![]() * framework for updates * File caching * update .gitignore * update .gitignore * Store in home tmp directory * fix bugs in old code, add tests * add test * revert bug * Fixed some bugs, more testing * doing some style fixes * Update caching with lenghts * doing some style fixes * doing some style fixes * doing some style fixes * subrepositories * try to fix the tests * change submodules back * doing some style fixes * if we don't cache, we don't cache length either * fix curls * make sure tests run in ci * Cleanup tests * Use int for cache flag * fix linter Co-authored-by: Willem Melching <willem.melching@gmail.com> |
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.. | ||
carcontrols | ||
clib | ||
lib | ||
livedm | ||
misc | ||
nui | ||
replay | ||
scripts | ||
sim | ||
ssh | ||
streamer | ||
webcam | ||
__init__.py | ||
LICENSE | ||
mac_setup.sh | ||
openpilot_build.sh | ||
openpilot_env.sh | ||
README.md | ||
steer.gif | ||
stream.gif | ||
ubuntu_setup.sh |
openpilot tools
tools to facilitate development and debugging of openpilot
Table of Contents
Requirements
openpilot tools and the following setup steps are developed and tested on Ubuntu 16.04, MacOS 10.14.2 and Python 3.8.2.
Setup
-
Run
ubuntu_setup.sh
ormac_setup.sh
, make sure everything completed correctly -
Compile openpilot by running
scons
in the openpilot directory or alternatively run./openpilot_build.sh
(uses a pre-configured docker container) -
Try out some tools!
Tool examples
Replay driving data
Hardware needed: none
unlogger.py
replays data collected with dashcam or openpilot.
Unlogger with remote data:
# Log in via browser
python lib/auth.py
# Start unlogger
python replay/unlogger.py <route-name>
#Example:
#python replay/unlogger.py '3533c53bb29502d1|2019-12-10--01-13-27'
# In another terminal you can run a debug visualizer:
python replay/ui.py # Define the environmental variable HORIZONTAL is the ui layout is too tall
Unlogger with local data downloaded from device or https://my.comma.ai:
python replay/unlogger.py <route-name> <path-to-data-directory>
#Example:
#python replay/unlogger.py '99c94dc769b5d96e|2018-11-14--13-31-42' /home/batman/unlogger_data
#Within /home/batman/unlogger_data:
# 99c94dc769b5d96e|2018-11-14--13-31-42--0--fcamera.hevc
# 99c94dc769b5d96e|2018-11-14--13-31-42--0--rlog.bz2
# ...
LogReader with remote data
from tools.lib.logreader import LogReader
from tools.lib.route import Route
route = Route('3533c53bb29502d1|2019-12-10--01-13-27')
log_paths = route.log_paths()
events_seg0 = list(LogReader(log_paths[0]))
print(len(events_seg0), 'events logged in first segment')
Debug car controls
Hardware needed: panda, giraffe, joystick
Use the panda's OBD-II port to connect with your car and a usb cable to connect the panda to your pc. Also, connect a joystick to your pc.
joystickd.py
runs a deamon that reads inputs from a joystick and publishes them over zmq.
boardd
sends the CAN messages from your pc to the panda.
debug_controls
is a mocked version of controlsd.py
and uses input from a joystick to send controls to your car.
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.
Usage:
python carcontrols/joystickd.py
# In another terminal:
PARAMS_PATH=persist/params selfdrive/boardd/boardd
# In another terminal:
python carcontrols/debug_controls.py
Stream replayed CAN messages to EON
Hardware needed: 2 x panda, debug board, EON.
It is possible to replay CAN messages as they were recorded and forward them to a EON. Connect 2 pandas to the debug board. A panda connects to the PC, the other panda connects to the EON.
Usage:
# With MOCK=1 boardd will read logged can messages from a replay and send them to the panda.
MOCK=1 selfdrive/boardd/tests/boardd_old.py
# In another terminal:
python replay/unlogger.py <route-name> <path-to-data-directory>
Stream EON video data to a PC
Hardware needed: EON, comma Smays.
You can connect your EON to your pc using the Ethernet cable provided with the comma Smays and you'll be able to stream data from your EON, in real time, with low latency. A useful application is being able to stream the raw video frames at 20fps, as captured by the EON's camera.
Usage:
# ssh into the eon and run loggerd with the flag "--stream". In ../selfdrive/manager.py you can change:
# ...
# "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
# ...
# with:
# ...
# "loggerd": ("selfdrive/loggerd", ["./loggerd", "--stream"]),
# ...
# On the PC:
# To receive frames from the EON and re-publish them. Set PYGAME env variable if you want to display the video stream
python streamer/streamerd.py
Welcomed contributions
- Documentation: code comments, better tutorials, etc..
- Support for other platforms other than Ubuntu 16.04.
- 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. - More tools: anything that you think might be helpful to others.