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100 lines
3.5 KiB
100 lines
3.5 KiB
# Cabana
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Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai).
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## Usage Instructions
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```bash
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$ ./cabana -h
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Usage: ./cabana [options] route
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Options:
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-h, --help Displays help on commandline options.
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--help-all Displays help including Qt specific options.
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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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--qcam load qcamera
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--ecam load wide road camera
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--msgq read can messages from msgq
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--panda read can messages from panda
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--panda-serial <panda-serial> read can messages from panda with given serial
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--socketcan <socketcan> read can messages from given SocketCAN device
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--zmq <ip-address> read can messages from zmq at the specified ip-address
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messages
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--data_dir <data_dir> local directory with routes
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--no-vipc do not output video
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--dbc <dbc> dbc file to open
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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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## Examples
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### Running Cabana in Demo Mode
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To run Cabana using a built-in demo route, use the following command:
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```shell
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cabana --demo
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```
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### Loading a Specific Route
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To load a specific route for replay, provide the route as an argument:
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```shell
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cabana "a2a0ccea32023010|2023-07-27--13-01-19"
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```
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Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
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### Running Cabana with multiple cameras
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To run Cabana with multiple cameras, use the following command:
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```shell
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cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
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```
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### Streaming CAN Messages from a comma Device
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[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
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```shell
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cd /data/openpilot/cereal/messaging/
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./bridge &
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```
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Then Run Cabana with the device's IP address:
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```shell
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cabana --zmq <ipaddress>
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```
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Replace <ipaddress> with your comma device's IP address.
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While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings.
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After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route.
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### Streaming CAN Messages from Panda
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To read CAN messages from a connected Panda, use the following command:
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```shell
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cabana --panda
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```
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### Using the Stream Selector Dialog
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If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream.
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```shell
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cabana
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```
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## Additional Information
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For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
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