openpilot v0.11.1 release

date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
2026-08-15 13:13:41 +08:00 · 2026-06-04 09:50:05 -07:00
commit 6adb63b915
3381 changed files with 1044370 additions and 0 deletions
@@ -0,0 +1,119 @@
+import subprocess
+import os
+import shutil
+
+import bootstrap_icons
+import libusb
+
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib')
+
+# Detect Qt - skip build if not available
+if arch == "Darwin":
+  try:
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    has_qt = os.path.isdir(os.path.join(brew_prefix, "opt/qt@5"))
+  except (FileNotFoundError, subprocess.CalledProcessError):
+    has_qt = False
+else:
+  has_qt = shutil.which('qmake') is not None
+if not has_qt:
+  Return()
+
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core"]
+
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules] + ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+qt_env.Tool('qt3')
+
+qt_env['CPPPATH'] += qt_dirs
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBS'] = qt_libs
+
+base_frameworks = qt_env['FRAMEWORKS']
+base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread'] + qt_env["LIBS"]
+
+if arch == "Darwin":
+  base_frameworks += ['QtCharts', 'CoreFoundation', 'CoreVideo', 'CoreMedia', 'IOKit', 'Security', 'VideoToolbox']
+else:
+  base_libs.append('Qt5Charts')
+
+cabana_env = qt_env.Clone()
+cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
+cabana_env['LIBPATH'] += [libusb.LIB_DIR]
+
+cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
+if arch != "Darwin":
+  cabana_libs += ['va', 'va-drm', 'drm']
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
+cabana_env['CXXFLAGS'] += [opendbc_path]
+
+def write_assets_qrc(target, source, env):
+  with open(str(source[0])) as f:
+    qrc = f.read()
+  with open(str(target[0]), "w") as f:
+    f.write(qrc.replace("@BOOTSTRAP_ICONS_SVG@", str(bootstrap_icons.SVG_PATH)))
+
+# build assets
+assets = "assets/assets.cc"
+assets_src = cabana_env.Command(
+  "assets/assets.generated.qrc",
+  "assets/assets.qrc",
+  write_assets_qrc,
+)
+cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
+cabana_env.Depends(assets_src, str(bootstrap_icons.SVG_PATH))
+cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
+
+cabana_srcs = ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
+               'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
+               'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
+               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
+               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
+               'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc']
+if arch != "Darwin":
+  cabana_srcs += ['streams/socketcanstream.cc']
+cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs, LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+
+if GetOption('extras'):
+  cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
+
+output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
+generate_dbc = cabana_env.Command('#' + output_json_file,
+                                  ['dbc/generate_dbc_json.py'],
+                                  "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
+cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#cereal", "#msgq_repo"])