编辑launch_openpilot.sh

.clang-tidy

@@ -0,0 +1,19 @@
+---
+Checks: '
+bugprone-*,
+-bugprone-integer-division,
+-bugprone-narrowing-conversions,
+performance-*,
+clang-analyzer-*,
+misc-*,
+-misc-unused-parameters,
+modernize-*,
+-modernize-avoid-c-arrays,
+-modernize-deprecated-headers,
+-modernize-use-auto,
+-modernize-use-using,
+-modernize-use-nullptr,
+-modernize-use-trailing-return-type,
+'
+CheckOptions:
+...

.codespellignore

@@ -0,0 +1,6 @@
+Wen
+REGIST
+PullRequest
+cancelled
+FOF
+NoO

.dockerignore

@@ -0,0 +1,39 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+*.so
+*.a
+
+venv/
+.venv/
+
+notebooks
+phone
+massivemap
+neos
+installer
+chffr/app2
+chffr/backend/env
+selfdrive/nav
+selfdrive/baseui
+selfdrive/test/simulator2
+**/cache_data
+xx/plus
+xx/community
+xx/projects
+!xx/projects/eon_testing_master
+!xx/projects/map3d
+xx/ops
+xx/junk

.editorconfig

@@ -0,0 +1,11 @@
+root = true
+
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[*.{py,pyx,pxd}]
+charset = utf-8
+indent_style = space
+indent_size = 2

.gitattributes

@@ -1,30 +0,0 @@
-* text=auto eol=lf
-
-# to move existing files into LFS:
-# git add --renormalize .
-
-# Keep this icon in regular git (not LFS) for lightweight branding iteration.
-selfdrive/assets/icons_mici/experimental_mode_mici.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/experimental_mode_tizi.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_center.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/onroad/driver_monitoring/dm_cone.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/settings/konn3kt_icon.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/buttons/toggle_dot_enabled.png -filter -diff -merge -text
-iqpilot/selfdrive/assets -filter -diff -merge -text
-selfdrive/assets/icons_mici/buttons/toggle_pill_enabled.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/setup/green_button.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/setup/green_button_pressed.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/setup/green_dm.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/setup/green_info.png -filter -diff -merge -text
-selfdrive/assets/icons_mici/setup/small_slider/slider_green_rounded_rectangle.png -filter -diff -merge -text
-selfdrive/assets/images/spinner_comma.png -filter -diff -merge -text
-selfdrive/assets/images/k3_spinner.png -filter -diff -merge -text
-selfdrive/assets/icons/camera.png -filter -diff -merge -text
-selfdrive/assets/fonts/Syncopate-Regular.ttf -filter -diff -merge -text
-selfdrive/assets/fonts/Tektur-Variable.ttf -filter -diff -merge -text
-
-
-
-# IQ assets, including icon_longitudinal.png, should stay in normal git (not LFS).
-iqpilot/selfdrive/assets/** -filter -diff -merge -text

.gitignore

@@ -1,7 +1,5 @@
 venv/
 .venv/
-!artifacts/runtime/ble/rootfs/usr/local/venv/
-!artifacts/runtime/ble/rootfs/usr/local/venv/**
 .ci_cache
 .env
 .clang-format
@@ -12,6 +10,7 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
+model2.png
 a.out
 .hypothesis
 .cache/
@@ -22,10 +21,7 @@ a.out
 *.dylib
 *.DSYM
 *.d
-!artifacts/runtime/ble/rootfs/etc/udev/rules.d/
-!artifacts/runtime/ble/rootfs/etc/udev/rules.d/**
 *.pyc
-!artifacts/iqpilot_*_private/**/*.pyc
 *.pyo
 .*.swp
 .*.swo
@@ -36,32 +32,34 @@ a.out
 *.os
 *.os-*
 *.so
-!artifacts/iqpilot_*_private/**/*.so
-!artifacts/runtime/ble/rootfs/usr/local/venv/**/*.so
-artifacts/iqpilot_private/
-artifacts/iqpilot_*_private/python/iqpilot_private/**/*.cpython-*-darwin.so
 *.a
 *.clb
 *.class
 *.pyxbldc
 *.vcd
-*.mo
+*.qm
 *_pyx.cpp
-*.stats
 config.json
 clcache
 compile_commands.json
 compare_runtime*.html
 
+persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
+selfdrive/mapd/default_speeds_by_region.json
 selfdrive/ui/translations/tmp
+selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 
+notebooks
+hyperthneed
+provisioning
+
 .coverage*
 coverage.xml
 htmlcov
@@ -74,11 +72,10 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/models/*.pkl
-iqpilot/modeld*/thneed/compile
-iqpilot/modeld*/models/*.thneed
-iqpilot/modeld*/models/*.pkl
+sunnypilot/modeld*/thneed/compile
+sunnypilot/modeld*/models/*.thneed
+sunnypilot/modeld*/models/*.pkl
 
-# openpilot log files
 *.bz2
 *.zst
 
@@ -108,10 +105,6 @@ Pipfile
 .history
 .ionide
 
-.claude/
-PLAN.md
-TASK.md
-
 ### JetBrains ###
 !.idea/customTargets.xml
 !.idea/tools/*

.lfsconfig-comma

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false

.vscode/extensions.json

@@ -0,0 +1,8 @@
+{
+  "recommendations": [
+    "ms-python.python",
+    "ms-vscode.cpptools",
+    "elagil.pre-commit-helper",
+    "charliermarsh.ruff",
+  ]
+}

.vscode/launch.json

@@ -0,0 +1,85 @@
+{
+  "version": "0.2.0",
+  "inputs": [
+    {
+      "id": "python_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/controls/controlsd.py",
+        "system/timed/timed.py",
+        "tools/sim/run_bridge.py"
+      ]
+    },
+    {
+      "id": "cpp_process",
+      "type": "pickString",
+      "description": "Select the process to debug",
+      "options": [
+        "selfdrive/ui/ui"
+      ]
+    },
+    {
+      "id": "args",
+      "description": "Arguments to pass to the process",
+      "type": "promptString"
+    },
+    {
+      "id": "replayArg",
+      "type": "promptString",
+      "description": "Enter route or segment to replay."
+    }
+  ],
+  "configurations": [
+    {
+      "name": "Python: openpilot Process",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${input:python_process}",
+      "console": "integratedTerminal",
+      "justMyCode": true,
+      "args": "${input:args}"
+    },
+    {
+      "name": "C++: openpilot Process",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/${input:cpp_process}",
+      "cwd": "${workspaceFolder}"
+    },
+    {
+      "name": "Attach LLDB to Replay drive",
+      "type": "lldb",
+      "request": "attach",
+      "pid": "${command:pickMyProcess}",
+      "initCommands": [
+        "script import time; time.sleep(3)"
+      ]
+    },
+    {
+      "name": "Replay drive",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
+      "args": [
+        "${input:replayArg}"
+      ],
+      "console": "integratedTerminal",
+      "justMyCode": false,
+      "env": {
+        "PYTHONPATH": "${workspaceFolder}"
+      },
+      "subProcess": true,
+      "stopOnEntry": false
+    }
+  ],
+  "compounds": [
+    {
+      "name": "Replay drive + Safety LLDB",
+      "configurations": [
+        "Replay drive",
+        "Attach LLDB to Replay drive"
+      ]
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,27 @@
+{
+  "editor.tabSize": 2,
+  "editor.insertSpaces": true,
+  "editor.renderWhitespace": "trailing",
+  "files.trimTrailingWhitespace": true,
+  "search.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true
+  },
+  "files.exclude": {
+    "**/.git": true,
+    "**/.venv": true,
+    "**/__pycache__": true
+  },
+  "python.analysis.exclude": [
+    "**/.git",
+    "**/.venv",
+    "**/__pycache__",
+    // exclude directories that should be using the symlinked version
+    "common/**",
+    "selfdrive/**",
+    "system/**",
+    "third_party/**",
+    "tools/**",
+  ]
+}

