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‎.github/ISSUE_TEMPLATE/car_bug_report.yml‎

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name: Car bug report
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description: For issues with a particular car make or model
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labels: ["car", "bug"]
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body:
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- type: markdown
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attributes:
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value: >
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Before creating a **car bug report**, please check the following:
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* If the issue likely isn't specific to your car model or make, go back and open an **openpilot bug report** instead.
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* If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
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* If you are fingerprinting your car, refer to the [fingerprinting guide](https://github.com/commaai/openpilot/wiki/Fingerprinting) or visit the [community Discord server](https://discord.comma.ai) to request help.
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* If you are inquiring about future car support, check the [community Discord server](https://discord.comma.ai) for progress on your vehicle and help contribute. Issues simply requesting support for new vehicles will be closed.
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* Ensure you're running the latest openpilot release.
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* Ensure you're using officially supported hardware.
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* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
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* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
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If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
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- type: textarea
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attributes:
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label: Describe the car bug
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description: Also include a description of how to reproduce the bug
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validations:
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required: true
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- type: input
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id: route
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attributes:
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label: Provide a route where the issue occurs
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description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
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placeholder: 77611a1fac303767|2020-05-11--16-37-07
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validations:
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required: true
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- type: input
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id: version
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attributes:
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label: openpilot version
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description: If you're not on release, provide the commit hash
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placeholder: 0.8.10
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validations:
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required: true
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- type: textarea
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attributes:
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label: Additional info
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‎.github/ISSUE_TEMPLATE/config.yml‎

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blank_issues_enabled: false
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contact_links:
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- name: openpilot bug report
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url: https://github.com/commaai/openpilot/issues/new
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about: For issues not limited to a particular car make or model, e.g. driving model performance or issues with your comma device.
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- name: Join the Discord
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url: https://discord.comma.ai
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about: The community Discord is for both car port development and experience discussion
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- name: Report driving behavior feedback
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url: https://discord.com/channels/469524606043160576/1254834193066623017
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about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
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- name: Community Wiki
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url: https://github.com/commaai/openpilot/wiki
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about: Check out our community wiki

‎.github/workflows/car_diff.yml‎

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name: car diff
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on:
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pull_request_target:
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types: [opened, synchronize, reopened]
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jobs:
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comment:
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name: comment
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runs-on: ubuntu-latest
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timeout-minutes: 10
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continue-on-error: true
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permissions:
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contents: read
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pull-requests: write
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actions: read
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steps:
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- name: Wait for car diff
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uses: lewagon/wait-on-check-action@v1.3.4
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with:
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ref: ${{ github.event.pull_request.head.sha }}
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check-name: car diff
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repo-token: ${{ secrets.GITHUB_TOKEN }}
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allowed-conclusions: success
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wait-interval: 20
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- name: Download car diff
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uses: dawidd6/action-download-artifact@v6
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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workflow: tests.yml
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workflow_conclusion: ''
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pr: ${{ github.event.number }}
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name: car_diff_${{ github.event.number }}
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path: .
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allow_forks: true
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- name: Comment car diff on PR
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uses: thollander/actions-comment-pull-request@v2
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with:
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filePath: diff.txt
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comment_tag: car_diff
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pr_number: ${{ github.event.number }}
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

