mirror of https://github.com/commaai/openpilot.git
f0ae0c34cd
* Added python VisionBuf class * fixed property names * Bump cereal |
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| .. | ||
| lib | ||
| tests | ||
| .gitignore | ||
| README.md | ||
| SConscript | ||
| __init__.py | ||
| camera.cc | ||
| camera.h | ||
| can_replay.py | ||
| consoleui.cc | ||
| consoleui.h | ||
| filereader.cc | ||
| filereader.h | ||
| framereader.cc | ||
| framereader.h | ||
| logreader.cc | ||
| logreader.h | ||
| main.cc | ||
| replay.cc | ||
| replay.h | ||
| route.cc | ||
| route.h | ||
| ui.py | ||
| unlog_ci_segment.py | ||
| util.cc | ||
| util.h | ||
README.md
Replay
Replay driving data
replay replays all the messages logged while running openpilot.
# Log in via browser to have access to routes from your comma account
python tools/lib/auth.py
# Start a replay
tools/replay/replay <route-name>
# Example:
tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
# or use --demo to replay the default demo route:
tools/replay/replay --demo
# watch the replay with the normal openpilot UI
cd selfdrive/ui && ./ui
# or try out a debug visualizer:
python replay/ui.py
usage
$ tools/replay/replay -h
Usage: tools/replay/replay [options] route
Mock openpilot components by publishing logged messages.
Options:
-h, --help Displays this help.
-a, --allow <allow> whitelist of services to send
-b, --block <block> blacklist of services to send
-s, --start <seconds> start from <seconds>
--demo use a demo route instead of providing your own
--dcam load driver camera
--ecam load wide road camera
Arguments:
route the drive to replay. find your drives at
connect.comma.ai
watch3
watch all three cameras simultaneously from your comma three routes with watch3
simply replay a route using the --dcam and --ecam flags:
# start a replay
cd tools/replay && ./replay --demo --dcam --ecam
# then start watch3
cd selfdrive/ui && ./watch3
Stream CAN messages to your device
Replay CAN messages as they were recorded using a panda jungle. The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the jungle repo for more info.
In order to run your device as if it was in a car:
- connect a panda jungle to your PC
- connect a comma device or panda to the jungle via OBD-C
- run
can_replay.py
batman:replay$ ./can_replay.py -h
usage: can_replay.py [-h] [route_or_segment_name]
Replay CAN messages from a route to all connected pandas and jungles
in a loop.
positional arguments:
route_or_segment_name
The route or segment name to replay. If not
specified, a default public route will be
used. (default: None)
optional arguments:
-h, --help show this help message and exit