Merge remote-tracking branch 'upstream/master' into zstd-uploader

pyproject.toml

@@ -67,6 +67,7 @@ dependencies = [
 [project.optional-dependencies]
 docs = [
   "Jinja2",
+  "natsort",
   "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
   "mkdocs-terminal",
   "mkdocs-plugin-commonmark",
@@ -95,7 +96,6 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "breathe",
   "control",
   "dictdiffer",
   "flaky",
@@ -103,12 +103,8 @@ dev = [
   "lru-dict",
   "matplotlib",
   "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
-  "mpld3",
-  "myst-parser",
-  "natsort",
-  "opencv-python-headless",
   "parameterized >=0.8, <0.9",
-  #pprofile = "*"
+  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -122,7 +118,6 @@ dev = [
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
-
 ]
 
 [project.urls]

selfdrive/debug/run_process_on_route.py

@@ -3,8 +3,7 @@
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",

selfdrive/test/process_replay/model_replay.py

@@ -10,8 +10,7 @@ from openpilot.tools.lib.openpilotci import BASE_URL, get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6

selfdrive/test/process_replay/regen.py

@@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FR
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
-from openpilot.tools.lib.logreader import LogReader, LogIterable
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 
 
 class DummyFrameReader(BaseFrameReader):

selfdrive/test/process_replay/test_processes.py

@@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, f
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_openpilot_enabled, check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY

tools/latencylogger/latency_logger.py

@@ -3,7 +3,6 @@ import argparse
 import json
 import matplotlib.patches as mpatches
 import matplotlib.pyplot as plt
-import mpld3
 import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
@@ -174,7 +173,6 @@ def print_timestamps(timestamps, durations, start_times, relative):
         print("    "+'%-53s%-53s' %(event, str(time*1000)))
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
-  # mpld3 doesn't convert properly to D3 font sizes
   plt.rcParams.update({'font.size': 18})
 
   t0 = find_t0(start_times)
@@ -203,15 +201,14 @@ def graph_timestamps(timestamps, start_times, end_times, relative, offset_servic
           points['labels'].append(event[0])
     ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
 
-  scatter = ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
-  tooltip = mpld3.plugins.PointLabelTooltip(scatter, labels=points['labels'])
-  mpld3.plugins.connect(fig, tooltip)
+  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
+  for i, label in enumerate(points['labels']):
+    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
 
   plt.title(title)
-  # Set size relative window size is not trivial: https://github.com/mpld3/mpld3/issues/65
   fig.set_size_inches(18, 9)
   plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
-  return fig
+  plt.show()
 
 def get_timestamps(lr):
   lr = list(lr)
@@ -239,4 +236,4 @@ if __name__ == "__main__":
   data, _ = get_timestamps(lr)
   print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
   if args.plot:
-    mpld3.show(graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r))
+    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)

tools/lib/helpers.py

@@ -1,7 +1,3 @@
-import bz2
-import zstd
-
-
 # regex patterns
 class RE:
   DONGLE_ID = r'(?P<dongle_id>[a-f0-9]{16})'
@@ -19,15 +15,3 @@ class RE:
 
   EXPLORER_FILE = fr'^(?P<segment_name>{SEGMENT_NAME})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'
   OP_SEGMENT_DIR = fr'^(?P<segment_name>{SEGMENT_NAME})$'
-
-
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress and dest.endswith(".bz2"):
-    dat = bz2.compress(dat)
-  elif compress and dest.endswith(".zst"):
-    dat = zstd.compress(dat, 10)
-
-  with open(dest, "wb") as f:
-    f.write(dat)

tools/lib/logreader.py

@@ -27,6 +27,18 @@ LogIterable = Iterable[LogMessage]
 RawLogIterable = Iterable[bytes]
 
