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[project]

name = "openpilot"

requires-python = ">= 3.12.3, < 3.13"

license = {text = "MIT License"}

version = "0.1.0"

description = "an open source driver assistance system"

authors = [

{name = "Vehicle Researcher", email="user@comma.ai"}

]

# ------------------------------------------

# > this dependencies list *only* goes down.

# ------------------------------------------

# Linux and Python is all we need, otherwise

# we write and own the lines ourselves.

# ------------------------------------------

dependencies = [

# multiple users

"sounddevice", # micd + soundd

"requests", # many one-off uses

"tqdm", # cars (fw_versions.py) on start + many one-off uses

# core

"scons",

"pycapnp==2.1.0", # 2.2 introduces a memory leak due to cyclic references

"numpy >=2.0",

# vendored native dependencies

"comma-deps-capnproto",

"comma-deps-acados",

"comma-deps-ffmpeg",

"comma-deps-zstd",

"comma-deps-zeromq",

"comma-deps-json11",

"comma-deps-git-lfs",

"comma-deps-gcc-arm-none-eabi",

# athena

"PyJWT[crypto]",

"websocket_client",

# joystickd

"inputs",

# these should be removed

"pyzmq",

"setproctitle",

"jeepney",

"zstandard", # this can go once we're on Python 3.14+

# ui

"comma-deps-raylib",

]

[project.optional-dependencies]

testing = [

"coverage", # line coverage

"ty", # type checking

"ruff", # linting

"codespell", # spellcheck

]

tools = [

"matplotlib",

"comma-deps-imgui",

"comma-deps-bootstrap-icons",

"comma-deps-libusb",

"comma-deps-ncurses",

# this can be added back once it's stripped down some more

#"metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",

]

submodules = [

"msgq-ipc",

"opendbc",

"pandacan",

"rednose",

"teleoprtc",

"tinygrad",

]

[project.urls]

Homepage = "https://github.com/commaai/openpilot"

[dependency-groups]

standalone = [

"openpilot[submodules]",

]

[build-system]

requires = ["hatchling"]

build-backend = "hatchling.build"

[tool.hatch.build.targets.wheel]

packages = [

"openpilot",

]

dev-mode-dirs = [".", "msgq_repo"]

[tool.hatch.metadata]

allow-direct-references = true

[tool.codespell]

quiet-level = 3

# if you've got a short variable name that's getting flagged, add it here

ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"

builtin = "clear,rare,informal,code,names,en-GB_to_en-US"

skip = "*.po, uv.lock, *.onnx, *.pem, */c_generated_code/*, docs/assets/*, openpilot/tools/plotjuggler/layouts/*, openpilot/selfdrive/assets/offroad/mici_fcc.html"

# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml

[tool.ruff]

indent-width = 2

lint.select = [

"E", "F", "W", "PIE", "C4", "ISC", "A", "B",

"NPY", # numpy

"UP", # pyupgrade

"ASYNC",

"B904", "B905",

"PLC0207",

"TRY203", "TRY400", "TRY401", # try/excepts

"RUF006", "RUF008", "RUF009", "RUF061", "RUF064", "RUF100", "RUF102", "RUF103", "RUF104",

"TID251",

"PLE", "PLR1704",

]

lint.ignore = [

"E741",

"E402",

"B027",

"UP007", # this doesn't play nice with raylib atm

]

line-length = 160

lint.flake8-implicit-str-concat.allow-multiline = false

[tool.ruff.lint.flake8-tidy-imports.banned-api]

"time.time".msg = "Use time.monotonic. time.time can skip due to its reference clock, you probably want a monotonic clock"

"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"

"pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"

"pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"

"pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"

"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"

[tool.ruff.format]

quote-style = "preserve"

[tool.ty.rules]

unresolved-import = "ignore" # Cython-compiled modules (.pyx)

unresolved-attribute = "ignore" # many from capnp and Cython modules

[tool.uv]

python-preference = "only-managed"

default-groups = ["standalone"]

override-dependencies = [

"opendbc", # panda pins opendbc from git for standalone use; always use our submodule

]

[tool.uv.sources]

# SCons owns the native build; an editable install would shadow it with a stale .so

msgq-ipc = { path = "msgq_repo", package = false }

opendbc = { path = "opendbc_repo", editable = true }

pandacan = { path = "panda", editable = true }

rednose = { path = "rednose_repo", editable = true }

teleoprtc = { path = "teleoprtc_repo", editable = true }

tinygrad = { path = "tinygrad_repo", editable = true }