Jason Wen
f84d27c4ee
* tinygrad with snpe * force with snpe to validate * fix path * fix more paths * Adjust modeld execution logic based on active model runner Introduced a check to conditionally execute `modeld` based on the active model runner. Added support for distinguishing between SNPE and TinyGrad runners using new helper functions and updated `custom.capnp` definitions. This change optimizes process management by ensuring compatibility with the selected model runner. * Refactor modeld process function checks. Introduce `is_stock_model` to clarify logic and replace direct uses of `is_snpe_model` where the stock model condition is needed. Additionally, rename the duplicate "modeld" process in sunnyPilot to "modeld_snpe" for clarity and consistency. * ignore tg * fix process name * ruff * fix thneed paths * mypy * remove our own * use upstream compile3 * fix thneed * try this * Revert "remove our own" This reverts commit 1cf4f57502565c274628e185c66f1eb04c4d9bbe. * try using compile2.py again * add back symlink * fix path * more fix * wrong path again * Revert "wrong path again" This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e. * update * hardcode path to our submodule * force path * try this * fix file name * try this * again * Revert "again" This reverts commit 17c8cd73768a2de5aaf2a34d202aa6f03d59d72d. * Revert "try this" This reverts commit 767f78bbcf17b08edbc20f283d10a1990bf4264f. * Revert "fix file name" This reverts commit 485eef68da981da571fe9a9ebf3aecdb95e5588c. * Revert "try this" This reverts commit 41fef87680cdda1ba8cbd7e5c59256e6c57010a0. * Revert "force path" This reverts commit 5c3b408937bff0f61b150971b328d127501c5bf0. * Revert "hardcode path to our submodule" This reverts commit 5ee1950b6f4fce73e7e73b6971b996a9989d0a93. * Revert "update" This reverts commit fb313bd7fbeb50111f3c4a11137b4cfd9cabc3fa. * Reapply "wrong path again" This reverts commit 309639aeb3575e20b215bbbcc27e48923ee95c87. * Revert "wrong path again" This reverts commit f5301c19d594defb23cda2604168bcb02c830f3e. * Revert "more fix" This reverts commit 23dd423e78e60bd6a0bd73e921bfba9a5aad88bd. * Revert "fix path" This reverts commit 75d338f2bda2dfa77044e33f4c6553390621b13b. * Revert "add back symlink" This reverts commit 9f71ad0b8ae2068e431c455af9d4f954d024eec7. * Revert "try using compile2.py again" This reverts commit 914117d2e1c6c4270f7bef1a5305847a1d7bab17. * Reapply "remove our own" This reverts commit b1996377b346658f2094cba9032a66230784cb3e. * don't even compile anymore * need it for default snpe model * add to lfs * bring onnx back for sim * must add this back * need this --------- Co-authored-by: DevTekVE <devtekve@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.