‎.github/workflows/tests.yml‎

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safety_tests:
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name: safety
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runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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strategy:
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fail-fast: false
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matrix:
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flags: ['--ubsan']
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steps:
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- uses: commaai/timeout@v1
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with:
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timeout: ${{ github.repository == 'commaai/opendbc' && '60' || '999' }}
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- uses: actions/checkout@v4
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- uses: ./.github/workflows/cache
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- name: Run safety tests
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run: ./opendbc/safety/tests/test.sh ${{ matrix.flags }}
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run: ./opendbc/safety/tests/test.sh
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mutation:
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name: Safety mutation tests
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runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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runs-on: ${{ matrix.os }}
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timeout-minutes: 45
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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- os: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
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env:
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GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
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steps:
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scons -j8
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cd opendbc/safety/tests && ./mutation.sh
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car_diff:
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name: car diff
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runs-on: ${{ github.repository == 'commaai/opendbc' && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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env:
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GIT_REF: ${{ github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && github.event.before || format('origin/{0}', github.event.repository.default_branch) }}
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steps:
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- uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- uses: ./.github/workflows/cache
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- name: Build opendbc
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run: |
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source setup.sh
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scons -j8
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- name: Test car diff
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if: github.event_name == 'pull_request'
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run: source setup.sh && python opendbc/car/tests/car_diff.py | tee diff.txt
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- name: Upload diff
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if: always() && github.event_name == 'pull_request'
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uses: actions/upload-artifact@v4
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with:
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name: car_diff_${{ github.event.number }}
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path: diff.txt
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- name: Update refs
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if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
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run: source setup.sh && python opendbc/car/tests/car_diff.py --update-refs
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- name: Checkout ci-artifacts
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if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
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uses: actions/checkout@v4
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with:
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repository: commaai/ci-artifacts
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ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
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path: ${{ github.workspace }}/ci-artifacts
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- name: Push refs
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if: github.repository == 'commaai/opendbc' && github.ref == 'refs/heads/master'
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working-directory: ${{ github.workspace }}/ci-artifacts
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run: |
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ls ${{ github.workspace }}/car_diff/*.zst 2>/dev/null || exit 0
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git config user.name "GitHub Actions Bot"
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git config user.email "<>"
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git fetch origin car_diff || true
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git checkout car_diff 2>/dev/null || git checkout --orphan car_diff
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cp ${{ github.workspace }}/car_diff/*.zst .
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git add *.zst
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git commit -m "car_diff refs for ${{ github.sha }}" || echo "No changes to commit"
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git push origin car_diff
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# TODO: this needs to move to opendbc
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test_models:
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name: test models
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env:
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BASE_IMAGE: openpilot-base
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BUILD: selfdrive/test/docker_build.sh base
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RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
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RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=default -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
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PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
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steps:
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- uses: actions/checkout@v4

‎.github/workflows/update-cppcheck.yml‎

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- name: Get latest cppcheck version
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id: version
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run: |
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LATEST=$(curl -fsSL https://api.github.com/repos/danmar/cppcheck/releases/latest | jq -r .tag_name)
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# Tags are sorted by time (newest first), so get the first version-like tag
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LATEST=$(curl -fsSL "https://api.github.com/repos/danmar/cppcheck/tags?per_page=20" | \
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jq -r '.[].name' | \
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grep -E '^[0-9]+\.[0-9]+(\.[0-9]+)?$' | \
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head -n 1)
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echo "vers=$LATEST" >> "$GITHUB_OUTPUT"
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- name: Update VERS in install.sh
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run: |

‎.github/workflows/update-uv-lock.yml‎

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name: Update uv.lock
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on:
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schedule:
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- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
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workflow_dispatch:
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jobs:
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update-uv-lock:
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runs-on: ubuntu-latest
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permissions:
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contents: write
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pull-requests: write
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steps:
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- uses: actions/checkout@v4
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- uses: astral-sh/setup-uv@v5
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- name: Update uv.lock
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run: uv lock --upgrade
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- name: Create Pull Request
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uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
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with:
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author: Vehicle Researcher <user@comma.ai>
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token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
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commit-message: "[bot] Update uv.lock"
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title: "[bot] Update uv.lock"
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body: "Weekly update of uv.lock dependencies"
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branch: "update-uv-lock"
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base: "master"
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delete-branch: true
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labels: bot

‎.gitignore‎

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.cache/
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/build/
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.mypy_cache/
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*.pyc
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*.os
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*.o
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*.gcno
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*.dump
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*.gcov
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uv.lock
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/dist/
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.vscode/
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__pycache__/
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opendbc/safety/tests/coverage-out
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compile_commands.json
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.mull/

‎README.md‎

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* a [mutation test](opendbc/safety/tests/misra/test_mutation.py) on the MISRA coverage
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* 100% line coverage enforced on the safety unit tests
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In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on the car interface library.
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In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [ty](https://github.com/astral-sh/ty) on the car interface library.
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### Bounties
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‎SConstruct‎

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default=True,
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help='the minimum build. no tests, tools, etc.')
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AddOption('--ubsan',
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action='store_true',
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help='turn on UBSan')
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SConscript(['SConscript'])

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