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DevTekVE
ad537fcb89
* Create a GitHub Actions workflow for synchronizing the repository to GitLab and enhance GitLab CI settings A new GitHub Actions workflow for mirroring the current repository to GitLab is added. This workflow is triggered by both push and delete events in addition to manual triggering. The role of GitHub actions runner is defined through a series of steps. A new '.gitlab-ci.yml' build configuration file is also introduced, with a more comprehensive definition of variables, jobs, and pipeline rules for its utilization in the GitLab CI/CD pipeline. Further, other changes include the addition of scripts for installing and uninstalling GitLab CI runner, along with modifying the SCons build system configuration file to include custom cache directory. Moreover, 'release_files.py' has been revised to include additional blacklisted and whitelisted files specific to Sunnypilot, ensuring suitable settings for the CI flow. The improvements facilitate a smoother integration between GitHub and GitLab, powerfully harnessing the capabilities of both platforms for more efficient and effective CI/CD pipelines and version control management. * not needed for this * Update workflow to build model from upstream repository Revised the CI workflow to build directly from the upstream `commaai/openpilot` repository. Simplified configuration, removed unused steps, and added support for specifying the upstream branch dynamically via inputs. * Update SConstruct to allow passing arbitrary cache_dir Modified the SConstruct file to enable setting a custom cache directory via arguments. This enhances flexibility in configuring cache paths during the build process. * Refactor build workflow to improve branch handling logic. Reorganized conditions for setting environment variables, replacing repository_dispatch with workflow_dispatch for prebuilt builds. Added a fallback error message for unsupported triggers to improve robustness. This enhances clarity and ensures compatibility with the intended workflow triggers. * test test test * test test test * test test test * Enable publication flag during build configurations Added `SHOULD_PUBLISH=true` to all relevant build configuration steps to ensure proper handling of publishing logic. Updated environment variables to include this flag for downstream usage. Removed the error-check step for unsupported configurations. * Simplify publish condition in workflow logic Replaced the previous condition for publishing with a single output variable, `should_publish`, to streamline logic and improve maintainability. This change reduces redundancy and makes the workflow more adaptable to future updates. * Simplify restore key patterns in build workflow. Removed unnecessary trailing dashes in SCons cache restore keys to streamline and slightly improve key matching logic. This ensures better consistency with the current workflow setup. * Update cache key usage in build workflow Replaced `github.ref_name` with `github.head_ref` for cache keys to ensure accurate branch-specific caching. Added fallback restore-keys for master branches to improve cache efficiency and reduce redundant builds. * Improved debug logging in GitHub actions workflow This commit refines the debug logging in our GitHub Actions workflow for the Sunnypilot build. This change provides more granularity, enabling logging only during debug mode, which helps to keep the runtime logs less cluttered during normal operations. This includes the conditionally displaying of environmental variables, GitHub output contents, and directory listings. Additionally, debug mode verbosity was added to rsync commands to aid troubleshooting file transfers during the build process. Blank lines were also reduced for better readability and cleaner code presentation. * test diff path * Refactor SCons cache handling in build workflow Replaced hardcoded cache directory paths with an environment variable (`SCONS_CACHE_DIR`) for better maintainability and flexibility. Updated related workflow steps to utilize the new variable and adjusted cache key usage. Removed unused `BASE_BUILD_NUMBER` variable to clean up the configuration. * Update cache key to include commit SHA in workflow This change adds the commit SHA to the cache key in the GitHub Actions workflow. It ensures more precise caching by differentiating builds based on the specific commit, reducing potential conflicts. * clean Update GitHub runner service to set environment variables Updated the ExecStart command to explicitly set HOME, USER, LOGNAME, and MAIL environment variables. This ensures the runner operates with the correct environment configuration, improving reliability and compatibility. Refactor GitHub runner service ExecStart command. Replaced direct command execution with running the service as a specific user using `su`. This improves compatibility and aligns with best practices for user-based execution. No functional changes are expected. Update GitHub runner service to set environment variables The ExecStart command now sets