 
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress and dest.endswith(".bz2"):
+    dat = bz2.compress(dat)
+  elif compress and dest.endswith(".zst"):
+    dat = zstd.compress(dat, 10)
+
+  with open(dest, "wb") as f:
+    f.write(dat)
+
+
 class _LogFileReader:
   def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None

tools/op.sh

@@ -6,7 +6,7 @@ UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
-function op_first_install() {
+function op_install() {
   (set -e
 
   echo "Installing op system-wide..."
@@ -30,16 +30,22 @@ function op_run_command() {
 
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
-function op_check_openpilot_dir() {
-  echo "Checking for openpilot directory..."
+function op_get_openpilot_dir() {
   while [[ "$OPENPILOT_ROOT" != '/' ]];
   do
     if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
-      echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
       return 0
     fi
     OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
   done
+}
+
+function op_check_openpilot_dir() {
+  echo "Checking for openpilot directory..."
+  if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
+    return 0
+  fi
 
   echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
   echo "       inside the openpilot directory or specify one with the"
@@ -52,28 +58,28 @@ function op_check_git() {
 
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n"
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git found."
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then
-    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n"
-    return 1
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n"
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
+    return 1
   fi
 
   echo "Checking for git submodules..."
   for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
-      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n"
+      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1
     fi
   done
-  echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
 
   )
 }
@@ -88,22 +94,22 @@ function op_check_os() {
       source /etc/os-release
       case "$VERSION_CODENAME" in
         "jammy" | "kinetic" | "noble" | "focal")
-          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
+          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected."
           ;;
         * )
-          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n"
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
           return 1
           ;;
       esac
     else
-      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n"
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
       return 1
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
   else
-    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n"
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
   fi
 
@@ -118,12 +124,12 @@ function op_check_python() {
   INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
 
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   fi
 
@@ -133,9 +139,9 @@ function op_check_python() {
 function op_check_venv() {
   echo "Checking for venv..."
   if source $OPENPILOT_ROOT/.venv/bin/activate; then
-    echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] venv detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n"
+    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
   fi
 }
 
@@ -144,20 +150,32 @@ function op_before_cmd() {
     return 0
   fi
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
-  op_check_git
-  op_check_os
-  op_check_venv
-  op_check_python
-  echo -e "-----------------------------\n"
+
+  result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
+
+  op_activate_venv
+
+  result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
+
+  if [[ -z $VERBOSE ]]; then
+    echo -e "Checking system → [${GREEN}✔${NC}] system is good."
+  else
+    echo -e "$result"
+  fi
 }
 
-function op_install() {
+function op_setup() {
   (set -e
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
+
+  op_check_openpilot_dir
   op_check_os
   op_check_python
 
@@ -182,6 +200,10 @@ function op_install() {
   )
 }
 
+function op_activate_venv() {
+  source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
+}
+
 function op_venv() {
   ( set -e
 
@@ -191,7 +213,7 @@ function op_venv() {
 
   if [[ "$?" -eq 0 ]]; then
     # this must be run in the same shell as the user calling "op"
-    op_check_openpilot_dir > /dev/null
+    op_get_openpilot_dir
     op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
   fi
 }
@@ -199,16 +221,9 @@ function op_venv() {
 function op_check() {
   (set -e
 
+  VERBOSE=1
   op_before_cmd
-
-  )
-}
-
-function op_run() {
-  (set -e
-
-  op_before_cmd
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@
+  unset VERBOSE
 
   )
 }
@@ -226,12 +241,12 @@ function op_juggle() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+  op_run_command tools/plotjuggler/juggle.py $@
 
   )
 }
 
-function op_linter() {
+function op_lint() {
   (set -e
 
   op_before_cmd
@@ -244,7 +259,7 @@ function op_replay() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
+  op_run_command tools/replay/replay $@
 
   )
 }
@@ -253,7 +268,7 @@ function op_cabana() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@
+  op_run_command tools/cabana/cabana $@
 
   )
 }
@@ -262,8 +277,8 @@ function op_sim() {
   (set -e
 
   op_before_cmd
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py &
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh
+  op_run_command exec tools/sim/run_bridge.py &
+  op_run_command exec tools/sim/launch_openpilot.sh
 
