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
  "pyserial",     # pigeond + qcomgpsd
  "requests",     # many one-off uses
  "sympy",        # rednose + friends
  "crcmod-plus",  # cars + qcomgpsd
  "tqdm",         # cars (fw_versions.py) on start + many one-off uses

  # core
  "cffi",
  "scons",
  "pycapnp==2.1.0",
  "Cython",
  "setuptools",
  "numpy >=2.0",

  # body / webrtcd
  "aiohttp",
  "aiortc",
  # aiortc does not put an upper bound on pyopenssl and is now incompatible
  # with the latest release
  "pyopenssl < 24.3.0",
  "pyaudio",

  # panda
  "libusb1",
  "spidev; platform_system == 'Linux'",

  # modeld
  "onnx >= 1.14.0",

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

  # athena
  "PyJWT",
  "json-rpc",
  "websocket_client",

  # acados deps
  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6

  # joystickd
  "inputs",

  # these should be removed
  "psutil",
  "pycryptodome", # used in updated/casync, panda, body, and a test
  "setproctitle",

  # logreader
  "zstandard",

  # ui
  "raylib > 5.5.0.3",
  "qrcode",
  "mapbox-earcut",
  "jeepney",
]

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

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-timeout",
  "pytest-asyncio",
  "pytest-mock",
  "ruff",
  "codespell",
  "pre-commit-hooks",
]

dev = [
  "av",
  "dictdiffer",
  "matplotlib",
  "opencv-python-headless",
  "parameterized >=0.8, <0.9",
  "pyautogui",
  "pywinctl",
]

tools = [
  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
]

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

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

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

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

[tool.pytest.ini_options]
minversion = "6.0"
addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
cpp_files = "test_*"
cpp_harness = "selfdrive/test/cpp_harness.py"
python_files = "test_*.py"
asyncio_default_fixture_loop_scope = "function"
#timeout = "30"  # you get this long by default
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"
]
testpaths = [
  "common",
  "selfdrive",
  "system",
  "tools",
  "cereal",
]

[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"
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, 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
target-version ="py311"
exclude = [
  "body",
  "cereal",
  "panda",
  "opendbc",
  "opendbc_repo",
  "rednose_repo",
  "tinygrad_repo",
  "teleoprtc",
  "teleoprtc_repo",
  "third_party",
  "*.ipynb",
  "generated",
]
lint.flake8-implicit-str-concat.allow-multiline = false

[tool.ruff.lint.flake8-tidy-imports.banned-api]
"selfdrive".msg = "Use openpilot.selfdrive"
"common".msg = "Use openpilot.common"
"system".msg = "Use openpilot.system"
"third_party".msg = "Use openpilot.third_party"
"tools".msg = "Use openpilot.tools"
"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"

[tool.ruff.format]
quote-style = "preserve"

[tool.ty.src]
exclude = [
  "cereal/",
  "msgq/",
  "msgq_repo/",
  "opendbc/",
  "opendbc_repo/",
  "panda/",
  "rednose/",
  "rednose_repo/",
  "tinygrad/",
  "tinygrad_repo/",
  "teleoprtc/",
  "teleoprtc_repo/",
  "third_party/",
]

[tool.ty.rules]
# Ignore unresolved imports for Cython-compiled modules (.pyx)
unresolved-import = "ignore"
# Ignore unresolved attributes - many from capnp and Cython modules
unresolved-attribute = "ignore"
# Ignore invalid method overrides - signature variance issues
invalid-method-override = "ignore"
# Ignore possibly-missing-attribute - too many false positives
possibly-missing-attribute = "ignore"
# Ignore invalid assignment - often intentional monkey-patching
invalid-assignment = "ignore"
# Ignore no-matching-overload - numpy/ctypes overload matching issues
no-matching-overload = "ignore"
# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
invalid-argument-type = "ignore"
# Ignore call-non-callable - false positives from dynamic types
call-non-callable = "ignore"
# Ignore unsupported-operator - false positives from dynamic types
unsupported-operator = "ignore"
# Ignore not-subscriptable - false positives from dynamic types
not-subscriptable = "ignore"
# not-iterable errors are now fixed