mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 23:33:58 +08:00
Code Issues Packages Projects Releases Wiki Activity

replay: improve README with clearer instructions and example (#33560)

Browse Source 
improve README with clearer instructions and example
This commit is contained in:
Dean Lee
2024-09-25 03:03:08 +08:00
committed by GitHub
parent 3b7a60499e
commit 811bf06f8c
1 changed files with 62 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

76
tools/replay/README.md
View File

@@ -1,31 +1,55 @@
# Replay
## Replay driving data
`replay` allows you to simulate a driving session by replaying all messages logged during the use of openpilot. This provides a way to analyze and visualize system behavior as if it were live.
`replay` replays all the messages logged while running openpilot.
## Setup
Before starting a replay, you need to authenticate with your comma account using `auth.py`. This will allow you to access your routes from the server.
```bash
# Log in via browser to have access to routes from your comma account
# Authenticate to access routes from your comma account:
python3 tools/lib/auth.py
```
# Start a replay
## Replay a Remote Route
You can replay a route from your comma account by specifying the route name.
```bash
# Start a replay with a specific route:
tools/replay/replay <route-name>
# Example:
tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
# or use --demo to replay the default demo route:
# Replay the default demo route:
tools/replay/replay --demo
# watch the replay with the normal openpilot UI
cd selfdrive/ui && ./ui
# or try out radar point visualization in Rerun:
python3 replay/rp_visualization.py
# NOTE: To visualize radar points, make sure tools/replay/replay is running.
```
## usage
## Replay a Local Route
To replay a route stored locally on your machine, specify the route name and provide the path to the directory where the route files are stored.
```bash
# Replay a local route
tools/replay/replay <route-name> --data_dir="/path_to/route"
# Example:
# If you have a local route stored at /path_to_routes with segments like:
# a2a0ccea32023010|2023-07-27--13-01-19--0
# a2a0ccea32023010|2023-07-27--13-01-19--1
# You can replay it like this:
tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data-dir="/path_to_routes"
```
## Send Messages via ZMQ
By default, replay sends messages via MSGQ. To switch to ZMQ, set the ZMQ environment variable.
```bash
# Start replay and send messages via ZMQ:
ZMQ=1 tools/replay/replay <route-name>
```
## Usage
For more information on available options and arguments, use the help command:
``` bash
$ tools/replay/replay -h
@@ -57,6 +81,30 @@ Arguments:
connect.comma.ai
```
## Visualize the Replay in the Openpilot UI
To visualize the replay within the openpilot UI, run the following commands:
```bash
tools/replay/replay <route-name>
cd selfdrive/ui && ./ui
```
## Try Radar Point Visualization with Rerun
To visualize radar points, run rp_visualization.py while tools/replay/replay is active.
```bash
tools/replay/replay <route-name>
python3 replay/rp_visualization.py
```
## Work with plotjuggler
If you want to use replay with plotjuggler, you can stream messages by running:
```bash
tools/replay/replay <route-name>
tools/plotjuggler/juggle.py --stream
```
## watch3
watch all three cameras simultaneously from your comma three routes with watch3