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b816b5b644
* add sphinx * switch theme * Experiment: sphinx docs generation updated (#22708) * moved build to root gitignore, added .gitkeep * Improved makefile doc build process - Removed auto-generated docs from source control - Moved apidoc.sh into Makefile - Removed make.bat (can add back if Windows support desired) - Added sphinx viewcode and markdown extensions - Added feature to source /docs in build, so any .rst file in /docs will override the respective file during the build process - Added feature to copy all markdown/rst files from source into /build/ during build process so they can be easily referenced while writing docs (see examples in index.md) - Wrote basic starter index.md file TODO: Add new dependencies to Pipfile [dev-packages] * Revert accidental modification to Pipfile * fix command substitution * exclude xx * improve docs * dont include all docs in release build * Add dockerfile * update title * include normal readme * build container in CI * use buildkit * add login Co-authored-by: Chad Bailey <chadbailey904@gmail.com>
75 lines
1.9 KiB
Markdown
75 lines
1.9 KiB
Markdown
# Replay
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## Replay driving data
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`replay` replays all the messages logged while running openpilot.
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```bash
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# Log in via browser to have access to non-public routes
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python lib/auth.py
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# Start a replay
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selfdrive/ui/replay/replay <route-name>
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# Example:
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# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
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# or use --demo to replay the default demo route:
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# selfdrive/ui/replay/replay --demo
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# watch the replay with the normal openpilot UI
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cd selfdrive/ui && ./ui
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# or try out a debug visualizer:
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python replay/ui.py
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```
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## usage
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``` bash
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$ selfdrive/ui/replay/replay -h
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Usage: selfdrive/ui/replay/replay [options] route
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Mock openpilot components by publishing logged messages.
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Options:
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-h, --help Displays this help.
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-a, --allow <allow> whitelist of services to send
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-b, --block <block> blacklist of services to send
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-s, --start <seconds> start from <seconds>
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--demo use a demo route instead of providing your own
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--dcam load driver camera
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--ecam load wide road camera
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Arguments:
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route the drive to replay. find your drives at
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connect.comma.ai
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```
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## watch3
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watch all three cameras simultaneously from your comma three routes with watch3
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simply replay a route using the `--dcam` and `--ecam` flags:
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```bash
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# start a replay
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cd selfdrive/ui/replay && ./replay --demo --dcam --ecam
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# then start watch3
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cd selfdrive/ui && ./watch3
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```
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## Stream CAN messages to your device
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Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices.
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`can_replay.py` is a convenient script for when any CAN data will do.
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In order to replay specific route:
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```bash
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MOCK=1 selfdrive/boardd/tests/boardd_old.py
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# In another terminal:
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selfdrive/ui/replay/replay <route-name>
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```
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