sunnypilot v2026.003.000 release

date: 2026-08-19T09:43:43
master commit: ba29a38507

scripts/lint/check_added_large_files.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+import argparse
+import math
+import os
+import subprocess
+
+
+def lfs_files(filenames: list[str]) -> set[str]:
+  if not filenames:
+    return set()
+
+  result = subprocess.run(
+    ("git", "check-attr", "filter", "-z", "--stdin"),
+    input="\0".join(filenames),
+    check=True,
+    capture_output=True,
+    text=True,
+  )
+  fields = result.stdout.rstrip("\0").split("\0") if result.stdout else []
+  return {fields[i] for i in range(0, len(fields), 3) if fields[i + 2] == "lfs"}
+
+
+def check_added_large_files(filenames: list[str], max_kb: int) -> int:
+  failed = False
+  ignored = lfs_files(filenames)
+  for filename in filenames:
+    if filename in ignored:
+      continue
+
+    size_kb = math.ceil(os.stat(filename).st_size / 1024)
+    if size_kb > max_kb:
+      print(f"{filename} ({size_kb} KB) exceeds {max_kb} KB.")
+      failed = True
+
+  return int(failed)
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="Check that tracked files do not exceed a size limit.")
+  parser.add_argument("filenames", nargs="*")
+  parser.add_argument("--maxkb", type=int, default=500, help="maximum allowable size in KiB")
+  args = parser.parse_args()
+  return check_added_large_files(args.filenames, args.maxkb)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())

scripts/lint/check_indentation.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import argparse
+import tokenize
+
+
+# TODO: remove this once https://github.com/astral-sh/ruff/issues/8705 is closed
+def check_indentation(filename: str, indent_width: int = 2) -> bool:
+  failed = False
+  indent_stack = [0]
+
+  with tokenize.open(filename) as f:
+    tokens = tokenize.generate_tokens(f.readline)
+    for token in tokens:
+      if token.type == tokenize.INDENT:
+        indentation = token.string
+        width = len(indentation)
+        expected = indent_stack[-1] + indent_width
+
+        if indentation != " " * expected:
+          found = "indentation containing tabs" if "\t" in indentation else f"{width} spaces"
+          print(f"{filename}:{token.start[0]}:1: expected {expected} spaces, found {found}")
+          failed = True
+        indent_stack.append(width)
+      elif token.type == tokenize.DEDENT:
+        indent_stack.pop()
+
+  return failed
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Check Python block indentation.")
+  parser.add_argument("filenames", nargs="+")
+  args = parser.parse_args()
+
+  failed = False
+  for filename in args.filenames:
+    failed |= check_indentation(filename)
+  raise SystemExit(failed)

scripts/lint/check_nomerge_comments.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '\(#\|//\)\([[:space:]]*\)NOMERGE' $@; then
+  echo -e "NOMERGE comments found! Remove them before merging\n"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/check_shebang_format.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep '^#!.*python' $@ | grep -v '#!/usr/bin/env python3$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env python3'\n"
+  FAIL=1
+fi
+
+if grep '^#!.*bash' $@ | grep -v '#!/usr/bin/env bash$'; then
+  echo -e "Invalid shebang! Must use '#!/usr/bin/env bash'"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/check_shebang_scripts_are_executable.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import argparse
+import shlex
+import subprocess
+import sys
+
+
+def staged_modes(filenames: list[str]) -> list[tuple[str, str]]:
+  if not filenames:
+    return []
+
+  result = subprocess.run(
+    ("git", "ls-files", "-z", "--stage", "--", *filenames),
+    check=True,
+    capture_output=True,
+    text=True,
+  )
+  entries = result.stdout.rstrip("\0").split("\0") if result.stdout else []
+  return [(entry.split(" ", 1)[0], entry.split("\t", 1)[1]) for entry in entries]
+
+
+def has_shebang(filename: str) -> bool:
+  with open(filename, "rb") as f:
+    return f.read(2) == b"#!"
+
+
+def check_shebang_scripts_are_executable(filenames: list[str]) -> int:
+  failed = False
+  for mode, filename in staged_modes(filenames):
+    if mode != "100755" and has_shebang(filename):
+      quoted = shlex.quote(filename)
+      print("\n".join((
+        f"{filename}: has a shebang but is not marked executable!",
+        f"  If it is supposed to be executable, try: `chmod +x {quoted}`",
+        "  If it is not supposed to be executable, double-check its shebang is wanted.\n",
+      )), file=sys.stderr)
+      failed = True
+
+  return int(failed)
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="Check that tracked files with shebangs are executable.")
+  parser.add_argument("filenames", nargs="*")
+  args = parser.parse_args()
+  return check_shebang_scripts_are_executable(args.filenames)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())