HOME, USER, LOGNAME, and MAIL environment variables for the runner process. This ensures proper environment initialization for the designated user, improving compatibility and reliability during execution. Refactor GitHub runner service template handling. Revised the `modify_service_template` function to create a properly structured service template for the GitHub runner. Updated service permissions, execution parameters, and enabled the function call to ensure usage during runner setup. * Refactor GitHub Runner installer to improve argument parsing. Reworked the script to implement flexible and explicit command-line argument parsing using flags like `--token`, `--repo`, and `--start-at-boot`. Added support for setting default values and enabling/disabling auto-start based on the `--start-at-boot` flag. Improved error handling and usage messaging for better user experience. * Update cache keys in sunnypilot build workflow Modified the cache keys to include `github.ref_name` for more precise caching and restore behavior. This improves build consistency by better differentiating between branches and refs. No changes to the overall workflow logic. * Remove 'tinygrad/*' from release file exclusions This change modifies the release file exclusions by removing 'tinygrad/*'. The adjustment ensures that files in the 'tinygrad' directory are now included in the release process, aligning with updated packaging requirements. * Simplify release file exclusions list. Removed redundant and unnecessary file patterns from the exclusions list in `release_files.py`. This streamlines the file handling process and reduces maintenance overhead. * Refactor SCons cache path and key structure. Updated the SCons cache directory path to `SCONS_CACHE_DIR` for clarity and consistency. Improved the caching key structure to include `github.head_ref` for better cache differentiation and restore hierarchy. Adjusted related build instructions to reflect the new environment variable. * Refactor branch configuration in CI workflow Standardize branch name handling by replacing hardcoded values with environment variables. This improves maintainability and simplifies updates to branch names across the workflow. Updated references to use the new dynamic environment variable approach.
openpilot
openpilot is an operating system for robotics.
Currently, it upgrades the driver assistance system in 275+ supported cars.
Docs · Roadmap · Contribute · Community · Try it on a comma 3X
Quick start: bash <(curl -fsSL openpilot.comma.ai)
Using openpilot in a car
To use openpilot in a car, you need four things:
- Supported Device: a comma 3/3X, available at comma.ai/shop.
- Software: The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL
openpilot.comma.aito install the release version. - Supported Car: Ensure that you have one of the 275+ supported cars.
- Car Harness: You will also need a car harness to connect your comma 3/3X to your car.
We have detailed instructions for how to install the harness and device in a car. Note that it's possible to run openpilot on other hardware, although it's not plug-and-play.
Branches
| branch | URL | description |
|---|---|---|
release3 |
openpilot.comma.ai | This is openpilot's release branch. |
release3-staging |
openpilot-test.comma.ai | This is the staging branch for releases. Use it to get new releases slightly early. |
nightly |
openpilot-nightly.comma.ai | This is the bleeding edge development branch. Do not expect this to be stable. |
nightly-dev |
installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars. |
To start developing openpilot
openpilot is developed by comma and by users like you. We welcome both pull requests and issues on GitHub.
- Join the community Discord
- Check out the contributing docs
- Check out the openpilot tools
- Read about the development workflow
- Code documentation lives at https://docs.comma.ai
- Information about running openpilot lives on the community wiki
Want to get paid to work on openpilot? comma is hiring and offers lots of bounties for external contributors.
Safety and Testing
- openpilot observes ISO26262 guidelines, see SAFETY.md for more details.
- openpilot has software-in-the-loop tests that run on every commit.
- The code enforcing the safety model lives in panda and is written in C, see code rigor for more details.
- panda has software-in-the-loop safety tests.
- Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
- panda has additional hardware-in-the-loop tests.
- We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
Licensing
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.
User Data and comma Account
By default, openpilot uploads the driving data to our servers. You can also access your data through comma connect. We use your data to train better models and improve openpilot for everyone.
openpilot is open source software: the user is free to disable data collection if they wish to do so.
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
By using openpilot, you agree to our Privacy Policy. 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.