openpilot v0.11.1 release
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
This commit is contained in:
Vehicle Researcher
@@ -0,0 +1,51 @@
|
||||
# What is a car port?
|
||||
|
||||
A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. The complexity of a car port varies depending on many factors including:
|
||||
|
||||
* existing openpilot support for similar cars
|
||||
* architecture and APIs available in the car
|
||||
|
||||
|
||||
# Structure of a car port
|
||||
|
||||
All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
|
||||
|
||||
## opendbc
|
||||
|
||||
Each car brand is supported by a standard interface structure in `opendbc/car/[brand]`:
|
||||
|
||||
* `interface.py`: Interface for the car, defines the CarInterface class
|
||||
* `carstate.py`: Reads CAN messages from the car and builds openpilot CarState messages
|
||||
* `carcontroller.py`: Control logic for executing openpilot CarControl actions on the car
|
||||
* `[brand]can.py`: Composes CAN messages for carcontroller to send
|
||||
* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
|
||||
* `radar_interface.py`: Interface for parsing radar points from the car, if applicable
|
||||
|
||||
## safety
|
||||
|
||||
* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
|
||||
* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
|
||||
|
||||
## openpilot
|
||||
|
||||
For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
|
||||
|
||||
* `selfdrive/car/car_specific.py`: Brand-specific event logic
|
||||
|
||||
# How do I port car?
|
||||
|
||||
[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
|
||||
|
||||
https://www.youtube.com/watch?v=XxPS5TpTUnI
|
||||
|
||||
## Brand Port
|
||||
|
||||
A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
|
||||
|
||||
## Model Port
|
||||
|
||||
A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
|
||||
|
||||
Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
|
||||
@@ -0,0 +1,100 @@
|
||||
# connect to a comma 3X or comma four
|
||||
|
||||
A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
|
||||
|
||||
## Serial Console
|
||||
|
||||
On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
|
||||
Access it using `panda/scripts/som_debug.sh`.
|
||||
|
||||
comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
|
||||
|
||||
Login to the default user with:
|
||||
|
||||
* Username: `comma`
|
||||
* Password: `comma`
|
||||
|
||||
## SSH
|
||||
|
||||
In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
|
||||
|
||||
* Enable SSH in your device's settings
|
||||
* Enter your GitHub username in the device's settings
|
||||
* Connect to your device
|
||||
* Username: `comma`
|
||||
* Port: `22`
|
||||
|
||||
Here's an example command for connecting to your device using its tethered connection:<br />
|
||||
`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
|
||||
|
||||
For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
|
||||
|
||||
|
||||
## ADB
|
||||
|
||||
In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
|
||||
|
||||
|
||||
|
||||
* Plug your device into constant power using port 2, letting the device boot up
|
||||
* Enable ADB in your device's settings
|
||||
* Plug in your device to your PC using port 1
|
||||
* Connect to your device
|
||||
* `adb shell` over USB
|
||||
* `adb connect` over WiFi
|
||||
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
|
||||
|
||||
> [!NOTE]
|
||||
> The default port for ADB is 5555.
|
||||
|
||||
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
|
||||
|
||||
### Notes
|
||||
|
||||
The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
|
||||
|
||||
The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
|
||||
|
||||
## ssh.comma.ai proxy
|
||||
|
||||
With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
|
||||
|
||||
With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
|
||||
|
||||
```
|
||||
Host comma-*
|
||||
Port 22
|
||||
User comma
|
||||
IdentityFile ~/.ssh/my_github_key
|
||||
ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
|
||||
|
||||
Host ssh.comma.ai
|
||||
Hostname ssh.comma.ai
|
||||
Port 22
|
||||
IdentityFile ~/.ssh/my_github_key
|
||||
```
|
||||
|
||||
### One-off connection
|
||||
|
||||
```
|
||||
ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
|
||||
```
|
||||
|
||||
(Replace `ffffffffffffffff` with your dongle_id)
|
||||
|
||||
### ssh.comma.ai host key fingerprint
|
||||
|
||||
```
|
||||
Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
|
||||
+---[RSA 4096]----+
|
||||
| |
|
||||
| |
|
||||
| . |
|
||||
| + o |
|
||||
| S = + +..|
|
||||
| + @ = .=|
|
||||
| . B @ ++=|
|
||||
| o * B XE|
|
||||
| .o o OB/|
|
||||
+----[SHA256]-----+
|
||||
```
|
||||
@@ -0,0 +1,14 @@
|
||||
# Replay
|
||||
|
||||
Replaying is a critical tool for openpilot development and debugging.