   )
 }
@@ -273,7 +288,7 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Description:${NC}"
   echo "  op is your entry point for all things related to openpilot development."
-  echo "  op is only a wrapper for scripts, tools  and commands already existing."
+  echo "  op is only a wrapper for existing scripts, tools, and commands."
   echo "  op will always show you what it will run on your system."
   echo ""
   echo "  op will try to find your openpilot directory in the following order:"
@@ -284,26 +299,27 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}       Activate the virtual environment"
-  echo -e "  ${BOLD}check${NC}      Check system requirements (git, os, python) to start using openpilot"
-  echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
+  echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
+  echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}    Build openpilot"
-  echo -e "  ${BOLD}run${NC}        Run openpilot"
   echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
-  echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
   echo -e "  ${BOLD}help${NC}     Show this message"
-  echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
+  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
   echo "          Specify the openpilot directory you want to use"
   echo -e "  ${BOLD}--dry${NC}"
-  echo "          Don't actually run anything, just print what would be"
+  echo "          Don't actually run anything, just print what would be run"
   echo -e "  ${BOLD}-n, --no-verify${NC}"
-  echo "          Don't run checks before running a command"
+  echo "          Skip environment check before running commands"
+  echo -e "  ${BOLD}-v, --verbose${NC}"
+  echo "          Show the result of all checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
@@ -325,21 +341,21 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
+    -v | --verbose ) shift 1; VERBOSE="1" ;;
   esac
 
   # parse Commands
   case $1 in
     venv )      shift 1; op_venv "$@" ;;
     check )     shift 1; op_check "$@" ;;
-    install )   shift 1; op_install "$@" ;;
+    setup )     shift 1; op_setup "$@" ;;
     build )     shift 1; op_build "$@" ;;
-    run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
     cabana )    shift 1; op_cabana "$@" ;;
-    linter )    shift 1; op_linter "$@" ;;
+    lint )      shift 1; op_lint "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
-    --install ) shift 1; op_first_install "$@" ;;
+    install )   shift 1; op_install "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
@@ -349,24 +365,31 @@ _op $@
 # remove from env
 unset -f _op
 unset -f op_check
-unset -f op_install
+unset -f op_setup
 unset -f op_build
-unset -f op_run
 unset -f op_juggle
 unset -f op_venv
 unset -f op_check_openpilot_dir
 unset -f op_check_git
 unset -f op_check_python
 unset -f op_check_os
-unset -f op_first_install
+unset -f op_install
 unset -f op_default
 unset -f op_run_command
-unset -f op_linter
+unset -f op_lint
 unset -f op_replay
 unset -f op_cabana
 unset -f op_check_venv
 unset -f op_before_cmd
 unset -f op_sim
+unset -f op_activate_venv
+unset -f op_get_openpilot_dir
 unset DRY
+unset NC
+unset RED
+unset GREEN
+unset UNDERLINE
+unset BOLD
 unset OPENPILOT_ROOT
 unset NO_VERIFY
+unset VERBOSE

tools/plotjuggler/juggle.py

@@ -12,8 +12,7 @@ from functools import partial
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 

tools/setup.sh

@@ -31,7 +31,7 @@ function check_git() {
 
 function git_clone() {
   echo "Cloning openpilot..."
-  if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
+  if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
     if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
       echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
       return 0
@@ -44,8 +44,8 @@ function git_clone() {
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/tools/op.sh --install
   $OPENPILOT_ROOT/tools/op.sh install
+  $OPENPILOT_ROOT/tools/op.sh setup
 
   # make op usable right now
   alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""

tools/webcam/camera.py

@@ -1,3 +1,4 @@
+# TODO: remove the cv2 dependency, it's only used here
 import cv2 as cv
 import numpy as np
 

uv.lock

@@ -96,15 +96,6 @@ wheels = [
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