编辑launch_openpilot.sh

date: 2026-03-13T21:04:16
master commit: 41994b1d27423e8a10008019a962417bf0f5f974

.dockerignore

@@ -0,0 +1,18 @@
+**/.git
+.DS_Store
+*.dylib
+*.DSYM
+*.d
+*.pyc
+*.pyo
+.*.swp
+.*.swo
+.*.un~
+*.tmp
+*.o
+*.o-*
+*.os
+*.os-*
+
+venv/
+.venv/

.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

@@ -1,31 +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
-tools/jotpluggler/assets/bootstrap-icons.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

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,47 @@
+name: Bug report
+description: For issues with running openpilot on your comma device
+labels: ["bug"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
+          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
+          * Ensure you're running the latest openpilot release.
+          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: route
+    attributes:
+      label: Provide a route where the issue occurs
+      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
+      placeholder: 77611a1fac303767|2020-05-11--16-37-07
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version
+      description: If you're not on release, provide the commit hash
+      placeholder: 0.8.10
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,14 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Car bug report
+    url: https://github.com/commaai/opendbc/issues/new
+    about: For issues with a particular car make or model
+  - name: Join the Discord
+    url: https://discord.comma.ai
+    about: The community Discord is for both openpilot development and experience discussion
+  - name: Report driving behavior feedback
+    url: https://discord.com/channels/469524606043160576/1254834193066623017
+    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
+  - name: Community Wiki
+    url: https://github.com/commaai/openpilot/wiki
+    about: Check out our community wiki

.github/ISSUE_TEMPLATE/enhancement.md

@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -0,0 +1,42 @@
+name: PC bug report
+description: For issues with running openpilot on PC
+labels: ["PC"]
+body:
+
+  - type: markdown
+    attributes:
+      value: >
+        Before creating a **bug report**, please check the following:
+          * Ensure you're running the latest openpilot release.
+          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
+          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
+
+        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: Also include a description of how to reproduce the bug
+    validations:
+      required: true
+
+  - type: input
+    id: os-version
+    attributes:
+      label: OS Version
+      placeholder: Ubuntu 24.04
+    validations:
+      required: true
+
+  - type: input
+    id: version
+    attributes:
+      label: openpilot version or commit
+      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Additional info
+

.github/labeler.yaml

@@ -0,0 +1,27 @@
+CI / testing:
+  - changed-files:
+    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
+
+car:
+  - changed-files:
+    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+
+simulation:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/sim/**'
+
+ui:
+  - changed-files:
+    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+
+tools:
+  - changed-files:
+    - any-glob-to-all-files: 'tools/**'
+
+multilanguage:
+  - changed-files:
+    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+
+autonomy:
+  - changed-files:
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/pull_request_template.md

@@ -0,0 +1,68 @@
+<!-- Please copy and paste the relevant template -->
+
+<!--- ***** Template: Fingerprint *****
+
+**Car**
+Which car (make, model, year) this fingerprint is for
+
+**Route**
+A route with the fingerprint
+
+-->
+
+<!--- ***** Template: Car Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+**Route**
+
+Route: [a route with the bug fix]
+
+
+-->
+
+<!--- ***** Template: Bugfix *****
+
+**Description**
+
+A description of the bug and the fix. Also link the issue if it exists. 
+
+**Verification**
+
+Explain how you tested this bug fix. 
+
+
+-->
+
+<!--- ***** Template: Car Port *****
+
+**Checklist**
+
+- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] route with openpilot:
+- [ ] route with stock system:
+- [ ] car harness used (if comma doesn't sell it, put N/A):
+
+
+-->
+
+<!--- ***** Template: Refactor *****
+
+**Description**
+
+A description of the refactor, including the goals it accomplishes. 
+
+**Verification**
+
+Explain how you tested the refactor for regressions. 
+
+
+-->
+

