mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-05 08:16:06 +08:00
Adeeb Shihadeh
70 lines
2.5 KiB
Markdown
70 lines
2.5 KiB
Markdown
Stream CAN messages to your device
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-------------
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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.
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`can_replay.py` is a convenient script for when any CAN data will do.
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In order to replay specific route:
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```bash
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MOCK=1 selfdrive/boardd/tests/boardd_old.py
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# In another terminal:
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python replay/unlogger.py <route-name> <path-to-data-directory>
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```
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Replay driving data
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-------------
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`unlogger.py` replays all the messages logged while running openpilot.
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Unlogger with remote data:
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```bash
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# Log in via browser
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python lib/auth.py
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# Start unlogger
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python replay/unlogger.py <route-name>
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# Example:
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# python replay/unlogger.py '3533c53bb29502d1|2019-12-10--01-13-27'
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# In another terminal you can run a debug visualizer:
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python replay/ui.py # Define the environmental variable HORIZONTAL is the ui layout is too tall
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# Or run the normal openpilot UI
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cd selffdrive/ui && ./ui
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```
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## usage
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``` bash
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$ ./unlogger.py -h
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usage: unlogger.py [-h] [--no-loop] [--min | --enabled ENABLED] [--disabled DISABLED] [--tl PUBLISH_TIME_LENGTH] [--no-realtime]
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[--no-interactive] [--bind-early] [--no-visionipc] [--start-time START_TIME]
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[route_name] [data_dir] [address_mapping [address_mapping ...]]
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Mock openpilot components by publishing logged messages.
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positional arguments:
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route_name The route whose messages will be published. (default: None)
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data_dir Path to directory in which log and camera files are located. (default: None)
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address_mapping Pairs <service>=<zmq_addr> to publish <service> on <zmq_addr>. (default: None)
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optional arguments:
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-h, --help show this help message and exit
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--no-loop Stop at the end of the replay. (default: False)
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--min
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--enabled ENABLED
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--disabled DISABLED
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--tl PUBLISH_TIME_LENGTH
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Length of interval in event time for which messages should be published. (default: None)
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--no-realtime Publish messages as quickly as possible instead of realtime. (default: True)
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--no-interactive Disable interactivity. (default: True)
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--bind-early Bind early to avoid dropping messages. (default: False)
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--no-visionipc Do not output video over visionipc (default: False)
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--start-time START_TIME
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Seek to this absolute time (in seconds) upon starting playback. (default: 0.0)
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```
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