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Scan timing: clone 3.4s · analysis 15.36s · 5.4 MB · GitHub API rate-limit (preflight)

commaai/openpilot

https://github.com/commaai/openpilot · scanned 2026-06-05 09:30 UTC (5 days, 17 hours ago) · 10 languages

531 raw signals (231 security + 300 graph) 57th percentile · Python · medium (20-100K LoC) System graph score 77 (lower by 9)

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UNIFIED Repobility · multi-layer engine · AI coders

Complete repo analysis

Last scanned 5 days, 17 hours ago · v2 · 210 actionable findings from 2 signal sources. 169 repeated signals grouped for readability. Security checks, system graph analysis, and verified AI-agent feedback are merged into one review queue.

JSON
Combined
67.4
/100
Security checks
58
97 findings
System graph
77
100.0% cov · 113 findings
Critical
5
click to filter
Agents
6
0 votes
Crowd
0
reported
Score breakdown â 2026-05-18-v5
Component Sub-score Weight Contribution
structure_score 60.0 0.15 9.00
security_score 45.7 0.25 11.43
testing_score 98.0 0.20 19.60
documentation_score 63.0 0.15 9.45
practices_score 84.0 0.15 12.60
code_quality 55.9 0.10 5.59
Overall 1.00 67.7
Severity distribution — click a segment to filter
Active filters: excluding tests × Reset all
Severity: Critical 5 High 16 Medium 31 Low 91 9-Layer: Software Security Quality Integrity Frontend Hardware Data Network Cicd Source: Security checks 97 System graph 113 Crowd 0 Layer: Quality 113 Security 20 Software 66 Cicd 8 Api 1 Frontend 2

All 5256 nodes from the latest scan, grouped by kind. Each node is a unit the engine identified (file, function, endpoint, table…). Most users won't need this view — it's primarily for debugging the engine's graph extraction or for AI agents that want to enumerate the project structure.

LabelLayerStatusPath
pytest_runtest_call software healthy conftest.py:21
clean_env software healthy conftest.py:32
openpilot_function_fixture software healthy conftest.py:40
openpilot_class_fixture software healthy conftest.py:62
tici_setup_fixture software healthy conftest.py:68
pytest_collection_modifyitems software healthy conftest.py:78
dmonitoringd_thread software healthy selfdrive/monitoring/dmonitoringd.py:8
main software healthy selfdrive/monitoring/dmonitoringd.py:46
make_msg software healthy selfdrive/monitoring/test_monitoring.py:16
_run_seq software healthy selfdrive/monitoring/test_monitoring.py:52
test_fully_aware_driver software healthy selfdrive/monitoring/test_monitoring.py:67
test_fully_distracted_driver software healthy selfdrive/monitoring/test_monitoring.py:73
test_fully_invisible_driver software healthy selfdrive/monitoring/test_monitoring.py:86
test_normal_driver software healthy selfdrive/monitoring/test_monitoring.py:100
test_biggest_comma_fan software healthy selfdrive/monitoring/test_monitoring.py:118
test_sometimes_transparent_commuter software healthy selfdrive/monitoring/test_monitoring.py:139
test_last_second_responder software healthy selfdrive/monitoring/test_monitoring.py:159
test_pure_dashcam_user software healthy selfdrive/monitoring/test_monitoring.py:177
test_long_traffic_light_victim software healthy selfdrive/monitoring/test_monitoring.py:183
test_distracted_then_stops software healthy selfdrive/monitoring/test_monitoring.py:196
test_somehow_indecisive_model software healthy selfdrive/monitoring/test_monitoring.py:207
to_percent software healthy selfdrive/monitoring/policy.py:16
__init__ software healthy selfdrive/monitoring/policy.py:124
face_orientation_from_model software healthy selfdrive/monitoring/policy.py:107
_reset_awareness software healthy selfdrive/monitoring/policy.py:161
_set_policy software healthy selfdrive/monitoring/policy.py:166
_set_pose_strictness software healthy selfdrive/monitoring/policy.py:196
_get_distracted_types software healthy selfdrive/monitoring/policy.py:207
_update_states software healthy selfdrive/monitoring/policy.py:232
_update_events software healthy selfdrive/monitoring/policy.py:298
get_state_packet software healthy selfdrive/monitoring/policy.py:354
run_step software healthy selfdrive/monitoring/policy.py:393
upload_route software healthy selfdrive/test/update_ci_routes.py:22
sync_to_ci_public software healthy selfdrive/test/update_ci_routes.py:35
__init__ software healthy selfdrive/test/fuzzy_generation.py:13
generate_native_type software healthy selfdrive/test/fuzzy_generation.py:17
generate_field software healthy selfdrive/test/fuzzy_generation.py:24
rec software healthy selfdrive/test/fuzzy_generation.py:25
generate_struct software healthy selfdrive/test/fuzzy_generation.py:47
_get_native_type_map software healthy selfdrive/test/fuzzy_generation.py:54
get_random_msg software healthy selfdrive/test/fuzzy_generation.py:73
get_random_event_msg software healthy selfdrive/test/fuzzy_generation.py:79
set_params_enabled software healthy selfdrive/test/helpers.py:16
release_only software healthy selfdrive/test/helpers.py:31
wrap software healthy selfdrive/test/helpers.py:101
collect_logs software healthy selfdrive/test/helpers.py:40
log_collector software healthy selfdrive/test/helpers.py:51
_drain software healthy selfdrive/test/helpers.py:59
processes_context software healthy selfdrive/test/helpers.py:78
with_processes software healthy selfdrive/test/helpers.py:98

