Dashcam telemetry v0.1.0-alpha.1 for comma 3/3X and comma 4 by spanconstant5 · Pull Request #1 · spanconstant5/openpilot

spanconstant5 · 2026-07-26T01:58:40Z

Summary

Adds a read-only dashcam and telemetry platform while preserving openpilot vehicle-control behavior. The feature branch is rebased from the fork's February 2025 base onto current commaai/openpilot master because official comma four (mici) support postdates the old base.

Implemented

20 Hz segmented SQLite recorder with WAL, one-second commits, 30-minute rotation, atomic manifests, crash recovery, and schema v1
metadata-only association to existing openpilot fcamera.hevc segments; no second encode and no burned-in source HUD
shared dark HUD with device-specific geometry for comma 3/3X and comma 4
bottom-center speed, bottom-left Throttle/Brake bars, bottom-right steering scale, driver state, compact numeric RPM, footer, and assistance state
Toyota provider using only existing opendbc fields for TSS cruise and stock AEB; orange driver-override warnings
PySide6 desktop viewer with scrubbing, video segment switching, event markers, summaries, GPS trace, and telemetry-only fallback
resumable Windows ADB importer that selects completed segments, copies associated video, preserves timestamps, verifies size, and never deletes device data
synthetic sample generator and complete contributor/user documentation
tskdash release branch and v0.1.0-alpha.1 tag

Checks run

Python compileall over recorder, both HUD integrations, viewer, and importer
Ruff over all new/changed Python modules: passed
13 focused unit tests: passed (schema, rotation, recovery, manifest, association, synchronization, summaries, importer selection, and HUD providers)
synthetic three-second drive generation/load smoke test: 60 samples
PySide6 offscreen viewer construction/render smoke test: passed

Hardware validation still required

No comma 3, comma 3X, comma 4, or in-vehicle validation is claimed. Owners must verify UI geometry, daylight/night readability, thermal and write overhead, normal shutdown/recovery, 31+ minute rotation, GPS source selection, HEVC alignment at boundaries, and unchanged control behavior. The install guide contains separate comma 4 compact-layout checks.

Known limitations

ordinary stock TSS throttle/brake command magnitude is not exposed by generic CarState, so the bars show decoded driver input and confirmed Toyota stock AEB only
hybrid battery charge, EV mode, and power flow remain hidden
RPM and analog throttle/brake may be unavailable by vehicle
desktop HEVC support depends on the OS/Qt media backend
import resume uses file size rather than a checksum
no automatic telemetry cleanup policy in v1

Exact Toyota TODOs

Add a reviewed, source-tagged opendbc signal for stock longitudinal acceleration/braking magnitude across supported Toyota platforms.
Add validated hybrid battery state of charge with scaling, units, validity, and coverage.
Add EV-mode and signed hybrid power-flow fields with explicit unavailable states.
Define any additional TSS lane/PCS status that can be labeled without overstating subsystem activity.
Add route-based opendbc tests before mapping any new field into the provider.

No speculative CAN addresses were added.

Installation and testing

Development branch: feature/dashcam-telemetry-v1
Alpha tag: v0.1.0-alpha.1
Installer-facing branch: tskdash
Requested device URL after the repository is named or mirrored as spanconstant5/openpilot: installer.comma.ai/spanconstant5/tskdash
Current repository name is comma4TSKdashcam, so use the documented SSH install until it is renamed/mirrored
Windows import: tools\telemetry_importer\Import.bat
Viewer: install tools\telemetry_viewer\requirements.txt, then run tools\telemetry_viewer\ReplayViewer.bat
Synthetic test data: python -m openpilot.tools.telemetry_viewer.generate_sample sample_telemetry

See docs/INSTALL_COMMA.md for the complete hardware checklist.

