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d1b44bbb34
* cleanup tools * setup tools CI * loggerd doesn't support this anymore * cleanup * builds with openpilot now
145 lines
4.3 KiB
Markdown
145 lines
4.3 KiB
Markdown
openpilot tools
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============
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tools to facilitate development and debugging of openpilot
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Table of Contents
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============
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<!--ts-->
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* [Requirements](#requirements)
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* [Setup](#setup)
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* [Tool examples](#tool-examples)
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* [Replay driving data](#replay-driving-data)
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* [Debug car controls](#debug-car-controls)
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* [Stream replayed CAN messages to EON](#stream-replayed-can-messages-to-eon)
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* [Welcomed contributions](#welcomed-contributions)
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<!--te-->
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Requirements
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============
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openpilot tools and the following setup steps are developed and tested on Ubuntu 20.04, MacOS 10.14.2 and, Python 3.8.2.
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Setup
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============
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1. Run `ubuntu_setup.sh` or `mac_setup.sh`, and make sure that everything completed correctly
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2. Compile openpilot by running ```scons``` in the openpilot directory
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or alternatively run ```./openpilot_build.sh``` (uses a pre-configured docker container)
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3. Try out some tools!
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Tool examples
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============
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Replay driving data
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-------------
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**Hardware needed**: none
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`unlogger.py` replays data collected with [dashcam](https://github.com/commaai/openpilot/tree/dashcam) or [openpilot](https://github.com/commaai/openpilot).
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Unlogger with remote data:
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```
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# Log in via browser
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python lib/auth.py
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# Start unlogger
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python replay/unlogger.py <route-name>
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#Example:
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#python replay/unlogger.py '3533c53bb29502d1|2019-12-10--01-13-27'
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# In another terminal you can run a debug visualizer:
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python replay/ui.py # Define the environmental variable HORIZONTAL is the ui layout is too tall
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```
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Unlogger with local data downloaded from device or https://my.comma.ai:
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```
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python replay/unlogger.py <route-name> <path-to-data-directory>
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#Example:
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#python replay/unlogger.py '99c94dc769b5d96e|2018-11-14--13-31-42' /home/batman/unlogger_data
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#Within /home/batman/unlogger_data:
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# 99c94dc769b5d96e|2018-11-14--13-31-42--0--fcamera.hevc
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# 99c94dc769b5d96e|2018-11-14--13-31-42--0--rlog.bz2
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# ...
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```
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LogReader with remote data
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```python
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from tools.lib.logreader import LogReader
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from tools.lib.route import Route
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route = Route('3533c53bb29502d1|2019-12-10--01-13-27')
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log_paths = route.log_paths()
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events_seg0 = list(LogReader(log_paths[0]))
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print(len(events_seg0), 'events logged in first segment')
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```
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Debug car controls
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-------------
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**Hardware needed**: [panda](panda.comma.ai), [giraffe](https://comma.ai/shop/products/giraffe/), joystick
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Use the panda's OBD-II port to connect with your car and a usb cable to connect the panda to your pc.
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Also, connect a joystick to your pc.
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`joystickd.py` runs a deamon that reads inputs from a joystick and publishes them over zmq.
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`boardd` sends the CAN messages from your pc to the panda.
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`debug_controls` is a mocked version of `controlsd.py` and uses input from a joystick to send controls to your car.
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Make sure the conditions are met in the panda to allow controls (e.g. cruise control engaged). You can also make a modification to the panda code to always allow controls.
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Usage:
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```
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python carcontrols/joystickd.py
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# In another terminal:
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BASEDIR=$(pwd) selfdrive/boardd/boardd
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# In another terminal:
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python carcontrols/debug_controls.py
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```
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Stream replayed CAN messages to EON
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-------------
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**Hardware needed**: 2 x [panda](panda.comma.ai), [debug board](https://comma.ai/shop/products/panda-debug-board/), [EON](https://comma.ai/shop/products/eon-gold-dashcam-devkit/).
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It is possible to replay CAN messages as they were recorded and forward them to a EON.
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Connect 2 pandas to the debug board. A panda connects to the PC, the other panda connects to the EON.
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Usage:
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```
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# With MOCK=1 boardd will read logged can messages from a replay and send them to the panda.
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MOCK=1 selfdrive/boardd/tests/boardd_old.py
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# In another terminal:
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python replay/unlogger.py <route-name> <path-to-data-directory>
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```
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Welcomed contributions
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=============
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* Documentation: code comments, better tutorials, etc..
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* Support for other platforms other than Ubuntu 20.04.
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* Performance improvements: the tools have been developed on high-performance workstations (12+ logical cores with 32+ GB of RAM), so they are not optimized for running efficiently. For example, `ui.py` might not be able to run real-time on most PCs.
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* More tools: anything that you think might be helpful to others.
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