.gitignore

@@ -1,11 +1,8 @@
 venv/
 .venv/
-!artifacts/runtime/ble/rootfs/usr/local/venv/
-!artifacts/runtime/ble/rootfs/usr/local/venv/**
 .ci_cache
 .env
 .clang-format
-http-client.private.env.json
 .DS_Store
 .tags
 .ipynb_checkpoints
@@ -16,17 +13,14 @@ http-client.private.env.json
 a.out
 .hypothesis
 .cache/
-
-/docs_site/
+bin/
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
-!artifacts/runtime/ble/rootfs/etc/udev/rules.d/
-!artifacts/runtime/ble/rootfs/etc/udev/rules.d/**
+*.pem
 *.pyc
-!artifacts/iqpilot_*_private/**/*.pyc
 *.pyo
 .*.swp
 .*.swo
@@ -37,10 +31,6 @@ 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
@@ -49,11 +39,13 @@ artifacts/iqpilot_*_private/python/iqpilot_private/**/*.cpython-*-darwin.so
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html
 
+# build artifacts
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -66,55 +58,34 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl
-iqpilot/modeld*/thneed/compile
-iqpilot/modeld*/models/*.thneed
-iqpilot/modeld*/models/*.pkl
 
 # openpilot log files
 *.bz2
 *.zst
+*.rlog
 
 build/
 
 !**/.gitkeep
 
-poetry.toml
-Pipfile
 
 ### VisualStudioCode ###
+*.vsix
+.history
+.ionide
 .vscode/*
+.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
-
+# agents
 .claude/
+.context/
 PLAN.md
 TASK.md
 
-### JetBrains ###
-!.idea/customTargets.xml
-!.idea/tools/*
-!.run/*
-/.antigravitycli/
+# rick - keep panda_tici standalone
+panda_tici/

.iqpilot/.installed_alc_manifest.sha256

@@ -1 +0,0 @@
-924e347ee34837f48c2faa7e64d60d68c2da8bc573711114e27f8e18b8519121

.iqpilot/.installed_hephaestusd_manifest.sha256

@@ -1 +0,0 @@
-fbe30f962a71b0bad9985423b944af4f7d4daf5d0678070e97ac201ad8ff1761

.iqpilot/.installed_model_selector_manifest.sha256

@@ -1 +0,0 @@
-84f95553482786c4c4a911ecbcd689c3f620046a597912e6b767d60caef56c03

.iqpilot/.installed_navd_manifest.sha256

@@ -1 +0,0 @@
-60d78a84d660acce975d282ea88f70a5658a1091d3589e1fb3870dfa62d58293

.iqpilot/.installed_valhalla_runtime_manifest.sha256

@@ -1 +0,0 @@
-8745c3887b948f3a592a4b9604264bfebd191d2333b230b7461bcfd977e1de7a

.iqpilot/manifest.json

@@ -1,234 +0,0 @@
-{
-  "valhalla_runtime/bin/valhalla_service": {
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-    "size": 10754496
-  },
-  "valhalla_runtime/lib/libLerc.so.4": {
-    "sha256": "8148fbb2d121a08abf6ffe493a4994086eb43a785059871dbee1647ce115305b",
-    "size": 526288
-  },
-  "valhalla_runtime/lib/libbrotlicommon.so.1": {
-    "sha256": "016600f673a5d1a565cf98f608d8425033593ab78827eccc3384596f70386c8c",
-    "size": 198784
-  },
-  "valhalla_runtime/lib/libbrotlidec.so.1": {
-    "sha256": "b7895f0fd4ad47408cb01fcb959ae6792804c15512526166f9bf48358714d0b5",
-    "size": 67688
-  },
-  "valhalla_runtime/lib/libbsd.so.0": {
-    "sha256": "6c5348ee0e1777f13e148b7492fa311b6f65adb0dc21a001a67ebc18948e6b3e",
-    "size": 133944
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.iqpilot/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
-"""

.iqpilot/python/iqpilot_private/navd/__init__.py

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