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87 lines
2.4 KiB
87 lines
2.4 KiB
# Replay
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## Replay driving data
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`replay` replays all the messages logged while running openpilot.
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```bash
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# Log in via browser to have access to routes from your comma account
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python tools/lib/auth.py
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# Start a replay
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tools/replay/replay <route-name>
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# Example:
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tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
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# or use --demo to replay the default demo route:
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tools/replay/replay --demo
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# watch the replay with the normal openpilot UI
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cd selfdrive/ui && ./ui
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# or try out a debug visualizer:
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python replay/ui.py
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```
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## usage
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``` bash
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$ tools/replay/replay -h
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Usage: tools/replay/replay [options] route
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Mock openpilot components by publishing logged messages.
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Options:
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-h, --help Displays this help.
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-a, --allow <allow> whitelist of services to send
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-b, --block <block> blacklist of services to send
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-s, --start <seconds> start from <seconds>
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--demo use a demo route instead of providing your own
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--dcam load driver camera
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--ecam load wide road camera
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Arguments:
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route the drive to replay. find your drives at
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connect.comma.ai
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```
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## watch3
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watch all three cameras simultaneously from your comma three routes with watch3
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simply replay a route using the `--dcam` and `--ecam` flags:
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```bash
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# start a replay
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cd tools/replay && ./replay --demo --dcam --ecam
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# then start watch3
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cd selfdrive/ui && ./watch3
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```
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## Stream CAN messages to your device
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Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info.
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In order to run your device as if it was in a car:
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* connect a panda jungle to your PC
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* connect a comma device or panda to the jungle via OBD-C
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* run `can_replay.py`
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``` bash
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batman:replay$ ./can_replay.py -h
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usage: can_replay.py [-h] [route_or_segment_name]
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Replay CAN messages from a route to all connected pandas and jungles
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in a loop.
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positional arguments:
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route_or_segment_name
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The route or segment name to replay. If not
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specified, a default public route will be
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used. (default: None)
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optional arguments:
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-h, --help show this help message and exit
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```
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