* tools/setup: skip native package managers if we can * revert that

* remove CarState.brake refs Intending to deprecate this field since it's set incorrectly by most car implementations, and (essentially) unused in openpilot. Everything should be using CarState.brakePressed. See commaai/opendbc#3338. * fix test_models.py

* bump * fix

* check angle matches safety * add to fuzzy * explicit * fix tesla * just real data for now, fix toyota * clean up

bump

fix

Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>

* bitrate controller * ability to set the quality so a certain level, make message handler a switch case * distinct bitrate levels and exponential backoff of raising bitrate * add med level threshold * fix * fix * simplify * clean

* modeld leak * rm

* deep pre-req * modeld changes * fix parsing * comment * fix reporter

* Revert "modeld: fix capnp memory leak (commaai#38117)" This reverts commit 0f17a98. * Revert "fix memory leak from pycapnp 2.2+ (commaai#38001)" This reverts commit 294cb68. * downgrade * agnos 18.4

initialize on medium quality

* add vw meb exception * comment

* modeld: RL driving model with 3-file split Split the driving model into vision + off_policy + on_policy ONNX files and wire up the RL policy: - 3-file model split (vision / off_policy / on_policy), replacing the combined big_driving_policy/vision models - compiler updates for the split models - actually consume the policy action in modeld - add desire state to the driving model - model iterations (smoothness, off/on-policy weight updates) * modeld: update driving model * 1e72cf5a-785f-45ea-888f-28cdb14785de/100 * tinygrad hack * fix parsing * looser timing * big * Remove unnecessary modeld rebase changes * Tighten modeld split cleanup --------- Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Armandpl <adpl33@gmail.com>

…ized Kalman filter time (commaai#38124) * locationd: require finite filter time for valid livePose * cast to bool and rename

cap cpu core frequency

* Higher min vego * Use CV * Bump speed in simulated tests

usbgpu: pin modeld to core 7

* undeprecate curvature * use pid_log * bump * fix test * bump * bump * fix * tune saturation * bump * fix torque bar * bump * rm redundant * reduce sesitivity * pid * bump * reset opendbc * preserve sorting * bump opendbc

* trigger dm * rename * ci * opendbc bump

id4 release

op.sh: don't eval CMD, run argv directly so special chars work Previously op_run_command joined "$@" into a single string and eval'd it, which broke on inputs containing shell metacharacters. For example, 'op esim --download "LPA:1$[rsp.truphone.com]($url)$QRF-SPEEDTEST" name' would fail with a syntax error on the unquoted parens. Run "$@" instead and only use $* for the printed display string. Also quote the unquoted $@ in the other op_run_command callers.

rm tizi sounds

* tools: decompress in the python downloader * and zstd

show big model loading as permanent alert

* webrtc timeout after 5 mins * omit timeout for body

* bump version * update AGNOS 18.7 * update to production

* remove test_models * rm that * update test_models docs * restore car model test tool * leave dependencies unchanged

bump

Revert "bump teleoprtc (commaai#38443)" This reverts commit 171f271.

flip eye

bump

This reverts commit 2895346.

* lint: check indentation * cleanup * happy * that was too much * happy

github-actions · 2026-07-26T02:27:10Z

Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

✅ 0 changed, 66 passed, 0 errors

adeebshihadeh and others added 30 commits May 30, 2026 13:06

tools/setup: skip native package managers if we can (commaai#38112)

609a5c3

* tools/setup: skip native package managers if we can * revert that

fix up comment

9f3448f

bump opendbc (commaai#38113)

517b9a2

bump opendbc (commaai#38115)

5bbcc32

* bump * fix

test models: check angle matches safety (commaai#38110)

965f47e

* check angle matches safety * add to fuzzy * explicit * fix tesla * just real data for now, fix toyota * clean up

Nissan: fix steering wheel offset in some cases (commaai#38116)

bc2b0d8

bump

modeld formatting

ce08f52

mici ui: recover from updater failed (commaai#37427)

c76f481

fix

[bot] Update Python packages (commaai#38122)

bd148ab

Update Python packages Co-authored-by: Vehicle Researcher <user@comma.ai>

webrtc: livestream bitrate controller (commaai#38120)

04e2351

* bitrate controller * ability to set the quality so a certain level, make message handler a switch case * distinct bitrate levels and exponential backoff of raising bitrate * add med level threshold * fix * fix * simplify * clean

modeld: fix capnp memory leak (commaai#38117)

0f17a98

* modeld leak * rm

Prereqs deep models (commaai#38125)

249cafe

* deep pre-req * modeld changes * fix parsing * comment * fix reporter

agnos 18.4: pin pycapnp to 2.1.0 (commaai#38126)

c87f613

* Revert "modeld: fix capnp memory leak (commaai#38117)" This reverts commit 0f17a98. * Revert "fix memory leak from pycapnp 2.2+ (commaai#38001)" This reverts commit 294cb68. * downgrade * agnos 18.4

Frame drop: only allow 1percent (commaai#38127)

