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150 lines
4.9 KiB
150 lines
4.9 KiB
# Replay
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`replay` allows you to simulate a driving session by replaying all messages logged during the use of openpilot. This provides a way to analyze and visualize system behavior as if it were live.
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## Setup
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Before starting a replay, you need to authenticate with your comma account using `auth.py`. This will allow you to access your routes from the server.
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```bash
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# Authenticate to access routes from your comma account:
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python3 tools/lib/auth.py
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```
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## Replay a Remote Route
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You can replay a route from your comma account by specifying the route name.
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```bash
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# Start a replay with a specific route:
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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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# Replay the default demo route:
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tools/replay/replay --demo
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```
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## Replay a Local Route
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To replay a route stored locally on your machine, specify the route name and provide the path to the directory where the route files are stored.
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```bash
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# Replay a local route
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tools/replay/replay <route-name> --data_dir="/path_to/route"
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# Example:
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# If you have a local route stored at /path_to_routes with segments like:
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# a2a0ccea32023010|2023-07-27--13-01-19--0
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# a2a0ccea32023010|2023-07-27--13-01-19--1
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# You can replay it like this:
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tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes"
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```
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## Send Messages via ZMQ
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By default, replay sends messages via MSGQ. To switch to ZMQ, set the ZMQ environment variable.
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```bash
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# Start replay and send messages via ZMQ:
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ZMQ=1 tools/replay/replay <route-name>
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```
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## Usage
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For more information on available options and arguments, use the help command:
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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 (comma-separated)
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-b, --block <block> blacklist of services to send (comma-separated)
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-c, --cache <n> cache <n> segments in memory. default is 5
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-s, --start <seconds> start from <seconds>
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-x <speed> playback <speed>. between 0.2 - 3
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--demo use a demo route instead of providing your own
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--auto Auto load the route from the best available source (no video):
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internal, openpilotci, comma_api, car_segments, testing_closet
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--data_dir <data_dir> local directory with routes
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--prefix <prefix> set OPENPILOT_PREFIX
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--dcam load driver camera
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--ecam load wide road camera
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--no-loop stop at the end of the route
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--no-cache turn off local cache
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--qcam load qcamera
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--no-hw-decoder disable HW video decoding
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--no-vipc do not output video
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--all do output all messages including uiDebug, userFlag.
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this may causes issues when used along with UI
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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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## Visualize the Replay in the openpilot UI
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To visualize the replay within the openpilot UI, run the following commands:
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```bash
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tools/replay/replay <route-name>
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cd selfdrive/ui && ./ui
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```
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## Try Radar Point Visualization with Rerun
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To visualize radar points, run rp_visualization.py while tools/replay/replay is active.
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```bash
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tools/replay/replay <route-name>
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python3 replay/rp_visualization.py
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```
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## Work with plotjuggler
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If you want to use replay with plotjuggler, you can stream messages by running:
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```bash
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tools/replay/replay <route-name>
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tools/plotjuggler/juggle.py --stream
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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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