DevTekVE
414d397e3f
Wrap the pygame import in a try-except block to catch ImportError. This prevents the script from crashing and provides a clear message prompting the user to install pygame if it's missing. Remove "inputs" package and update "pygame" dependency The "inputs" package has been removed from the lockfile and dependency list, while "pygame" is now included universally without the "dev" extra marker. This change simplifies dependencies and ensures consistency across environments. Update dependencies: replace 'inputs' with 'pygame' Replaced the 'inputs' library with 'pygame' for joystickd dependencies in `pyproject.toml`. Additionally, removed a redundant 'pygame' entry from the general dependencies. Ugly, I know, but soundd is unhappy with joystick Allowing lat with mads Invert steering input for joystick control The steering axis input is now multiplied by -1 to reverse its direction. This ensures correct handling of the left stick's horizontal input, aligning behavior with expected control dynamics. Refactor joystick control to use pygame for broader support Replaced the `inputs` library with `pygame` for joystick handling, providing improved compatibility with Xbox and PlayStation controllers. Added initialization, adaptive mappings, deadzone handling, and enhanced event processing for robust joystick operation. Updated README with dependencies and usage information for Xbox controllers.
openpilot tools
System Requirements
openpilot is developed and tested on Ubuntu 24.04, which is the primary development target aside from the supported embedded hardware.
Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.
Native setup on Ubuntu 24.04 and macOS
1. Clone openpilot
NOTE: This repository uses Git LFS for large files. Ensure you have Git LFS installed and set up before cloning or working with it.
Either do a partial clone for faster download:
git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git
or do a full clone:
git clone --recurse-submodules https://github.com/commaai/openpilot.git
2. Run the setup script
cd openpilot
tools/op.sh setup
3. Git LFS
git lfs pull
4. Activate a python shell
Activate a shell with the Python dependencies installed:
source .venv/bin/activate
5. Build openpilot
scons -u -j$(nproc)
WSL on Windows
Windows Subsystem for Linux (WSL) should provide a similar experience to native Ubuntu. WSL 2 specifically has been reported by several users to be a seamless experience.
Follow these instructions to setup the WSL and install the Ubuntu-24.04 distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See these instructions for running GUI apps.
NOTE: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with LIBGL_ALWAYS_SOFTWARE=1, e.g. LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui.
CTF
Learn about the openpilot ecosystem and tools by playing our CTF.
Directory Structure
├── ubuntu_setup.sh # Setup script for Ubuntu
├── mac_setup.sh # Setup script for macOS
├── cabana/ # View and plot CAN messages from drives or in realtime
├── camerastream/ # Cameras stream over the network
├── joystick/ # Control your car with a joystick
├── lib/ # Libraries to support the tools and reading openpilot logs
├── plotjuggler/ # A tool to plot openpilot logs
├── replay/ # Replay drives and mock openpilot services
├── scripts/ # Miscellaneous scripts
├── serial/ # Tools for using the comma serial
├── sim/ # Run openpilot in a simulator
└── webcam/ # Run openpilot on a PC with webcams