mirror of
https://github.com/infiniteCable2/openpilot.git
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Merge branch 'upstream/openpilot/master' into sync-20250908
# Conflicts: # .github/workflows/selfdrive_tests.yaml # README.md # docs/CARS.md # opendbc_repo # panda # selfdrive/car/tests/test_car_interfaces.py # selfdrive/modeld/modeld.py # selfdrive/selfdrived/selfdrived.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # system/hardware/hardwared.py # system/updated/updated.py # tinygrad_repo # uv.lock
This commit is contained in:
Jason Wen
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
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### First contribution
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[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
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There's lot of bounties that don't require a comma 3/3X or a car.
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There's lot of bounties that don't require a comma 3X or a car.
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## Pull Requests
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@@ -0,0 +1,30 @@
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# Debugging Panda Safety with Replay Drive + LLDB
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## 1. Start the debugger in VS Code
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* Select **Replay drive + Safety LLDB**.
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* Enter the route or segment when prompted.
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[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
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## 2. Attach LLDB
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* When prompted, pick the running **`replay_drive` process**.
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* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
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> [!TIP]
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> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
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## 3. Set breakpoints in VS Code
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Breakpoints can be set directly in `modes/xxx.h` (or any C file).
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No extra LLDB commands are required — just place breakpoints in the editor.
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## 4. Resume execution
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Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
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> [!NOTE]
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> * Use short routes for quicker iteration.
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> * Pause `replay_drive` early to avoid wasting log messages.
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## Video
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View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578
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+14
-4
@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
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ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
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released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
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on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
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hardware-in-the-loop and in-vehicle tests before each software release.
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hardware-in-the-loop, and in-vehicle tests before each software release.
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Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
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ensuring two main safety requirements.
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@@ -29,8 +29,18 @@ ensuring two main safety requirements.
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For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
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**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
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not fully meeting the above requirements.
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[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
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[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
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---
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### Forks of openpilot
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* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
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* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
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* If your fork modifies any of the code in `opendbc/safety/`:
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* your fork cannot use the openpilot trademark
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* your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
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Failure to comply with these standards will get you and your users banned from comma.ai servers.
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**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**
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@@ -1,11 +1,11 @@
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# connect to a comma 3/3X
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# connect to a comma 3X
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A comma 3/3X 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).
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A comma 3X 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).
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## Serial Console
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On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
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Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
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Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
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On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
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@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
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* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
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> [!NOTE]
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> The default port for ADB is 5555 on the comma 3/3X.
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> The default port for ADB is 5555 on the comma 3X.
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For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
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@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
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Just run `tools/replay/replay --demo`.
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## Replaying CAN data
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*Hardware required: jungle and comma 3/3X*
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*Hardware required: jungle and comma 3X*
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1. Connect your PC to a jungle.
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2.
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@@ -3,7 +3,7 @@
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In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
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And if you have a comma 3/3X, we'll deploy the change to your device for testing.
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And if you have a comma 3X, we'll deploy the change to your device for testing.
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## 1. Set up your development environment
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