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> |
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lib | ||
README.md | ||
__init__.py | ||
can_replay.py | ||
ui.py | ||
unlog_ci_segment.py |
README.md
Replay
Replay driving data
replay
replays all the messages logged while running openpilot.
# Log in via browser to have access to non-public routes
python lib/auth.py
# Start a replay
selfdrive/ui/replay/replay <route-name>
# Example:
# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
# or use --demo to replay the default demo route:
# selfdrive/ui/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
$ selfdrive/ui/replay/replay -h
Usage: selfdrive/ui/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 selfdrive/ui/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.
can_replay.py
is a convenient script for when any CAN data will do.
In order to replay specific route:
MOCK=1 selfdrive/boardd/tests/boardd_old.py
# In another terminal:
selfdrive/ui/replay/replay <route-name>