1.sh

@@ -0,0 +1,83 @@
+#!/bin/env sh
+
+persist_dir=/persist
+target_dir=${persist_dir}/comma
+# Change target dir from sunnylink to comma to make this no longer a test
+
+
+# Function to remount /persist as read-only
+cleanup() {
+    echo "Remounting ${persist_dir} as read-only..."
+    sudo mount -o remount,ro ${persist_dir}
+}
+
+# Function to check and backup existing keys
+backup_keys() {
+    if [ -f "id_rsa" ] || [ -f "id_rsa.pub" ]; then
+        timestamp=$(date +%s)
+        backup_base="id_rsa_backup_$timestamp"
+        backup_private="$backup_base"
+        backup_public="${backup_base}.pub"
+
+        # Ensure we're not overwriting an existing backup
+        counter=0
+        while [ -f "$backup_private" ] || [ -f "$backup_public" ]; do
+            counter=$((counter + 1))
+            backup_private="${backup_base}_$counter"
+            backup_public="${backup_base}_$counter.pub"
+        done
+
+        # Backup the keys
+        cp id_rsa "$backup_private"
+        cp id_rsa.pub "$backup_public"
+
+        # Verify the backup
+        original_private_hash=$(sha256sum id_rsa | cut -d ' ' -f 1)
+        backup_private_hash=$(sha256sum "$backup_private" | cut -d ' ' -f 1)
+        original_public_hash=$(sha256sum id_rsa.pub | cut -d ' ' -f 1)
+        backup_public_hash=$(sha256sum "$backup_public" | cut -d ' ' -f 1)
+
+        if [ "$original_private_hash" = "$backup_private_hash" ] && [ "$original_public_hash" = "$backup_public_hash" ]; then
+            echo "Backup verified successfully."
+            # Safe to delete original keys after successful backup verification
+        else
+            echo "Backup verification failed. Aborting operation."
+            exit 1
+        fi
+
+        echo "Existing keys backed up as $backup_private and $backup_public"
+    fi
+}
+
+# Trap any signal that exits the script to run cleanup function
+trap cleanup EXIT
+
+# Remount /persist as read-write
+sudo mount -o remount,rw ${persist_dir}
+
+# Ensure the directory exists
+mkdir -p ${target_dir}
+cd ${target_dir}
+
+# Check for and backup existing keys
+#backup_keys
+
+# Generate new keys
+if ! ssh-keygen -t rsa -b 4096 -m PEM -f id_rsa -N ''; then
+    echo "Failed to generate new RSA keys. Exiting..."
+    exit 1
+fi
+
+# Convert the generated SSH public key to PEM format and store it temporarily
+if ! openssl rsa -pubout -in id_rsa -out id_rsa.pub -outform PEM; then
+    echo "Failed to convert the public key to PEM format. Exiting..."
+    exit 1
+fi
+
+# Display the public key
+echo "Displaying the public key:"
+cat id_rsa.pub
+
+# Cleanup will be called automatically due to trap on EXIT
+#echo "Operation completed successfully. System will reboot now."
+#sudo reboot

Dockerfile.openpilot

@@ -0,0 +1,12 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -0,0 +1,82 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Dockerfile.sunnypilot

@@ -0,0 +1,12 @@
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)

Dockerfile.sunnypilot_base

@@ -0,0 +1,83 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+    rsync \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -1,269 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  try {
-    if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

LICENSE

@@ -1,98 +1,7 @@
-IQ.Lvbs License v0.1a
+Copyright (c) 2018, Comma.ai, Inc.
 
-Copyright (c) 2026 IQ.Lvbs LLC, a part of Project Teal Lvbs Inc. All Rights Reserved.
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 
-DEFINITIONS
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
 
