RTZ Server

An implementation of the Comma.ai API service for self-hosted folks. Pronounced like "Routes".

Warning

This is considered under ACTIVE DEVELOPMENT until v1.0.0 or later. Any v0 releases are considered pre-alpha and have wildly breaking changes that may require complete wipes of the database and/or uploads.

Benefits

• Doesn't track you
• Keeps your video data to yourself
• Simple to install
• Small binary (less than 15MB), self-contained
• Store data long-term
• Not paid, only self-hosting costs
• Same frontend/PWA you're used to (Connect's frontend is open-source, thanks Comma!)
• Doesn't store emails
• Optional high availability (HA) setup with NATS

Emulated Services

This project emulates more than just the Comma.ai API. It also emulates portions of the following services:

• billing.comma.ai (These routes are stubbed out to report an active Comma Prime membership to OpenPilot)
• maps.comma.ai (OpenPilot calls this to get routing data)
• Athena (This is the websocket service that OpenPilot uses for JSON RPC)
• (eventually) useradmin.comma.ai

Setup

Frontend

You will need to run the Comma Connect frontend to get full functionality. You can find the frontend at rtz-frontend. The frontend is the same as Comma's, but with the branding and tracking removed. You can also use the official frontend, but you will need to modify the config.js file to point to your server.

Server Configuration

The service is configured via environment variables, a configuration YAML file, or command line flags. The config.example.yaml file shows the available configuration options. The command line flags match the schema of the YAML file, i.e. --http.cors_hosts='0.0.0.0' would equate to http.cors_hosts: ["0.0.0.0"]. Environment variables are in the same format, however they are uppercase and replace hyphens with underscores and dots with double underscores, i.e. HTTP__CORS_HOSTS="0.0.0.0".

Device Configuration

To configure a device running OpenPilot, you will need SSH access to the device. Documentation for this is available in Comma's documentation. Once you have SSH access, you can run the following commands while logged into the device to configure it to use your self-hosted server:

Warning

This process will have to be followed every time OpenPilot is updated.

Replace URL and WEBSOCKET_URL with your server's URL. It can work over HTTP as well, however I only recommend this when your device is on a Wifi network, if you have a SIM you'll want to expose this service behind a load balancer with a valid SSL certificate. If you don't have a valid SSL certificate, you can use Let's Encrypt to get one for free.

URL="https://your-server.com" # Replace this with your server's URL
WEBSOCKET_URL="wss://your-server.com" # Replace this with your server's URL

cd /data/openpilot

# Adds the rtz-server configuration to the launch_env.sh file
sed -i '3i # rtz-server configuration, comment or remove the following lines to revert back to stock' launch_env.sh
sed -i '4i # comment or remove the following lines to revert back to stock' launch_env.sh
sed -i "5i export ATHENA_HOST=\"$WEBSOCKET_URL\"" launch_env.sh
sed -i "6i export API_HOST=\"$URL\"" launch_env.sh
sed -i "7i export MAPS_HOST=\"$URL\"" launch_env.sh
sed -i '8i # end of rtz-server configuration\n' launch_env.sh

# Removes hard-coded Comma API URL
# Some versions of OpenPilot have removed navd, so we need to check for its existence
if test -f selfdrive/navd/navd.py; then
  sed -i 's#self.mapbox_host = "https://maps.comma.ai"#self.mapbox_host = os.getenv("MAPS_HOST", "https://maps.comma.ai")#' selfdrive/navd/navd.py
fi

# Now reboot
sudo reboot

TODOs (in order of priority)

• Parsing uploaded segments and routes (partially done)
• Stat tracking
• Useradmin
• Add more documentation
• Add more tests
• Document deployment
• Tool to copy data from Comma's servers
• SSH forwarding

Wants

I would really like to have an opt-in configuration option that allows for data to be reuploaded to Comma's Connect servers under the user's previous dongle ID. That way users can still contribute to the larger dataset for training if they so choose. If you work at Comma and can help find someone who can bless this idea, please reach out to me. I don't want to do this without their permission.