mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-20 09:12:05 +08:00
Jason Wen
7b294d9763
# Conflicts: # .gitmodules # README.md # cereal/services.py # msgq_repo # opendbc~HEAD # opendbc~commaai_openpilot_master # panda # selfdrive/car/__init__.py # selfdrive/car/chrysler/carcontroller.py # selfdrive/car/honda/carcontroller.py # selfdrive/car/hyundai/carcontroller.py # selfdrive/car/hyundai/hyundaican.py # selfdrive/car/interfaces.py # selfdrive/car/toyota/carcontroller.py # selfdrive/car/volkswagen/carcontroller.py # selfdrive/controls/lib/drive_helpers.py # selfdrive/controls/radard.py # selfdrive/locationd/paramsd.py # selfdrive/locationd/torqued.py # selfdrive/ui/translations/main_es.ts # system/athena/athenad.py Merge branch 'upstream/opendbc/master' into sync-20240802 # Conflicts: # opendbc/dbc/generator/honda/_dual_nidec_common.dbc # opendbc/dbc/generator/honda/honda_accord_touring_2016_can.dbc # opendbc/dbc/generator/honda/honda_accord_touring_V6_2016_can.dbc # opendbc/dbc/generator/honda/honda_accord_touring_hybrid_2017_can.dbc # opendbc/dbc/generator/toyota/_sp_debug_toyota.dbc
openpilot in simulator
openpilot implements a bridge that allows it to run in the MetaDrive simulator.
Launching openpilot
First, start openpilot. Note that you will either need a mapbox token (set with export MAPBOX_TOKEN="1234"), or to disable mapsd with export BLOCK=mapsd
# Run locally
./tools/sim/launch_openpilot.sh
Bridge usage
$ ./run_bridge.py -h
usage: run_bridge.py [-h] [--joystick] [--high_quality] [--dual_camera]
Bridge between the simulator and openpilot.
options:
-h, --help show this help message and exit
--joystick
--high_quality
--dual_camera
Bridge Controls:
- To engage openpilot press 2, then press 1 to increase the speed and 2 to decrease.
- To disengage, press "S" (simulates a user brake)
All inputs:
| key | functionality |
|------|-----------------------|
| 1 | Cruise Resume / Accel |
| 2 | Cruise Set / Decel |
| 3 | Cruise Cancel |
| r | Reset Simulation |
| i | Toggle Ignition |
| q | Exit all |
| wasd | Control manually |
MetaDrive
Launching Metadrive
Start bridge processes located in tools/sim:
./run_bridge.py