openpilot v0.11.1 release

date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
2026-06-04 09:50:05 -07:00
commit 6adb63b915
3381 changed files with 1044370 additions and 0 deletions
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+# openpilot releases
+
+```
+## release checklist
+
+### Go to staging
+- [ ] make a GitHub issue to track release with this checklist
+- [ ] create release master branch
+  - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2`
+  - [ ] revert risky commits (double check with autonomy team)
+  - [ ] push the new branch
+- [ ] push to staging:
+  - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
+  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
+- [ ] post on Discord, tag `@release crew`
+
+### Go to release
+- [ ] before going to release, test the following:
+  - [ ] update from previous release -> new release
+  - [ ] update from new release -> previous release
+  - [ ] fresh install with `openpilot-test.comma.ai`
+  - [ ] drive on fresh install
+  - [ ] no submodules or LFS
+  - [ ] check sentry, MTBF, etc.
+  - [ ] stress test passes in production
+- [ ] publish the blog post
+- [ ] `git reset --hard origin/release-mici-staging`
+- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
+- [ ] create GitHub release
+- [ ] final test install on `openpilot.comma.ai`
+- [ ] update factory provisioning
+- [ ] close out milestone and issue
+- [ ] post on Discord, X, etc.
+```
@@ -0,0 +1,98 @@
+#!/usr/bin/env bash
+set -e
+set -x
+
+# git diff --name-status origin/release3-staging | grep "^A" | less
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+cd $DIR
+
+BUILD_DIR=/data/openpilot
+SOURCE_DIR="$(git rev-parse --show-toplevel)"
+
+if [ -z "$RELEASE_BRANCH" ]; then
+  echo "RELEASE_BRANCH is not set"
+  exit 1
+fi
+
+BUILD_BRANCH=release-mici-staging
+
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up repo T=$SECONDS"
+rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
+cd $BUILD_DIR
+git init
+git remote add origin git@github.com:commaai/openpilot.git
+git checkout --orphan $BUILD_BRANCH
+
+# do the files copy
+echo "[-] copying files T=$SECONDS"
+cd $SOURCE_DIR
+cp -pR --parents $(./release/release_files.py) $BUILD_DIR/
+
+# in the directory
+cd $BUILD_DIR
+
+rm -f panda/board/obj/panda.bin.signed
+rm -f panda/board/obj/panda_h7.bin.signed
+
+VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "openpilot v$VERSION release"
+
+# Build
+export PYTHONPATH="$BUILD_DIR"
+scons
+
+if [ -z "$PANDA_DEBUG_BUILD" ]; then
+  # release panda fw
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
+else
+  # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
+  scons panda/
+fi
+
+# Ensure no submodules in release
+if test "$(git submodule--helper list | wc -l)" -gt "0"; then
+  echo "submodules found:"
+  git submodule--helper list
+  exit 1
+fi
+git submodule status
+
+# Cleanup
+find . -name '*.a' -delete
+find . -name '*.o' -delete
+find . -name '*.os' -delete
+find . -name '*.pyc' -delete
+find . -name 'moc_*' -delete
+find . -name '__pycache__' -delete
+rm -rf .sconsign.dblite Jenkinsfile release/
+rm -f selfdrive/modeld/models/*.onnx*
+
+# Mark as prebuilt release
+touch prebuilt
+
+# Add built files to git
+git add -f .
+git commit --amend -m "openpilot v$VERSION"
+
+# Run tests
+cd $BUILD_DIR
+RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
+#pytest selfdrive/car/tests/test_car_interfaces.py
+
+echo "[-] pushing release T=$SECONDS"
+REFS=()
+for branch in ${RELEASE_BRANCH//,/ }; do
+  REFS+=("$BUILD_BRANCH:$branch")
+done
+git push -f origin "${REFS[@]}"
+
+echo "[-] done T=$SECONDS"
@@ -0,0 +1,89 @@
+#!/usr/bin/env bash
+set -ex
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)"
+if [ -z "$TARGET_DIR" ]; then
+  TARGET_DIR="$(mktemp -d)"
+fi
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up target repo T=$SECONDS"
+
+rm -rf $TARGET_DIR
+mkdir -p $TARGET_DIR
+cd $TARGET_DIR
+cp -r $SOURCE_DIR/.git $TARGET_DIR
+
+echo "[-] setting up stripped branch sync T=$SECONDS"
+cd $TARGET_DIR
+
+# tmp branch
+git checkout --orphan tmp
+
+# remove everything except .git
+echo "[-] erasing old openpilot T=$SECONDS"
+git submodule deinit -f --all
+git rm -rf --cached .