Showing first 50 of this kind. Full payload available via the JSON button at the top of the page.

LabelLayerStatusPath
launch_openpilot.sh software healthy launch_openpilot.sh
conftest.py software healthy conftest.py
launch_env.sh software healthy launch_env.sh
README.md software healthy README.md
zensical.toml software healthy zensical.toml
RELEASES.md software healthy RELEASES.md
pyproject.toml software healthy pyproject.toml
SECURITY.md software healthy SECURITY.md
launch_chffrplus.sh software healthy launch_chffrplus.sh
__init__.py software healthy selfdrive/__init__.py
dmonitoringd.py software healthy selfdrive/monitoring/dmonitoringd.py
test_monitoring.py software healthy selfdrive/monitoring/test_monitoring.py
policy.py software healthy selfdrive/monitoring/policy.py
setup_device_ci.sh software healthy selfdrive/test/setup_device_ci.sh
__init__.py software healthy selfdrive/test/__init__.py
scons_build_test.sh software healthy selfdrive/test/scons_build_test.sh
cpp_harness.py software warning selfdrive/test/cpp_harness.py
update_ci_routes.py software healthy selfdrive/test/update_ci_routes.py
fuzzy_generation.py software healthy selfdrive/test/fuzzy_generation.py
setup_xvfb.sh software healthy selfdrive/test/setup_xvfb.sh
helpers.py software healthy selfdrive/test/helpers.py
test_onroad.py software healthy selfdrive/test/test_onroad.py
test_updated.py software healthy selfdrive/test/test_updated.py
docker_build.sh software healthy selfdrive/test/docker_build.sh
regen.py software healthy selfdrive/test/process_replay/regen.py
__init__.py software healthy selfdrive/test/process_replay/__init__.py
compare_logs.py software healthy selfdrive/test/process_replay/compare_logs.py
diff_report.py software healthy selfdrive/test/process_replay/diff_report.py
test_processes.py software healthy selfdrive/test/process_replay/test_processes.py
README.md software healthy selfdrive/test/process_replay/README.md
process_replay.py software healthy selfdrive/test/process_replay/process_replay.py
test_fuzzy.py software healthy selfdrive/test/process_replay/test_fuzzy.py
capture.py software healthy selfdrive/test/process_replay/capture.py
regen_all.py software healthy selfdrive/test/process_replay/regen_all.py
vision_meta.py software healthy selfdrive/test/process_replay/vision_meta.py
test_regen.py software healthy selfdrive/test/process_replay/test_regen.py
model_replay.py software healthy selfdrive/test/process_replay/model_replay.py
migration.py software healthy selfdrive/test/process_replay/migration.py
__init__.py software healthy selfdrive/test/longitudinal_maneuvers/__init__.py
plant.py software healthy selfdrive/test/longitudinal_maneuvers/plant.py
maneuver.py software healthy selfdrive/test/longitudinal_maneuvers/maneuver.py
test_longitudinal.py software healthy selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
soundd.py software healthy selfdrive/ui/soundd.py
__init__.py software healthy selfdrive/ui/__init__.py
ui_state.py software healthy selfdrive/ui/ui_state.py
watch3.py software warning selfdrive/ui/watch3.py
ui.py software healthy selfdrive/ui/ui.py
test_translations.py software healthy selfdrive/ui/tests/test_translations.py
test_soundd.py software healthy selfdrive/ui/tests/test_soundd.py
__init__.py software healthy selfdrive/ui/tests/__init__.py

