openpilot tools
============
tools to facilitate development and debugging of openpilot
Table of Contents
============
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* [Requirements ](#requirements )
* [Setup ](#setup )
* [Tool examples ](#tool-examples )
* [Replay driving data ](#replay-driving-data )
* [Debug car controls ](#debug-car-controls )
* [Stream replayed CAN messages to EON ](#stream-replayed-can-messages-to-eon )
* [Welcomed contributions ](#welcomed-contributions )
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Requirements
============
openpilot tools and the following setup steps are developed and tested on Ubuntu 20.04, MacOS 10.14.2 and, Python 3.8.2.
Setup
============
1. Run `ubuntu_setup.sh` or `mac_setup.sh` , and make sure that everything completed correctly
2. Compile openpilot by running ```scons``` in the openpilot directory
or alternatively run ```./openpilot_build.sh``` (uses a pre-configured docker container)
3. Try out some tools!
Tool examples
============
Replay driving data
-------------
**Hardware needed**: none
`unlogger.py` replays data collected with [dashcam ](https://github.com/commaai/openpilot/tree/dashcam ) or [openpilot ](https://github.com/commaai/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
```python
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 ](panda.comma.ai ), [giraffe ](https://comma.ai/shop/products/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:
BASEDIR=$(pwd) selfdrive/boardd/boardd
# In another terminal:
python carcontrols/debug_controls.py
```
Stream replayed CAN messages to EON
-------------
**Hardware needed**: 2 x [panda ](panda.comma.ai ), [debug board ](https://comma.ai/shop/products/panda-debug-board/ ), [EON ](https://comma.ai/shop/products/eon-gold-dashcam-devkit/ ).
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 >
```
Welcomed contributions
=============
* Documentation: code comments, better tutorials, etc..
* Support for other platforms other than Ubuntu 20.04.
* 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.