-"Software" refers to IQ.Pilot, konn3kt, and all associated source code,
-documentation, and assets owned by the Copyright Holder.
-
-"Open Components" refers to portions of the Software explicitly marked as
-open source.
-
-"Proprietary Components" refers to all portions of the Software not made
-available to the public in source form.
-
-"Copyright Holder" refers to IQ.Lvbs LLC, a part of Project Teal Lvbs Inc.
-
-GRANT OF LICENSE
-
-Subject to the terms of this license, you are granted a limited,
-non-exclusive, revocable license to:
-
-1. View, study, and learn from the Open Components
-2. Modify the Open Components for personal, internal, or open-source public use
-3. Run the Software for personal, non-commercial purposes
-
-RESTRICTIONS
-
-You may NOT:
-
-1. Claim ownership of any part of the Software, excluding your own
-   modifications that do not incorporate Proprietary Components.
-
-2. Reverse engineer, decompile, disassemble, or in any way attempt to
-   circumvent the obfuscation of the Proprietary Components.
-
-3. Use the Software or any derivative for commercial purposes without
-   explicit written permission from the Copyright Holder.
-
-4. Remove or alter any copyright notices or this license.
-
-5. Sublicense, sell, or transfer rights to the Software.
-
-6. Use the Software and/or its source code to compete with or create a
-   substantially similar product.
-
-7. Use the Software in closed source software not licensed by IQ.Lvbs LLC.
-
-CONSEQUENCES OF VIOLATION
-
-In the event any Restriction is violated, any product created using inspiration from, or source code from, IQ.Pilot or Konn3kt shall be subject to a licensing fee determined solely by the Copyright Holder. Additionally, the violating party hereby grants IQ.Lvbs LLC an exclusive, irrevocable, worldwide, royalty-free license to use any and all assets from the infringing product on IQ.Lvbs webpages, advertising materials, and in any other manner IQ.Lvbs sees fit.
-
-OWNERSHIP
-
-All rights, title, and interest in the Software remain exclusively with the
-Copyright Holder. Any modifications, improvements, or derivative works you
-create based on the Software are owned by the Copyright Holder. By
-contributing modifications, you irrevocably assign all rights to the
-Copyright Holder.
-
-PROPRIETARY COMPONENTS
-
-The Proprietary Components are provided in binary or obfuscated form only.
-Reverse engineering, decompilation, or disassembly of Proprietary Components
-is strictly prohibited. Violation of this provision entitles IQ.Lvbs LLC to
-pursue all available legal remedies to protect its intellectual property and
-trade secrets.
-
-NO WARRANTY
-
-THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT
-HOLDER DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT
-LIMITED TO MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT.
-
-LIMITATION OF LIABILITY
-
-IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES, OR
-OTHER LIABILITY ARISING FROM THE USE OF THE SOFTWARE. THE USER ACCEPTS FULL
-RESPONSIBILITY FOR ANY AND ALL LIABILITIES WHEN USING IQ.LVBS SOFTWARE.
-
-TERMINATION
-
-This license terminates automatically if you violate any of its terms. Upon
-termination, you must destroy all copies of the Software in your possession.
-
-The Copyright Holder reserves the right to revoke this license at any time
-for any reason.
-
-GOVERNING LAW
-
-This license shall be governed by the laws of the State of Illinois, United
-States of America. Any disputes arising under this license shall be subject
-to the exclusive jurisdiction of the courts located in The State of Illinois, United States.
-
----
-
-For commercial licensing inquiries, contact: support@iqlvbs.com
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

LICENSE.md

@@ -1,98 +1,21 @@
-IQ.Lvbs License v0.1a
+# Custom MIT License
 
-Copyright (c) 2026 IQ.Lvbs LLC, a part of Project Teal Lvbs Inc. All Rights Reserved.
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
 
-DEFINITIONS
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
 
-"Software" refers to IQ.Pilot, konn3kt, and all associated source code,
-documentation, and assets owned by the Copyright Holder.
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
 
-"Open Components" refers to portions of the Software explicitly marked as
-open source.
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
 
-"Proprietary Components" refers to all portions of the Software not made
-available to the public in source form.
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
 