Showing first 50 of this kind. Full payload available via the JSON button at the top of the page.

LabelLayerStatusPath
TestMonitoring software healthy selfdrive/monitoring/test_monitoring.py:51
DRIVER_MONITOR_SETTINGS software healthy selfdrive/monitoring/policy.py:25
DriverPose software healthy selfdrive/monitoring/policy.py:83
DriverBlink software healthy selfdrive/monitoring/policy.py:97
DriverMonitoring software healthy selfdrive/monitoring/policy.py:123
FuzzyGenerator software healthy selfdrive/test/fuzzy_generation.py:12
Handler software healthy selfdrive/test/helpers.py:149
TestOnroad software healthy selfdrive/test/test_onroad.py:108
TestUpdated software healthy selfdrive/test/test_updated.py:16
MsgWrap software healthy selfdrive/test/process_replay/diff_report.py:9
LauncherWithCapture software healthy selfdrive/test/process_replay/process_replay.py:41
ReplayContext software healthy selfdrive/test/process_replay/process_replay.py:51
ProcessConfig software healthy selfdrive/test/process_replay/process_replay.py:118
ProcessContainer software healthy selfdrive/test/process_replay/process_replay.py:142
ModeldCameraSyncRcvCallback software healthy selfdrive/test/process_replay/process_replay.py:392
MessageBasedRcvCallback software healthy selfdrive/test/process_replay/process_replay.py:415
TestFuzzProcesses software healthy selfdrive/test/process_replay/test_fuzzy.py:20
FdRedirect software healthy selfdrive/test/process_replay/capture.py:6
ProcessOutputCapture software healthy selfdrive/test/process_replay/capture.py:30
TestRegen software healthy selfdrive/test/process_replay/test_regen.py:29
Plant software healthy selfdrive/test/longitudinal_maneuvers/plant.py:14
Maneuver software healthy selfdrive/test/longitudinal_maneuvers/maneuver.py:5
TestLongitudinalControl software healthy selfdrive/test/longitudinal_maneuvers/test_longitudinal.py:…
Soundd software healthy selfdrive/ui/soundd.py:65
UIStatus software healthy selfdrive/ui/ui_state.py:20
UIState software healthy selfdrive/ui/ui_state.py:26
Device software healthy selfdrive/ui/ui_state.py:210
TestSoundd software healthy selfdrive/ui/tests/test_soundd.py:11
TestFeedbackd software healthy selfdrive/ui/tests/test_feedbackd.py:9
ScriptEvent software healthy selfdrive/ui/tests/diff/replay_script.py:35
Script software healthy selfdrive/ui/tests/diff/replay_script.py:48
SshKeyFetcher software healthy selfdrive/ui/widgets/ssh_key.py:27
SshKeyActionState software healthy selfdrive/ui/widgets/ssh_key.py:72
SshKeyAction software healthy selfdrive/ui/widgets/ssh_key.py:78
AlertColors software healthy selfdrive/ui/widgets/offroad_alerts.py:18
AlertConstants software healthy selfdrive/ui/widgets/offroad_alerts.py:30
AlertData software healthy selfdrive/ui/widgets/offroad_alerts.py:43
ButtonStyle software healthy selfdrive/ui/widgets/offroad_alerts.py:50
ActionButton software healthy selfdrive/ui/widgets/offroad_alerts.py:55
AbstractAlert software healthy selfdrive/ui/widgets/offroad_alerts.py:87
OffroadAlert software healthy selfdrive/ui/widgets/offroad_alerts.py:204
UpdateAlert software healthy selfdrive/ui/widgets/offroad_alerts.py:311
SetupWidget software healthy selfdrive/ui/widgets/setup.py:14
PairingDialog software healthy selfdrive/ui/widgets/pairing_dialog.py:18
PrimeWidget software healthy selfdrive/ui/widgets/prime.py:12
ExperimentalModeButton software healthy selfdrive/ui/widgets/exp_mode_button.py:8
ScrollState software healthy selfdrive/ui/mici/widgets/button.py:24
BigCircleButton software healthy selfdrive/ui/mici/widgets/button.py:30
BigCircleToggle software healthy selfdrive/ui/mici/widgets/button.py:73
BigButton software healthy selfdrive/ui/mici/widgets/button.py:104