|
||||
|
||||
## Replaying a route
|
||||
*Hardware required: none*
|
||||
|
||||
Just run `tools/replay/replay --demo`.
|
||||
|
||||
## Replaying CAN data
|
||||
*Hardware required: jungle and comma four*
|
||||
|
||||
1. Connect your PC to a jungle.
|
||||
2.
|
||||
@@ -0,0 +1,111 @@
|
||||
# Turn the speed blue
|
||||
*A getting started guide for openpilot development*
|
||||
|
||||
In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
|
||||
|
||||
And if you have a comma four, we'll deploy the change to your device for testing.
|
||||
|
||||
## 1. Set up your development environment
|
||||
|
||||
Run this to clone openpilot and install all the dependencies:
|
||||
```bash
|
||||
bash <(curl -fsSL openpilot.comma.ai)
|
||||
```
|
||||
|
||||
Navigate to openpilot folder & activate a Python virtual environment
|
||||
```bash
|
||||
cd openpilot
|
||||
source .venv/bin/activate
|
||||
```
|
||||
|
||||
Then, compile openpilot:
|
||||
```bash
|
||||
scons
|
||||
```
|
||||
|
||||
## 2. Run replay
|
||||
|
||||
We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
|
||||
```bash
|
||||
# in terminal 1
|
||||
tools/replay/replay --demo
|
||||
|
||||
# in terminal 2
|
||||
./selfdrive/ui/ui.py
|
||||
```
|
||||
|
||||
The openpilot UI should launch and show a replay of the demo route.
|
||||
|
||||
If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
|
||||
|
||||
|
||||
## 3. Make the speed blue
|
||||
|
||||
Now let’s update the speed display color in the UI.
|
||||
|
||||
Search for the function responsible for rendering the current speed:
|
||||
```bash
|
||||
git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
|
||||
```
|
||||
|
||||
You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
|
||||
|
||||
```python
|
||||
def _draw_current_speed(self, rect: rl.Rectangle) -> None:
|
||||
"""Draw the current vehicle speed and unit."""
|
||||
speed_text = str(round(self.speed))
|
||||
speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
|
||||
speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
|
||||
rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) # <- this sets the speed text color
|
||||
```
|
||||
|
||||
Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
|
||||
|
||||
```diff
|
||||
- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
|
||||
+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. Re-run the UI
|
||||
|
||||
After making changes, re-run the UI to see your new UI:
|
||||
```bash
|
||||
./selfdrive/ui/ui.py
|
||||
```
|
||||
|
||||
|
||||
You should now see the speed displayed in a nice blue shade during the demo replay.
|
||||
|
||||
---
|
||||
|
||||
## 5. Push your fork to GitHub
|
||||
|
||||
Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
|
||||
```bash
|
||||
git remote rm origin
|
||||
git remote add origin git@github.com:<your-github-username>/openpilot.git
|
||||
git add .
|
||||
git commit -m "Make the speed display blue"
|
||||
git push --set-upstream origin master
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 6. Run your fork on your comma device
|
||||
|
||||
Uninstall Openpilot through the settings on your device.
|
||||
|
||||
Then reinstall using your own GitHub-hosted fork:
|
||||
```
|
||||
installer.comma.ai/<your-github-username>/master
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 7. Admire your work IRL 🚗💨
|
||||
|
||||
You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
|
||||
|
||||
|
||||
Reference in New Issue
Block a user