[project]
name = "openpilot"
requires-python = ">= 3.12.3, < 3.13"
license = {text = "MIT License"}
version = "0.1.0"
description = "an open source driver assistance system"
authors = [
  {name = "Vehicle Researcher", email="user@comma.ai"}
]

# ------------------------------------------
# > this dependencies list *only* goes down.
# ------------------------------------------
# Linux and Python is all we need, otherwise
# we write and own the lines ourselves.
# ------------------------------------------
dependencies = [
  # multiple users
  "sounddevice",  # micd + soundd
  "requests",     # many one-off uses
  "tqdm",         # cars (fw_versions.py) on start + many one-off uses

  # Bugsink error reporting (SDK is also packaged for prebuilt devices)
  "sentry-sdk==2.38.0",

  # core
  "scons",
  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
  "numpy >=2.0",
  "pillow",  # Galaxy camera snapshots and Sentry image evidence

  # vendored native dependencies
  "comma-deps-capnproto",
  "comma-deps-acados",
  "comma-deps-ffmpeg",
  "comma-deps-zstd",
  "comma-deps-zeromq",
  "comma-deps-json11",
  "comma-deps-gcc-arm-none-eabi",

  # athena
  "PyJWT[crypto]",
  "websocket_client",

  # joystickd
  "inputs",

  # these should be removed
  "pyzmq",
  "setproctitle",
  "jeepney",
  "zstandard",  # this can go once we're on Python 3.14+

  # ui
  "comma-deps-raylib",
]

[project.optional-dependencies]
dev = [
  "pytest>=8,<9",
  "pytest-xdist>=3,<4",
  "pytest-mock>=3,<4",
]
safety = [
  "cffi",
  "gcovr==8.6",
  "tree-sitter==0.26.0",
  "tree-sitter-c==0.24.2",
  "cppcheck @ git+https://github.com/commaai/dependencies.git@b7253ddb101ed6add04fc2a2ce0688d5e21a55ee#subdirectory=cppcheck",
]
testing = [
  "coverage",   # line coverage
  "ty",         # type checking
  "ruff",       # linting
  "codespell",  # spellcheck
]

tools = [
  "matplotlib",

  "comma-deps-imgui",
  "comma-deps-bootstrap-icons",
  "comma-deps-libusb",
  "comma-deps-ncurses",

  # this can be added back once it's stripped down some more
  #"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
]

vendored = [
  "jetlink",
  "msgq-ipc",
  "opendbc",
  "pandacan",
  "rednose",
  "teleoprtc",
  "tinygrad",
]

[project.urls]
Homepage = "https://github.com/commaai/openpilot"

[dependency-groups]
standalone = [
  "openpilot[vendored]",
]

[build-system]
requires = ["hatchling"]
build-backend = "hatchling.build"

[tool.hatch.build.targets.wheel]
packages = [
  "openpilot",
]

dev-mode-dirs = [".", "msgq_repo"]

[tool.hatch.metadata]
allow-direct-references = true

[tool.codespell]
quiet-level = 3
# if you've got a short variable name that's getting flagged, add it here
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser,assertIn,HomeState,cancelled,CAS,acknowledgement,writeable,noice,FoF,waitFor,centre,centres,KeyPair,aPoint"
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
skip = "openpilot/cereal/gen/cpp/*.capnp.c++, openpilot/cereal/gen/cpp/*.capnp.h, *.po, uv.lock, *.onnx, *.pem, */c_generated_code/*, docs/assets/*, openpilot/tools/plotjuggler/layouts/*, openpilot/selfdrive/assets/offroad/mici_fcc.html, openpilot/starpilot/galaxy/web/vendor/vue/vue.esm-browser.js, openpilot/starpilot/ui/assets/fonts/notices/Unifont-COPYING.txt, openpilot/starpilot/galaxy_bluetooth/vendor/*, openpilot/starpilot/soloist/pulseaudio/licenses/*, openpilot/starpilot/companion/android/LICENSE.gradle"
ignore-regex = "scale\\.numer"  # codespell:ignore numer

# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
[tool.ruff]
indent-width = 2
lint.select = [
  "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
  "NPY", # numpy
  "UP",  # pyupgrade
  "ASYNC",
  "B904", "B905",
  "PLC0207",
  "TRY203", "TRY400", "TRY401", # try/excepts
  "RUF006", "RUF008", "RUF009", "RUF061", "RUF064", "RUF100", "RUF102", "RUF103", "RUF104",
  "TID251",
  "PLE", "PLR1704",
]
lint.ignore = [
  "E741",
  "E402",
  "B027",
  "UP007",  # this doesn't play nice with raylib atm
]
line-length = 160
lint.flake8-implicit-str-concat.allow-multiline = false
extend-exclude = ["openpilot/starpilot/galaxy_bluetooth/vendor"]  # unmodified third-party sources

[tool.ruff.lint.per-file-ignores]
# dbus-next declares D-Bus signatures as string annotations ('s', 'ay', 'a{sv}').
"openpilot/starpilot/galaxy_bluetooth/bridge/server.py" = ["F722", "F821"]
# These scripts embed Swift test sources verbatim.
"openpilot/starpilot/companion/ios/tests/*.py" = ["E501"]

[tool.ruff.lint.flake8-tidy-imports.banned-api]
"time.time".msg = "Use time.monotonic. time.time can skip due to its reference clock, you probably want a monotonic clock"
"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
"pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
"pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
"pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"

[tool.ruff.format]
quote-style = "preserve"

[tool.ty.src]
exclude = ["openpilot/starpilot/galaxy_bluetooth/vendor"]  # unmodified third-party sources

[tool.ty.environment]
extra-paths = ["opendbc_repo", "msgq_repo", "rednose_repo", "tinygrad_repo", "teleoprtc_repo", "jetlink_repo"]

[tool.ty.rules]
unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
unresolved-attribute = "ignore"  # many from capnp and Cython modules

[[tool.ty.overrides]]
# dbus-next declares D-Bus signatures as string annotations ('s', 'ay', 'a{sv}').
include = ["openpilot/starpilot/galaxy_bluetooth/bridge/server.py"]
rules = { unresolved-reference = "ignore", invalid-syntax-in-forward-annotation = "ignore" }

[tool.uv]
python-preference = "only-managed"
default-groups = ["standalone"]
override-dependencies = [
  "opendbc",  # panda pins opendbc from git for standalone use; always use our tracked source
]

[tool.uv.sources]
jetlink = { path = "jetlink_repo", editable = true }
# SCons owns the native build; an editable install would shadow it with a stale .so
msgq-ipc = { path = "msgq_repo", package = false }
opendbc = { path = "opendbc_repo", editable = true }
pandacan = { path = "panda", editable = true }
rednose = { path = "rednose_repo", editable = true }
teleoprtc = { path = "teleoprtc_repo", editable = true }
tinygrad = { path = "tinygrad_repo", editable = true }