mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 08:14:00 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix up replay docs

Browse Source 
old-commit-hash: 07d23a1db949adf41c0fdc5711d7d436f323141a
This commit is contained in:
Adeeb Shihadeh
2021-09-16 17:01:45 -07:00
parent b4adcd2e56
commit 9b50379537
2 changed files with 50 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/replay/README.md
+49 -47
View File
@@ -1,67 +1,69 @@
Stream CAN messages to your device
-------------
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.
`can_replay.py` is a convenient script for when any CAN data will do.
In order to replay specific route:
```bash
MOCK=1 selfdrive/boardd/tests/boardd_old.py
# In another terminal:
python replay/unlogger.py <route-name> <path-to-data-directory>
```
Replay driving data
-------------
**Hardware needed**: none
`unlogger.py` replays data collected with [dashcam](https://github.com/commaai/openpilot/tree/dashcam) or [openpilot](https://github.com/commaai/openpilot).
`unlogger.py` replays all the messages logged while running openpilot.
Unlogger with remote data:
```
```bash
# Log in via browser
python lib/auth.py
# Start unlogger
python replay/unlogger.py <route-name>
#Example:
#python replay/unlogger.py '3533c53bb29502d1|2019-12-10--01-13-27'
# Example:
# python replay/unlogger.py '3533c53bb29502d1|2019-12-10--01-13-27'
# In another terminal you can run a debug visualizer:
python replay/ui.py # Define the environmental variable HORIZONTAL is the ui layout is too tall
# Or run the normal openpilot UI
cd selffdrive/ui && ./ui
```
Unlogger with local data downloaded from device or https://connect.comma.ai:
```
python replay/unlogger.py <route-name> <path-to-data-directory>
#Example:
#python replay/unlogger.py '99c94dc769b5d96e|2018-11-14--13-31-42' /home/batman/unlogger_data
#Within /home/batman/unlogger_data:
# 99c94dc769b5d96e|2018-11-14--13-31-42--0--fcamera.hevc
# 99c94dc769b5d96e|2018-11-14--13-31-42--0--rlog.bz2
# ...
```
![Imgur](https://i.imgur.com/Yppe0h2.png)
LogReader with remote data
## usage
``` bash
$ ./unlogger.py -h
usage: unlogger.py [-h] [--no-loop] [--min | --enabled ENABLED] [--disabled DISABLED] [--tl PUBLISH_TIME_LENGTH] [--no-realtime]
[--no-interactive] [--bind-early] [--no-visionipc] [--start-time START_TIME]
[route_name] [data_dir] [address_mapping [address_mapping ...]]
```python
from tools.lib.logreader import LogReader
from tools.lib.route import Route
route = Route('3533c53bb29502d1|2019-12-10--01-13-27')
log_paths = route.log_paths()
events_seg0 = list(LogReader(log_paths[0]))
print(len(events_seg0), 'events logged in first segment')
Mock openpilot components by publishing logged messages.
positional arguments:
route_name The route whose messages will be published. (default: None)
data_dir Path to directory in which log and camera files are located. (default: None)
address_mapping Pairs <service>=<zmq_addr> to publish <service> on <zmq_addr>. (default: None)
optional arguments:
-h, --help show this help message and exit
--no-loop Stop at the end of the replay. (default: False)
--min
--enabled ENABLED
--disabled DISABLED
--tl PUBLISH_TIME_LENGTH
Length of interval in event time for which messages should be published. (default: None)
--no-realtime Publish messages as quickly as possible instead of realtime. (default: True)
--no-interactive Disable interactivity. (default: True)
--bind-early Bind early to avoid dropping messages. (default: False)
--no-visionipc Do not output video over visionipc (default: False)
--start-time START_TIME
Seek to this absolute time (in seconds) upon starting playback. (default: 0.0)
```
Stream replayed CAN messages to EON
-------------
**Hardware needed**: 2 x [panda](panda.comma.ai), [debug board](https://comma.ai/shop/products/panda-debug-board/), [EON](https://comma.ai/shop/products/eon-gold-dashcam-devkit/).
It is possible to replay CAN messages as they were recorded and forward them to a EON. 
Connect 2 pandas to the debug board. A panda connects to the PC, the other panda connects to the EON.
Usage:
```
# With MOCK=1 boardd will read logged can messages from a replay and send them to the panda.
MOCK=1 selfdrive/boardd/tests/boardd_old.py
# In another terminal:
python replay/unlogger.py <route-name> <path-to-data-directory>
```
![Imgur](https://i.imgur.com/AcurZk8.jpg)