-"Copyright Holder" refers to IQ.Lvbs LLC, a part of Project Teal Lvbs Inc.
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
-GRANT OF LICENSE
-
-Subject to the terms of this license, you are granted a limited,
-non-exclusive, revocable license to:
-
-1. View, study, and learn from the Open Components
-2. Modify the Open Components for personal, internal, or open-source public use
-3. Run the Software for personal, non-commercial purposes
-
-RESTRICTIONS
-
-You may NOT:
-
-1. Claim ownership of any part of the Software, excluding your own
-   modifications that do not incorporate Proprietary Components.
-
-2. Reverse engineer, decompile, disassemble, or in any way attempt to
-   circumvent the obfuscation of the Proprietary Components.
-
-3. Use the Software or any derivative for commercial purposes without
-   explicit written permission from the Copyright Holder.
-
-4. Remove or alter any copyright notices or this license.
-
-5. Sublicense, sell, or transfer rights to the Software.
-
-6. Use the Software and/or its source code to compete with or create a
-   substantially similar product.
-
-7. Use the Software in closed source software not licensed by IQ.Lvbs LLC.
-
-CONSEQUENCES OF VIOLATION
-
-In the event any Restriction is violated, any product created using inspiration from, or source code from, IQ.Pilot or Konn3kt shall be subject to a licensing fee determined solely by the Copyright Holder. Additionally, the violating party hereby grants IQ.Lvbs LLC an exclusive, irrevocable, worldwide, royalty-free license to use any and all assets from the infringing product on IQ.Lvbs webpages, advertising materials, and in any other manner IQ.Lvbs sees fit.
-
-OWNERSHIP
-
-All rights, title, and interest in the Software remain exclusively with the
-Copyright Holder. Any modifications, improvements, or derivative works you
-create based on the Software are owned by the Copyright Holder. By
-contributing modifications, you irrevocably assign all rights to the
-Copyright Holder.
-
-PROPRIETARY COMPONENTS
-
-The Proprietary Components are provided in binary or obfuscated form only.
-Reverse engineering, decompilation, or disassembly of Proprietary Components
-is strictly prohibited. Violation of this provision entitles IQ.Lvbs LLC to
-pursue all available legal remedies to protect its intellectual property and
-trade secrets.
-
-NO WARRANTY
-
-THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT
-HOLDER DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT
-LIMITED TO MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
-NON-INFRINGEMENT.
-
-LIMITATION OF LIABILITY
-
-IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES, OR
-OTHER LIABILITY ARISING FROM THE USE OF THE SOFTWARE. THE USER ACCEPTS FULL
-RESPONSIBILITY FOR ANY AND ALL LIABILITIES WHEN USING IQ.LVBS SOFTWARE.
-
-TERMINATION
-
-This license terminates automatically if you violate any of its terms. Upon
-termination, you must destroy all copies of the Software in your possession.
-
-The Copyright Holder reserves the right to revoke this license at any time
-for any reason.
-
-GOVERNING LAW
-
-This license shall be governed by the laws of the State of Illinois, United
-States of America. Any disputes arising under this license shall be subject
-to the exclusive jurisdiction of the courts located in Henry County, Illinois.
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
 
 ---
 
-For commercial licensing inquiries, contact: support@iqlvbs.com
+Haibin Wen, SUNNYPILOT LLC

README.md

@@ -1,56 +1,130 @@
-# IQ.Pilot:
+![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
 
+## 🌞 What is sunnypilot?
+[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/
 
-## Join Our Public Beta at: https://discord.iqlvbs.com
+## Documentation
+https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
-## Running IQ.Pilot
-* A modern comma device to run this software (3, 3x, 4)
-* One of [the supported cars](https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot/src/branch/release/opendbc_repo/docs/CARS.md).
+## 🚘 Running on a dedicated device in a car
+* A supported device to run this software
+    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
+* This software
+* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
-#### Side Note: Volkswagen Group, and Tesla vehicles are the ONLY fully supported vehicles for use with IQ.Pilot, other manufacturers are supported but not a top priority while we are in beta.
+
+Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+
 ## Installation
-#### Installing Via Installer URL:
-#### Enter the following into your comma device custom URL box to install IQ.Pilot:
-`IQ-Lvbs/release`
-#### Having Trouble? If your device is currently running AGNOS 13.1 or older, you should install latest stock, then install IQ.Pilot, or try one of the alternative methods listed below!
+Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
+
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+* sunnypilot not installed or you installed a version before 0.8.17?
+  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
+  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
+  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
+  4. Complete the rest of the installation following the onscreen instructions.
+
+* sunnypilot already installed and you installed a version after 0.8.17?
+  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
+  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
+  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
+
+### Recommended Branches
+|      Branch     |                 Installation URL              |
+|:---------------:|:---------------------------------------------:|
+| `release`       | `https://release.sunnypilot.ai`               |
+| `staging`       | `https://staging.sunnypilot.ai`               |
+|   `dev`         | `https://dev.sunnypilot.ai`                   |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+
+> [!TIP]
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
+
+> [!NOTE]
+> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
 
