opview

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A clone of openpilot's stock onroad UI, built in Flutter for iOS and Android. No 3D library needed. All projection is pure 3x3 matrix math in Dart.

Usage

1. Connect your phone to the same WiFi network as your comma device
2. Install and open opview
3. Once the device is onroad, you'll see the live road camera with the full openpilot HUD overlay

Requirements:

• openpilot with webrtcd enabled (see below), or dragonpilot 0.10.3+
• Phone and comma device on the same local network
• The comma device's webrtcd service must be reachable on port 5001 (default on stock openpilot)

Enabling webrtcd on stock openpilot:

In selfdrive/manager/process_config.py, find the webrtcd and stream_encoderd entries and change their condition from notcar to or_(notcar, only_onroad):

PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(notcar, only_onroad)),
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, only_onroad)),

Fixing audio device error (ALSA "Device unavailable"):

If you see a 500 error when connecting with a traceback mentioning pa_linux_alsa.c and OSError: [Errno -9985] Device unavailable, webrtcd is failing to open an audio input device. To fix this, in system/webrtc/webrtcd.py, wrap the audio stream initialization in a try/except:

# around line 144, change:
builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack())

# to:
try:
    builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack())
except OSError:
    pass

Architecture

├── assets/
│   └── logo.png                           # Source icon (generates all app icons)
├── scripts/
│   ├── build.sh                           # Build script (Android/iOS)
│   ├── release.sh                         # Bump version, tag, push (CI publishes)
│   └── generate_icons.py                  # Icon generator from logo.png
├── lib/
│   ├── main.dart                          # Entry point, landscape lock, immersive
│   ├── app.dart                           # MaterialApp shell, lifecycle (pause/resume)
│   ├── common/
│   │   └── transformations.dart           # DEVICE_CAMERAS, rotFromEuler, matmul3x3
│   ├── selfdrive/ui/
│   │   ├── ui_state.dart                  # UIState ChangeNotifier, data-driven refresh
│   │   └── onroad/
│   │       ├── augmented_road_view.dart   # Main screen, layer stack, border, calibration
│   │       ├── model_renderer.dart        # Path, lanes, road edges, lead indicators
│   │       ├── hud_renderer.dart          # Speed display, MAX cruise box, header gradient
│   │       └── alert_renderer.dart        # Severity-colored alert banners
│   ├── system/webrtc/
│   │   ├── webrtc_client.dart             # PeerConnection, H264 SDP preference
│   │   └── webrtcd_api.dart               # POST /stream SDP exchange
│   ├── services/
│   │   ├── discovery.dart                 # Abstract discovery interface
│   │   ├── transport.dart                 # Abstract transport interface
│   │   ├── adapter.dart                   # Abstract telemetry adapter interface
│   │   ├── connection_manager.dart        # Discovery → Transport → Adapter → UIState
│   │   ├── wake_lock_service.dart         # Screen wake lock toggle (platform channel)
│   │   └── impl/
│   │       ├── mdns_discovery.dart        # mDNS/NSD auto-discovery (Bonjour)
│   │       ├── webrtc_transport.dart      # WebRTC video + data channel
│   │       └── cereal_adapter.dart        # }{ split, NaN sanitize, JSON decode
│   └── data/
│       └── models.dart                    # StreamRequest
└── test/
    ├── transformations_test.dart          # Matrix math, camera configs
    ├── telemetry_parser_test.dart         # (stub)
    ├── ui_state_test.dart                 # All apply methods, derived values
    ├── sdp_test.dart                      # H264 SDP rewriting
    └── models_test.dart                   # Data model serialization

Build

Requires Flutter 3.x.

# Quick build
scripts/build.sh           # Android (default)
scripts/build.sh ios       # iOS (requires macOS + Xcode)

# Or manually
flutter build apk --release
flutter build ios --release

Release

scripts/release.sh              # bump patch (0.1.0 → 0.1.1)
scripts/release.sh minor        # bump minor (0.1.0 → 0.2.0)
scripts/release.sh major        # bump major (0.1.0 → 1.0.0)
scripts/release.sh 0.3.0        # set explicit version

This bumps pubspec.yaml, commits, tags, and pushes. GitHub Actions CI then builds the APK and creates a GitHub Release automatically.

Platform Notes

• Android phones/tablets — works out of the box
• Android headunits — works, minSdk 21 covers most aftermarket units
• iOS — not yet test built, Bonjour entitlements pre-configured in Info.plist
• Android Auto / Apple CarPlay — not supported. Both platforms restrict apps to navigation, media, messaging, or EV charging categories and enforce template-based UIs with no custom rendering surfaces

Branches

Branch	Description
main	Stable release
perf-optimizations	Experimental performance improvements

Ported From

Source	What
openpilot/selfdrive/ui/	UIState, augmented_road_view, model_renderer, hud_renderer, alert_renderer
openpilot/common/transformations/	Camera intrinsics, rotFromEuler, view_frame_from_device_frame
openpilot/system/webrtc/webrtcd.py	POST /stream API, data channel format
dashy	Video-scale-aware calibration, H264 SDP rewriting, NaN handling, }{ splitting, NSD discovery

License

See LICENSE.