Devcontainer

.devcontainer/Dockerfile

@@ -0,0 +1,7 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+RUN printf "\nsource /workspaces/openpilot/tools/openpilot_env.sh\n" >> ~/.bashrc
+# remove gitconfig if exists, since its gonna be replaced by host one
+RUN rm -f /root/.gitconfig
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep
+RUN pip install ipython jupyter jupyterlab

.devcontainer/devcontainer.json

@@ -0,0 +1,20 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'",
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localEnv:XAUTHORITY}:/root/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--shm-size=1G"
+  ]
+}

.github/workflows/dev_tools_tests.yaml

@@ -0,0 +1,24 @@
+name: development tools
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+jobs:
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: devcontainer up --workspace-folder .
+    - name: Stop containers
+      run: docker kill $(docker ps -q)

Dockerfile.openpilot_base

@@ -31,3 +31,4 @@ RUN cd /tmp && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 RUN sudo git config --global --add safe.directory /tmp/openpilot
+RUN sed -i "/openpilot_env\.sh/d" /root/.bashrc

tools/README.md

@@ -36,6 +36,32 @@ Build openpilot with this command:
 scons -u -j$(nproc)
 ```
 
+### Dev Container
+
+openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of you local setup.
+
+Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers).
+
+#### X11 forwarding on macOS
+
+GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. First of all, install [XQuartz](https://formulae.brew.sh/cask/xquartz#default):
+```sh
+brew install --cask xquartz
+```
+
+Open XQuartz, go to `XQuartz` > `Settings...` > `Security` and check "Authenticate connections" and "Allow connections from network clients" boxes. Then allow for connections from localhost with:
+```sh
+xhost +localhost
+```
+Note that this is temporary and only affects current XQuartz session. To make it permanent, add the above line to shell rc file.
+
+`.Xauthority` file is used for authentication with X11 server. It's typically stored in user's `$HOME` directory. Openpilot's dev container is using `XAUTHORITY` env var to locate such file in host file system. If it's not set already, run following lines to set it up (and again, to make it permanent, add it to rc file):
+
+```sh
+XAUTH_FILE_ROW=($(xauth info | head -n 1))
+export XAUTHORITY="${XAUTH_FILE_ROW[@]:2}"
+```
+
 ### Windows
 
 Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.