scripts/lint/lint.sh

@@ -0,0 +1,117 @@
+#!/usr/bin/env bash
+set -e
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$DIR/../../"
+cd $ROOT
+
+FAILED=0
+
+function run() {
+  shopt -s extglob
+  case $1 in
+    $SKIP | $RUN ) return 0 ;;
+  esac
+
+  echo -en "$1"
+
+  for ((i=0; i<$((50 - ${#1})); i++)); do
+    echo -n "."
+  done
+
+  shift 1;
+  CMD="$@"
+
+  set +e
+  log="$((eval "$CMD" ) 2>&1)"
+
+  if [[ $? -eq 0 ]]; then
+    echo -e "[${GREEN}✔${NC}]"
+  else
+    echo -e "[${RED}✗${NC}]"
+    echo "$log"
+    FAILED=1
+  fi
+  set -e
+}
+
+function run_tests() {
+  ALL_FILES=$1
+  PYTHON_FILES=$2
+
+  run "ruff" ruff check openpilot --quiet
+  run "check_indentation" $DIR/check_indentation.py $PYTHON_FILES
+  run "check_added_large_files" $DIR/check_added_large_files.py --maxkb=120 $ALL_FILES
+  run "check_shebang_scripts_are_executable" $DIR/check_shebang_scripts_are_executable.py $ALL_FILES
+  run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
+  run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+
+  if [[ -z "$FAST" ]]; then
+    run "ty" ty check openpilot
+    run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
+  fi
+
+  return $FAILED
+}
+
+function help() {
+  echo "A fast linter"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op lint [TESTS] [OPTIONS]"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
+  echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}check_indentation${NC}"
+  echo -e "  ${BOLD}ty${NC}"
+  echo -e "  ${BOLD}codespell${NC}"
+  echo -e "  ${BOLD}check_added_large_files${NC}"
+  echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-f, --fast${NC}"
+  echo "          Skip slow tests"
+  echo -e "  ${BOLD}-s, --skip${NC}"
+  echo "          Specify tests to skip separated by spaces"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
+  echo "  op lint ty ruff"
+  echo "          Only run the ty and ruff tests"
+  echo ""
+  echo "  op lint --skip ty ruff"
+  echo "          Skip the ty and ruff tests"
+  echo ""
+  echo "  op lint"
+  echo "          Run all the tests"
+}
+
+SKIP=""
+RUN=""
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    -f | --fast ) shift 1; FAST="1" ;;
+    -s | --skip ) shift 1; SKIP=" " ;;
+    -h | --help | -help | --h ) help; exit 0 ;;
+    * ) if [[ -n $SKIP ]]; then SKIP+="$1 "; else RUN+="$1 "; fi; shift 1 ;;
+  esac
+done
+
+RUN=$([ -z "$RUN" ] && echo "" || echo "!($(echo $RUN | sed 's/ /|/g'))")
+SKIP="@($(echo $SKIP | sed 's/ /|/g'))"
+
+IGNORED_DIRS="^openpilot/third_party/.*"
+GIT_FILES="$(git ls-files openpilot | grep -vE "$IGNORED_DIRS")"
+ALL_FILES=""
+for f in $GIT_FILES; do
+  if [[ -f $f ]]; then
+    ALL_FILES+="$f"$'\n'
+  fi
+done
+PYTHON_FILES=$(echo "$ALL_FILES" | grep --color=never '.py$' || true)
+
+run_tests "$ALL_FILES" "$PYTHON_FILES"