Showing first 50 of this kind. Full payload available via the JSON button at the top of the page.

LabelLayerStatusPath
selfdrive software healthy selfdrive
monitoring software healthy selfdrive/monitoring
test software healthy selfdrive/test
process_replay software healthy selfdrive/test/process_replay
longitudinal_maneuvers software healthy selfdrive/test/longitudinal_maneuvers
ui software healthy selfdrive/ui
tests software healthy selfdrive/ui/tests
diff software healthy selfdrive/ui/tests/diff
widgets software healthy selfdrive/ui/widgets
mici software healthy selfdrive/ui/mici
tests software healthy selfdrive/ui/mici/tests
widgets software healthy selfdrive/ui/mici/widgets
onroad software healthy selfdrive/ui/mici/onroad
layouts software healthy selfdrive/ui/mici/layouts
settings software healthy selfdrive/ui/mici/layouts/settings
network software healthy selfdrive/ui/mici/layouts/settings/network
lib software healthy selfdrive/ui/lib
body software healthy selfdrive/ui/body
layouts software healthy selfdrive/ui/body/layouts
onroad software healthy selfdrive/ui/onroad
installer software healthy selfdrive/ui/installer
translations software healthy selfdrive/ui/translations
layouts software healthy selfdrive/ui/layouts
settings software healthy selfdrive/ui/layouts/settings
feedback software healthy selfdrive/ui/feedback
assets software healthy selfdrive/assets
sounds software healthy selfdrive/assets/sounds
fonts software healthy selfdrive/assets/fonts
offroad software healthy selfdrive/assets/offroad
car software healthy selfdrive/car
tests software healthy selfdrive/car/tests
controls software healthy selfdrive/controls
tests software healthy selfdrive/controls/tests
lib software healthy selfdrive/controls/lib
longitudinal_mpc_lib software healthy selfdrive/controls/lib/longitudinal_mpc_lib
lateral_mpc_lib software healthy selfdrive/controls/lib/lateral_mpc_lib
selfdrived software healthy selfdrive/selfdrived
tests software healthy selfdrive/selfdrived/tests
modeld software healthy selfdrive/modeld
models software healthy selfdrive/modeld/models
debug software healthy selfdrive/debug
car software healthy selfdrive/debug/car
locationd software healthy selfdrive/locationd
models software healthy selfdrive/locationd/models
test software healthy selfdrive/locationd/test
pandad software healthy selfdrive/pandad
tests software healthy selfdrive/pandad/tests
openpilot software healthy openpilot
common software healthy common
tests software healthy common/tests

Showing first 50 of this kind. Full payload available via the JSON button at the top of the page.