 
-## Alternative Methods of Installation:
-#### Enabling SSH:
-* In your comma device's settings, go into "Developer Settings"
-* Enable the "Enable SSH" toggle if it is not already on.
-* Next to "SSH Keys", click on "Add" and then enter your GitHub username.
-* Run the command below (replace your_email@example.com with your GitHub account email, then paste the output [here](https://github.com/settings/keys) after clicking on "New SSH Key", then reboot your comma device.
-#### SSH Key Command: `ssh-keygen -t ed25519 -C "your_email@example.com" -f ~/.ssh/id_ed25519 -N "" && cat ~/.ssh/id_ed25519.pub`
-#### Side Note: If you have already setup SSH and can SSH into your comma device, skip this section.
+<details>
 
-#### Installing Via SSH:
-#### Once you are connected to your device via SSH, you can paste the following command below to install IQ.Pilot:
-`cd .. && git clone https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git && mv IQ.Pilot openpilot && cd openpilot && git submodule update --init && sudo reboot`
-#### If you'd like to backup your previous installation as well, paste the following command below to install IQ.Pilot:
-`cd .. && mv openpilot openpilot_backup_X && git clone https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git && mv IQ.Pilot openpilot && cd openpilot && git submodule update --init && sudo reboot`
-#### Alternatively, you can use your existing fork's built in tools to switch your branch as well:
-`git remote add iqpilot https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git && op switch iqpilot release`
+<summary>Older legacy branches</summary>
 
-## Releases:
-#### IQ.Pilot's Beta Is Currently At Release 1.0b
-|  Version  | Installation URL  |
-|:---------:|:-----------------:|
-| `release` | `IQ-Lvbs/release` |
+### If you want to use our older legacy branches (*not recommended*)
+
+> [**IMPORTANT**]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
+</details>
+
+
+## 🎆 Pull Requests
+We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
+
+Pull requests should be against the most current `master` branch.
 
 ## 📊 User Data
-### IQ.Pilot uploads your data to Konn3kt, by IQ.Lvbs.
-#### Konn3kt is a secure, encrypted, feature rich management experience for your IQ.Pilot device. Konn3kt has dual end-to-end encryption, your data is encrypted in transit, and at rest, you, and only you have access to your device, and your data.
 
-#### IQ.Pilot allows users to disable uploading entirely if they wish.
-#### Konn3kt doesn't collect driver camera, microphone data, and parses your logs with dual end-to-end encryption, ensuring that your data is accessible to you, and only you, not even accessible to IQ.Lvbs.
+By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
 
-## Terms of Service / Privacy Policy / Licensing
-#### IQ.Pilot is subject to the License found in this repository, [Terms of Service](https://konn3kt.com/tos), and, [Privacy Policy](https://konn3kt.com/privacy).
+sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
+
+sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
+
+By using this software, 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.
+
+## Licensing
+
+sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
+
+The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
+
+> 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.**
+
+For full license terms, please see the [`LICENSE`](LICENSE) file.
+
+## 💰 Support sunnypilot
+If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
 
 
-## Support IQ.Pilot?
-Sorry, I have better things to do than ask my users for donations. - Teal
+By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
 
-<span>-</span> IQ.Lvbs, by Project Teal Lvbs
+
+<h3>GitHub Sponsor</h3>
+
+<a href="https://github.com/sponsors/sunnyhaibin">
+  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
+</a>
+<br>
+
+<h3>PayPal</h3>
+
+<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
+<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
+</a>
+<br></br>
+
+Your continuous love and support are greatly appreciated! Enjoy 🥰
+
+<span>-</span> Jason, Founder of sunnypilot

