openpilot logs open, with the schema bundled and the GPS as a reference

[Sherin-SEF-AI]

Why it never worked

openpilot rlog import was a listed limitation: it raised unless openpilot's cereal schema happened to be on the machine. It also could not have worked when the schema was present:

1. Logs are distributed as rlog.bz2 or rlog.zst, and were read as raw capnp.
2. The schema was loaded without an import path, which its absolute imports need.
3. Only names ending .rlog/.qlog were routed to the reader. openpilot names its files rlog, rlog.bz2, qlog.zst.
4. A panda echoes the frames it transmits (src 128 + bus). Those were mixed into the car's traffic.

The fix

• canlab/core/openpilot_parser.py rewritten: bz2 and zstd, read_multiple_bytes, panda transmissions kept apart and counted in df.attrs["sent_frames"] (include_sent=True keeps them), gps_reference() returning the log's GPS as ReferenceSeries on the capture's clock.
• Schema vendored under canlab/core/data/cereal/ (comma.ai, MIT; NOTICE.txt beside it), refreshed by tools/fetch_cereal.py. Shipped as package data and in the binary.
• log_parser.is_openpilot_log() routes rlog, qlog, *.rlog, *.qlog, rlog.bz2, qlog.zst; the Open openpilot Log dialog accepts them.
• pycapnp is the new openpilot extra. CI installs it; the binary build job now installs mdf and openpilot too, and canlab.spec collects pycapnp. Checked locally: the built binary contains capnp/ and the schema, and the bundled schema copy decodes the real log.

Checked on a real drive

A public 2021 Toyota RAV4 route from openpilot's CI:

• 122,282 received frames from 158 IDs on buses 0, 1 and 2, parsed in 1.0 s; 78,896 panda transmissions kept apart; the two sum to pycapnp's own count.
• Calibrated against the log's own GPS, 0x0B4 bytes 5-6 come back as 0.01 km/h per bit, the figure in openpilot's DBC, R² 0.993, and the signal decodes within 0.87% of openpilot's vEgo.

Both are phases of acceptance_new_sources.py (the log is fetched once, 8 MB). tests/test_openpilot_rlog.py pins the reader on logs built by hand with the vendored schema.

pytest -q: 748 passed. ruff clean.