LabelLayerStatusPath
cleanup-branches cicd healthy .github/workflows/jenkins-pr-trigger.yaml
scan-comments cicd healthy .github/workflows/jenkins-pr-trigger.yaml
build_masterci cicd healthy .github/workflows/release.yaml
comment cicd healthy .github/workflows/diff_report.yaml
package_updates cicd healthy .github/workflows/repo-maintenance.yaml
stale cicd healthy .github/workflows/stale.yaml
stale_drafts cicd healthy .github/workflows/stale.yaml
comment cicd healthy .github/workflows/model_review.yaml
docs cicd healthy .github/workflows/docs.yaml
build_release cicd healthy .github/workflows/tests.yaml
build_mac cicd healthy .github/workflows/tests.yaml
static_analysis cicd healthy .github/workflows/tests.yaml
unit_tests cicd healthy .github/workflows/tests.yaml
process_replay cicd healthy .github/workflows/tests.yaml
simulator_driving cicd healthy .github/workflows/tests.yaml
create_ui_report cicd healthy .github/workflows/tests.yaml
build_prebuilt cicd healthy .github/workflows/prebuilt.yaml
labeler cicd healthy .github/workflows/auto_pr_review.yaml
preview cicd healthy .github/workflows/ui_preview.yaml

LabelLayerStatusPath
OPENPILOT_DOCS_KEY cicd healthy —
REPORT_NAME cicd healthy —
GITHUB_TOKEN cicd healthy —
ACTIONS_CREATE_PR_PAT cicd healthy —
BRANCH_NAME cicd healthy —
CI_ARTIFACTS_DEPLOY_KEY cicd healthy —
SHA cicd healthy —
UI_JOB_NAME cicd healthy —
REPORT_FILES_BRANCH_NAME cicd healthy —
STRIPPED_DIR cicd healthy —
DAYS_BEFORE_PR_STALE_DRAFT cicd healthy —
DAYS_BEFORE_PR_CLOSE cicd healthy —
DAYS_BEFORE_PR_STALE cicd healthy —

LabelLayerStatusPath
gha::jenkins-pr-trigger cicd healthy .github/workflows/jenkins-pr-trigger.yaml
gha::release cicd healthy .github/workflows/release.yaml
gha::diff_report cicd healthy .github/workflows/diff_report.yaml
gha::repo-maintenance cicd healthy .github/workflows/repo-maintenance.yaml
gha::stale cicd healthy .github/workflows/stale.yaml
gha::model_review cicd healthy .github/workflows/model_review.yaml
gha::docs cicd healthy .github/workflows/docs.yaml
gha::tests cicd healthy .github/workflows/tests.yaml
gha::prebuilt cicd healthy .github/workflows/prebuilt.yaml
gha::auto_pr_review cicd healthy .github/workflows/auto_pr_review.yaml
gha::ui_preview cicd healthy .github/workflows/ui_preview.yaml

LabelLayerStatusPath
127.0.0.1 network healthy selfdrive/test/helpers.py
192.168.43.1 network healthy system/ui/lib/wifi_manager.py
10.64.64.64 network healthy system/hardware/tici/modem.py
7.4.2.4 network healthy tools/lib/vidindex.py
7.3.1.2 network healthy tools/lib/vidindex.py
7.3.2.9 network healthy tools/lib/vidindex.py
7.3.6.1 network healthy tools/lib/vidindex.py
7.4.7.1 network healthy tools/lib/vidindex.py
7.4.3.3 network healthy tools/lib/vidindex.py

LabelLayerStatusPath
auth::system/athena/athenad.py security healthy system/athena/athenad.py
auth::tools/lib/auth.py security healthy tools/lib/auth.py
auth::system/athena/registration.py security healthy system/athena/registration.py
auth::tools/scripts/fetch_image_from_route.py security healthy tools/scripts/fetch_image_from_route.py
auth::tools/lib/api.py security healthy tools/lib/api.py
auth::common/api.py security healthy common/api.py

LabelLayerStatusPath
port:5000 network healthy tools/bodyteleop/web.py
port:3000 network healthy tools/lib/auth.py

LabelLayerStatusPath
repobility-clone-cb_d7e5m software healthy /tmp/repobility-clone-cb_d7e5m

LabelLayerStatusPath
migration.py data healthy selfdrive/test/process_replay/migration.py

LabelLayerStatusPath
gpu (detected) hardware healthy launch_chffrplus.sh

LabelLayerStatusPath
vps::azure hardware healthy tools/lib/azure_container.py

LabelLayerStatusPath
password_literal::system/ui/lib/wifi_manager.py security healthy system/ui/lib/wifi_manager.py
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