SConstruct

@@ -1,227 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import shlex
-import numpy as np
-
-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
-          help='the minimum build to run openpilot. no tests, tools, etc.')
-
-# Detect platform
-arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
-if platform.system() == "Darwin":
-  arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and os.path.isfile('/TICI'):
-  arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
-
-env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-  },
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-  ],
-  LIBPATH=[
-    "#common",
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
-    f"#third_party/acados/{arch}/lib",
-  ],
-  RPATH=[],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-
-# Arch-specific flags and paths
-if arch == "larch64":
-  env.Append(CPPPATH=[
-    "#third_party/opencl/include",
-    "/usr/include/aarch64-linux-gnu",
-  ])
-  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/usr/lib/aarch64-linux-gnu",
-    "/system/vendor/lib64",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# progress output
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-# ********** Cython build environment **********
-py_include = sysconfig.get_paths()['include']
-envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-Export('env', 'arch')
-
-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-# ********** start building stuff **********
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-Export('common')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
-
-SConscript(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/loggerd/SConscript',
-])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
-SConscript(['selfdrive/SConscript'])
-
-SConscript(['iqpilot/SConscript'])
-
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
-
-
-env.CompilationDatabase('compile_commands.json')

SECURITY.md

@@ -1,52 +1,5 @@
 # Security Policy
 
-## Supported Versions
-
-| Component | Version | Supported |
-| --------- | ------- | --------- |
-| IQ.Pilot  | latest  |  TRUE     |
-| konn3kt   | latest  |  TRUE     |
-
-## Scope
-
-This security policy covers the following components, but applies to all IQ.Lvbs software:
-
-- **IQ.Pilot**
-- **konn3kt**
-
 ## Reporting a Vulnerability
 
-If you discover a security vulnerability in IQ.Pilot or konn3kt, please report it responsibly, abuse is against the terms of service for IQ.Lvbs software.
-
-**Email:** security@iqlvbs.com
-
-Please include:
-
-- A description of the vulnerability and its impact, and potential impact
-- Steps to reproduce the issue
-- Affected component(s)
-- Any relevant logs, screenshots, or proof of concept code that can assist with reproduction.
-
-## Response Timeline
-
-- **Acknowledgment:** Within 168 hours of receipt
-- **Initial Assessment:** Within 1-14 days
-- **Resolution Target:** Depends on severity; critical issues are prioritized immediately
-
-## Responsible Disclosure
-
-We ask that you:
-
-- Allow reasonable time for us to investigate and address the issue.
-- Avoid accessing or modifying other users' data, this is against IQ.Lvbs policy, and illegal in many jurisdictions.
-- Do not exploit vulnerabilities beyond what is necessary to demonstrate the issue.
-
-## Out of Scope
-
-- Issues in third-party dependencies unless the vulnerability is triggered by our specific usage
-
-## Recognition
-
-We appreciate and recognize security researchers who help keep IQ.Lvbs software safe. With your permission, we will credit you in our release notes when a reported vulnerability is fixed.
-
-- IQ.Lvbs, a part of Project Teal Lvbs Inc ©️
+Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`.

artifacts/iqpilot_alc_private/manifest.json

@@ -1,22 +0,0 @@
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-    "mode": 420,
-    "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
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-    "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
-    "size": 0
-  },
-  "python/iqpilot_private/konn3kt/iqlvbs/__init__.py": {
-    "mode": 420,
-    "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
-    "size": 0
-  },
-  "python/iqpilot_private/konn3kt/iqlvbs/alc.cpython-312-aarch64-linux-gnu.so": {
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-}

artifacts/iqpilot_hephaestusd_private/manifest.json

@@ -1,52 +0,0 @@
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-    "mode": 420,
-    "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
-    "size": 0
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-  "python/iqpilot_private/konn3kt/hephaestus/__init__.py": {
-    "mode": 420,
-    "sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
-    "size": 0
-  },
-  "python/iqpilot_private/konn3kt/hephaestus/_vendor/localapi_runtime.zip": {
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artifacts/iqpilot_model_selector_private/manifest.json

@@ -1,37 +0,0 @@
-{
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-  "python/iqpilot_private/models/__init__.py": {
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artifacts/iqpilot_model_selector_private/python/iqpilot_private/models/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
-"""

artifacts/iqpilot_navd_private/manifest.json

@@ -1,62 +0,0 @@
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-  "python/iqpilot_private/navd/__init__.py": {
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artifacts/iqpilot_navd_private/python/iqpilot_private/navd/__init__.py

@@ -1,3 +0,0 @@
-"""
-Copyright ©️ Project Teal Lvbs Licensed Under MIT License
-"""

artifacts/iqpilot_valhalla_runtime/manifest.json

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