pyproject.toml

[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"}
]

dependencies = [
  # multiple users
  "sounddevice",  # micd + soundd
  "requests",     # many one-off uses
  "tqdm",         # cars (fw_versions.py) on start + many one-off uses

  # core
  "cffi",
  "scons",
  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
  "Cython",
  "setuptools",
  "numpy >=2.0",

  # vendored native dependencies
  "comma-deps-bzip2",
  "comma-deps-bootstrap-icons",
  "comma-deps-capnproto",
  "comma-deps-catch2",
  "comma-deps-acados",
  "comma-deps-ffmpeg",
  "comma-deps-zstd",
  "comma-deps-ncurses",
  "comma-deps-zeromq",
  "comma-deps-libusb",
  "comma-deps-json11",
  "comma-deps-git-lfs",
  "comma-deps-gcc-arm-none-eabi",

  # body / webrtcd
  "av",
  "aiortc",

  # logging
  "pyzmq",
  "sentry-sdk",
  "xattr",  # used in place of 'os.getxattr' for macOS compatibility

  # athena
  "PyJWT",
  "websocket_client",

  # joystickd
  "inputs",

  # these should be removed
  "setproctitle",

  # logreader
  "zstandard",

  # ui
  "comma-deps-raylib",
  "qrcode",
  "jeepney",
  "pillow",
]

[project.optional-dependencies]
docs = [
  "Jinja2",
  "zensical",
]

testing = [
  "coverage",
  "hypothesis ==6.47.*",
  "ty",
  "pytest",
  "pytest-cpp",
  "pytest-subtests",
  # https://github.com/pytest-dev/pytest-xdist/pull/1229
  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
  "pytest-mock",
  "ruff",
  "codespell",
  "pre-commit-hooks",
]

dev = [
  "matplotlib",
]

tools = [
  "comma-deps-imgui",

  # 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')",
]

[project.urls]
Homepage = "https://github.com/commaai/openpilot"

[dependency-groups]
submodules = [
  "msgq",
  "opendbc",
  "pandacan",
  "rednose",
  "teleoprtc",
  "tinygrad",
]

[build-system]
requires = ["hatchling"]
build-backend = "hatchling.build"

[tool.hatch.build.targets.wheel]
packages = [
  "openpilot",
]

[tool.hatch.metadata]
allow-direct-references = true

[tool.pytest.ini_options]
minversion = "6.0"
addopts = "-Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
cpp_files = "test_*"
cpp_harness = "openpilot/selfdrive/test/cpp_harness.py"
python_files = "test_*.py"
markers = [
  "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
  "tici: tests that are only meant to run on the C3/C3X",
  "skip_tici_setup: mark test to skip tici setup fixture",
  "nocapture: don't capture test output",
  "shared_download_cache: share download cache between tests",
  "xdist_group_class_property: group tests by a property of the class that contains them",
]
testpaths = [
  "openpilot",
]

[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
  "TRY203", "TRY400", "TRY401", # try/excepts
  "RUF008", "RUF100",
  "TID251",
  "PLE", "PLR1704",
]
lint.ignore = [
  "E741",
  "E402",
  "C408",
  "ISC003",
  "B027",
  "B024",
  "NPY002",  # new numpy random syntax is worse
  "UP045", "UP007",  # these don't play nice with raylib atm
]
line-length = 160
exclude = [
  "openpilot/cereal",
  "*.ipynb",
  "generated",
]
lint.flake8-implicit-str-concat.allow-multiline = false

[tool.ruff.lint.flake8-tidy-imports.banned-api]
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
"unittest".msg = "Use pytest"
"time.time".msg = "Use time.monotonic"

# raylib banned APIs
"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
invalid-method-override = "ignore"  # signature variance issues
possibly-missing-attribute = "ignore"  # too many false positives
invalid-assignment = "ignore"  # often intentional monkey-patching
no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
call-non-callable = "ignore"  # false positives from dynamic types
unsupported-operator = "ignore" # false positives from dynamic types
not-subscriptable = "ignore" # false positives from dynamic types

[tool.uv]
python-preference = "only-managed"
default-groups = ["submodules"]
override-dependencies = [
  "opendbc",  # panda pins opendbc from git for standalone use; always use our submodule
  "av",       # teleoprtc's av<13 pin is stale
]

[tool.uv.sources]
msgq = { path = "msgq_repo", editable = true }
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 }