@ -58,7 +58,7 @@ All openpilot services can run as usual on a PC without requiring special hardwa
With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
You can also run openpilot in simulation [with the MetaDrive simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
@ -99,7 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><ahref="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<ahref="https://www.youtube.com/watch?v=U2fOCmcQ8hw"target="_blank"><imgheight="18px"src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><ahref="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<ahref="https://www.youtube.com/watch?v=U2fOCmcQ8hw"target="_blank"><imgheight="18px"src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><ahref="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<ahref="https://youtu.be/0dwpAHiZgFo"target="_blank"><imgheight="18px"src="assets/icon-youtube.svg"></img></a>|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><ahref="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<ahref="https://youtu.be/0dwpAHiZgFo"target="_blank"><imgheight="18px"src="assets/icon-youtube.svg"></img></a>|
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai).
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/).
### Getting Started
### Getting Started
* Setup your [development environment](../tools/)
* Setup your [development environment](../tools/)
* Join our [Discord](https://discord.comma.ai)
* Read about the [development workflow](WORKFLOW.md)
* Make sure you have a [GitHub account](https://github.com/signup/free)
* Join our [Discord](https://discord.comma.ai)
* Fork [our repositories](https://github.com/commaai) on GitHub
* Docs are at https://docs.comma.ai and https://blog.comma.ai
### What contributions are we looking for?
**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all developoment is towards that goal.
The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
If a PR offers *some* value but will take lots of time to get merged, it will be closed.
Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
* Write some documentation
* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22)
### What do I need to contribute?
A lot of openpilot work requires only a PC, and some requires a comma device.
Most car-related contributions require access to that car, plus a comma device installed in the car.
## Pull Requests
## Pull Requests
Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
A good pull request has all of the following:
A good pull request has all of the following:
* a clearly stated purpose
* a clearly stated purpose
@ -37,12 +57,10 @@ We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-f
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
## Testing
## Contributing without Code
### Automated Testing
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
### Code Style and Linting
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
* Report bugs in GitHub issues.
* Report driving issues in the `#driving-feedback` Discord channel.
* Consider opting into driver camera uploads to improve the driver monitoring model.
* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
Aside from the ML models, most tools used for openpilot development are in this repo.
Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development.
## Quick start
```bash
# get the latest stuff
git pull
git submodule update --init --recursive
# update dependencies
tools/ubuntu_setup.sh
# build everything
scons -j$(nproc)
# build just the ui with either of these
scons -j8 selfdrive/ui/
cd selfdrive/ui/ && scons -u -j8
# test everything
pytest .
# test just logging services
cd system/loggerd && pytest .
# run the linter
pre-commit run --all
```
## Testing
### Automated Testing
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
### Code Style and Linting
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
@ -45,17 +45,6 @@ In order to use a joystick over the network, we need to run joystickd locally fr
tools/joystick/joystickd.py
tools/joystick/joystickd.py
```
```
### Web joystick on your mobile device
A browser-based virtual joystick designed for touch screens. Starts automatically when installed on comma body (non-car robotics platform).
For cars, start the web joystick service manually via SSH before starting the car.
```shell
tools/joystick/web.py
```
After starting the car/body, open the web joystick app at this URL: `http://[comma three IP address]:5000`
---
---
Now start your car and openpilot should go into joystick mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell.
Now start your car and openpilot should go into joystick mode with an alert on startup! The status of the axes will display on the alert, while button statuses print in the shell.
openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive) or [CARLA simulator](https://carla.org/).
openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
CARLA is also partially supported, though the performance is not great. It needs to be manually installed with:
```bash
poetry install --with=carla
```
openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system.
For this case, we have the simulator in low quality by default.
You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system.
### Launching Carla
Start Carla simulator and bridge processes located in tools/sim:
``` bash
# Terminal 1
./start_carla.sh
# Terminal 2
./run_bridge.py --simulator carla
```
## Further Reading
The following resources contain more details and troubleshooting tips.
* [CARLA on the openpilot wiki](https://github.com/commaai/openpilot/wiki/CARLA)
Shane Smiskol
2 years ago