e28e9e61ba32f42" + "sha256:2f4078c2a41bf377eea06d71c9d2ba4eb8f6b1af2135bec27bbbb7d8f12bb703", + "sha256:bc58d83eb610252fd8de6363e39d4f1d0619c894b0ed24603b881c02e64c7386" ], "markers": "python_version >= '3.5'", - "version": "==2.3.3" + "version": "==2.4.2" }, "atomicwrites": { "hashes": [ - "sha256:03472c30eb2c5d1ba9227e4c2ca66ab8287fbfbbda3888aa93dc2e28fc6811b4", - "sha256:75a9445bac02d8d058d5e1fe689654ba5a6556a1dfd8ce6ec55a0ed79866cfa6" + "sha256:6d1784dea7c0c8d4a5172b6c620f40b6e4cbfdf96d783691f2e1302a7b88e197", + "sha256:ae70396ad1a434f9c7046fd2dd196fc04b12f9e91ffb859164193be8b6168a7a" ], "index": "pypi", - "version": "==1.3.0" + "version": "==1.4.0" }, "certifi": { "hashes": [ - "sha256:017c25db2a153ce562900032d5bc68e9f191e44e9a0f762f373977de9df1fbb3", - "sha256:25b64c7da4cd7479594d035c08c2d809eb4aab3a26e5a990ea98cc450c320f1f" + "sha256:5ad7e9a056d25ffa5082862e36f119f7f7cec6457fa07ee2f8c339814b80c9b1", + "sha256:9cd41137dc19af6a5e03b630eefe7d1f458d964d406342dd3edf625839b944cc" ], - "version": "==2019.11.28" + "version": "==2020.4.5.2" }, "cffi": { "hashes": [ - "sha256:0b49274afc941c626b605fb59b59c3485c17dc776dc3cc7cc14aca74cc19cc42", - "sha256:0e3ea92942cb1168e38c05c1d56b0527ce31f1a370f6117f1d490b8dcd6b3a04", - "sha256:135f69aecbf4517d5b3d6429207b2dff49c876be724ac0c8bf8e1ea99df3d7e5", - "sha256:19db0cdd6e516f13329cba4903368bff9bb5a9331d3410b1b448daaadc495e54", - "sha256:2781e9ad0e9d47173c0093321bb5435a9dfae0ed6a762aabafa13108f5f7b2ba", - "sha256:291f7c42e21d72144bb1c1b2e825ec60f46d0a7468f5346841860454c7aa8f57", - "sha256:2c5e309ec482556397cb21ede0350c5e82f0eb2621de04b2633588d118da4396", - 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"version": "==1.11.2" - }, - "zipp": { - "hashes": [ - "sha256:3718b1cbcd963c7d4c5511a8240812904164b7f381b647143a89d3b98f9bcd8e", - "sha256:f06903e9f1f43b12d371004b4ac7b06ab39a44adc747266928ae6debfa7b3335" - ], - "markers": "python_version >= '2.7'", - "version": "==0.6.0" + "markers": "python_version >= '3.5'", + "version": "==1.4.2" } } } diff --git a/README.md b/README.md index 64e602c4183cfa..68d37b397ec8d2 100644 --- a/README.md +++ b/README.md @@ -11,7 +11,7 @@ Find me on Discord https://discord.gg/Ebgn8Mr Put this URL in the custom URL field after uninstalling through the UI https://d.sdut.me/arne/release4 or if you want to use the command line or https://github.com/jfrux/workbench -`cd /data; rm -rf openpilot; git clone https://github.com/arne182/openpilot; git checkout release4; reboot` +`cd /data; rm -rf openpilot; git clone --depth 1 https://github.com/arne182/openpilot -b release4; reboot` still have trouble ?? More info about how to install this fork can be found [here](https://medium.com/@jfrux/comma-eon-installing-a-fork-of-openpilot-5c2b5c134b4b). ## Panda flashing @@ -29,8 +29,9 @@ This is done automatically otherwise run (pkill -f boardd; cd /data/openpilot/pa `release4`: this is the default branch that is most up to date with the ArnePilot 0.7 release branch. Normally you should use this branch because it has been tested and verified that it is fully working without any issues. -`075-clean`: this is my default testing branch. When I finishing testing/adding new structure, I'll merge this into the -`release4` branch. +`075-clean`: this is my old testing branch. I moved on to 077. + +`077-clean`: Heavily in early early in development branch of OP 077. Not recommended for any use out of testing. Is missing many features like trafficd and a working Ui. May crash and lag. `release3`: this is my old branch, that is compatible with ArnePilot 0.6. @@ -40,12 +41,6 @@ This is done automatically otherwise run (pkill -f boardd; cd /data/openpilot/pa - You can turn on or off some of the [Feature](https://github.com/arne182/ArnePilot/blob/81a3258da49e1bb9739a5f1d0a84b38afd10583f/common/op_params.py#L500) by editing `op_edit.py`. Run the following command `python /data/openpilot/op_edit.py` -# Todo - -- [ ] Auto Lane change from Boggyver on release2 and release3 branch. (only used in released 3 and below) - -- [ ] Phantom: control open pilot via app like summon ( only on release 3 and below.) - # Features - Braking: @@ -94,6 +89,330 @@ ArnePilot is released under the MIT license. Some parts of the software are rele 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. +Table of Contents +======================= + +* [What is openpilot?](#what-is-openpilot) +* [Integration with Stock Features](#integration-with-stock-features) +* [Supported Hardware](#supported-hardware) +* [Supported Cars](#supported-cars) +* [Community Maintained Cars and Features](#community-maintained-cars-and-features) +* [Installation Instructions](#installation-instructions) +* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw) +* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw) +* [Limitations of openpilot DM](#limitations-of-openpilot-dm) +* [User Data and comma Account](#user-data-and-comma-account) +* [Safety and Testing](#safety-and-testing) +* [Testing on PC](#testing-on-pc) +* [Community and Contributing](#community-and-contributing) +* [Directory Structure](#directory-structure) +* [Licensing](#licensing) + +--- + +What is openpilot? +------ + +[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. + +
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