+find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+
+# cleanup before the copy
+cd $SOURCE_DIR
+git clean -xdff
+git submodule foreach --recursive git clean -xdff
+
+# do the files copy
+echo "[-] copying files T=$SECONDS"
+cd $SOURCE_DIR
+cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
+
+# in the directory
+cd $TARGET_DIR
+rm -rf .git/modules/
+rm -f panda/board/obj/panda.bin.signed
+
+find selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./common/file_chunker.py {} \;
+
+# include source commit hash and build date in commit
+GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
+GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
+DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+
+echo -n "$GIT_HASH" > git_src_commit
+echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git status
+git commit -a -m "openpilot v$VERSION release
+
+date: $DATETIME
+master commit: $GIT_HASH
+"
+
+# should be no submodules or LFS files
+git submodule status
+if [ ! -z "$(git lfs ls-files)" ]; then
+  echo "LFS files detected!"
+  exit 1
+fi
+
+# ensure files are within GitHub's limit
+BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)"
+if [ ! -z "$BIG_FILES" ]; then
+  printf '\n\n\n'
+  echo "Found files exceeding GitHub's 100MB limit:"
+  echo "$BIG_FILES"
+  exit 1
+fi
+
+if [ ! -z "$BRANCH" ]; then
+  echo "[-] Pushing to $BRANCH T=$SECONDS"
+  git push -f origin tmp:$BRANCH
+fi
+
+echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ ! -z "$(git status --porcelain)" ]; then
+  echo "Dirty working tree after build:"
+  git status --porcelain
+  exit 1
+fi
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+
+while read hash submodule ref; do
+  if [ "$submodule" = "tinygrad_repo" ]; then
+    echo "Skipping $submodule"
+    continue
+  fi
+
+  git -C $submodule fetch --depth 100 origin master
+  git -C $submodule branch -r --contains $hash | grep "origin/master"
+  if [ "$?" -eq 0 ]; then
+    echo "$submodule ok"
+  else
+    echo "$submodule: $hash is not on master"
+    exit 1
+  fi
+done <<< $(git submodule status --recursive)
@@ -0,0 +1,4 @@
+export GIT_COMMITTER_NAME="Vehicle Researcher"
+export GIT_COMMITTER_EMAIL="user@comma.ai"
+export GIT_AUTHOR_NAME="Vehicle Researcher"
+export GIT_AUTHOR_EMAIL="user@comma.ai"
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+import importlib
+import shutil
+import sys
+import tempfile
+import zipapp
+from argparse import ArgumentParser
+from pathlib import Path
+
+from openpilot.common.basedir import BASEDIR
+
+
+DIRS = ['cereal', 'openpilot']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
+EXCLUDE = ['selfdrive/assets/training']
+INTERPRETER = '/usr/bin/env python3'
+
+
+def copy(src, dest):
+  if any(src.endswith(ext) for ext in EXTS) and not any(exc in src for exc in EXCLUDE):
+    shutil.copy2(src, dest, follow_symlinks=True)
+
+
+if __name__ == '__main__':
+  parser = ArgumentParser(prog='pack.py', description="package script into a portable executable", epilog='comma.ai')
+  parser.add_argument('-e', '--entrypoint', help="function to call in module, default is 'main'", default='main')
+  parser.add_argument('-o', '--output', help='output file')
+  parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
+  args = parser.parse_args()
+
+  print('WARNING: copying all files! make sure to run scons and git tree is clean')
+
+  if not args.output:
+    args.output = args.module
+
+  try:
+    mod = importlib.import_module(args.module)
+  except ModuleNotFoundError:
+    print(f'{args.module} not found, typo?')
+    sys.exit(1)
+
+  if not hasattr(mod, args.entrypoint):
+    print(f'{args.module} does not have a {args.entrypoint}() function, typo?')
+    sys.exit(1)
+
+  with tempfile.TemporaryDirectory() as tmp:
+    for directory in DIRS:
+      shutil.copytree(BASEDIR + '/' + directory, tmp + '/' + directory, symlinks=False, dirs_exist_ok=True, copy_function=copy)
+    entry = f'{args.module}:{args.entrypoint}'
+    zipapp.create_archive(tmp, target=args.output, interpreter=INTERPRETER, main=entry)
+
+  print(f'created executable {Path(args.output).resolve()}')
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import os
+import re
+from pathlib import Path
+
+HERE = os.path.abspath(os.path.dirname(__file__))
+ROOT = HERE + "/.."
+
+blacklist = [
+  ".git/",
+  ".github/workflows/",
+
+  "matlab.*.md",
+
+  # no LFS or submodules in release
+  ".lfsconfig",
+  ".gitattributes",
+  ".git$",
+  ".gitmodules",
+]
+
+# gets you through the blacklist
+whitelist: list[str] = [
+]
+
+if __name__ == "__main__":
+  for f in Path(ROOT).rglob("**/*"):
+    if not (f.is_file() or f.is_symlink()):
+      continue
+
+    rf = str(f.relative_to(ROOT))
+    blacklisted = any(re.search(p, rf) for p in blacklist)
+    whitelisted = any(re.search(p, rf) for p in whitelist)
+    if blacklisted and not whitelisted:
+      continue
+
+    print(rf)