69e2c32

Refactor compile_modeld model setup (commaai#38128)

d09a411

webrtc: initialize on medium bitrate (commaai#38129)

866cd01

initialize on medium quality

test models: add VW MEB angle exception (commaai#38119)

5b3d5f7

* add vw meb exception * comment

A valid livePose should not carry a timestamp produced from uninitial…

0945917

…ized Kalman filter time (commaai#38124) * locationd: require finite filter time for valid livePose * cast to bool and rename

set max cpu core frequency (commaai#38132)

c01b8be

cap cpu core frequency

lagd: higher min speed (commaai#38133)

900a896

* Higher min vego * Use CV * Bump speed in simulated tests

usbgpu: pin modeld (commaai#38123)

268126f

usbgpu: pin modeld to core 7

Add latcontrol for curvature (commaai#38141)

14a00e0

* undeprecate curvature * use pid_log * bump * fix test * bump * bump * fix * tune saturation * bump * fix torque bar * bump * rm redundant * reduce sesitivity * pid * bump * reset opendbc * preserve sorting * bump opendbc

cabana: fix "seperated" typo in findsignal placeholders (commaai#38142)

bfd8d48

Add driverMonitoringEscalation for stock DM trigger (commaai#38143)

cc110d1

* trigger dm * rename * ci * opendbc bump

rm unused updated test

b0600a4

bump opendbc - ID.4 release (commaai#38150)

ef3ec30

id4 release

modeld test: 1ms extra buffer

7abe020

elkoled and others added 29 commits July 23, 2026 09:57

new sounds for 3x (commaai#38404)

3601b85

rm tizi sounds

tools: decompress in the python downloader (commaai#38430)

6b47a5b

* tools: decompress in the python downloader * and zstd

rm private reporter comment (commaai#38431)

e04fd3c

big release

ddf782f

big model loading permanent alert (commaai#38436)

b392328

show big model loading as permanent alert

webrtcd: timeout after 5 minutes (commaai#38437)

554d8d2

* webrtc timeout after 5 mins * omit timeout for body

AGNOS 18.7 (commaai#38416)

ab7284f

* bump version * update AGNOS 18.7 * update to production

should_stop: use shared helper (commaai#38438)

9c21b92

modeld: remove tinygrad probe on build (commaai#38439)

4d4d680

release: include nested packages in PYTHONPATH (commaai#38442)

9c312e9

test_models moved to opendbc (commaai#38441)

1a753ad

* remove test_models * rm that * update test_models docs * restore car model test tool * leave dependencies unchanged

bump teleoprtc (commaai#38443)

171f271

bump

Revert "bump teleoprtc" (commaai#38444)

71e2958

Revert "bump teleoprtc (commaai#38443)" This reverts commit 171f271.

ui(body): flip eye direction (commaai#38445)

0fdfaf7

flip eye

bump teleoprtc (commaai#38446)

ee6f374

bump

Revert "Rebel Legion model (commaai#38164)" (commaai#38449)

9225dac

This reverts commit 2895346.

op: merge setup and install (commaai#38450)

c37855d

lint: check indentation (commaai#38454)

27122bb

* lint: check indentation * cleanup * happy * that was too much * happy

docs: plan dashcam telemetry architecture

5545af3

system: add segmented SQLite telemetry recorder

fbfe36a

ui: add dashcam HUD for comma 3 and 4

b97ce4c

system: complete telemetry and video association

324c266

tools: add synchronized telemetry replay viewer

308e1e0

tools: add resumable Windows ADB importer

90edfe3

docs: prepare dashcam telemetry alpha release

ccd72bb

tests: cover generic and Toyota HUD signals

1259254

docs: clarify TSK testing and repository ownership

b47dd4b

docs: add alpha warning and comma install link

b84d02a

docs: enable short comma install entry

2fe3c56

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Dashcam telemetry v0.1.0-alpha.1 for comma 3/3X and comma 4 - #1

Dashcam telemetry v0.1.0-alpha.1 for comma 3/3X and comma 4#1
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feature/dashcam-telemetry-v1

spanconstant5 commented Jul 26, 2026

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spanconstant5 commented Jul 26, 2026

Summary

Implemented

Checks run

Hardware validation still required

Known limitations

Exact Toyota TODOs

Installation and testing

Uh oh!

github-actions Bot commented Jul 26, 2026

Process replay diff report

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