mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-16 22:33:42 +08:00
Jason Wen
9fb9b73620
# Conflicts: # README.md # SConstruct # conftest.py # docs/CARS.md # msgq_repo # opendbc_repo # openpilot/common/params_keys.h # openpilot/common/params_pyx.pyx # openpilot/common/tests/test_swaglog.cc # openpilot/selfdrive/car/card.py # openpilot/selfdrive/car/tests/test_car_interfaces.py # openpilot/selfdrive/car/tests/test_cruise_speed.py # openpilot/selfdrive/car/tests/test_models.py # openpilot/selfdrive/controls/controlsd.py # openpilot/selfdrive/controls/lib/latcontrol_torque.py # openpilot/selfdrive/controls/lib/longitudinal_planner.py # openpilot/selfdrive/controls/plannerd.py # openpilot/selfdrive/controls/radard.py # openpilot/selfdrive/controls/tests/test_longcontrol.py # openpilot/selfdrive/locationd/torqued.py # openpilot/selfdrive/modeld/modeld.py # openpilot/selfdrive/monitoring/dmonitoringd.py # openpilot/selfdrive/monitoring/test_monitoring.py # openpilot/selfdrive/selfdrived/selfdrived.py # openpilot/selfdrive/selfdrived/tests/test_alertmanager.py # openpilot/selfdrive/test/longitudinal_maneuvers/plant.py # openpilot/selfdrive/test/process_replay/migration.py # openpilot/selfdrive/test/process_replay/process_replay.py # openpilot/selfdrive/ui/feedback/feedbackd.py # openpilot/selfdrive/ui/layouts/settings/device.py # openpilot/selfdrive/ui/layouts/settings/toggles.py # openpilot/selfdrive/ui/mici/layouts/onboarding.py # openpilot/selfdrive/ui/onroad/augmented_road_view.py # openpilot/selfdrive/ui/tests/test_soundd.py # openpilot/selfdrive/ui/translations/app.pot # openpilot/selfdrive/ui/translations/app_de.po # openpilot/selfdrive/ui/translations/app_en.po # openpilot/selfdrive/ui/translations/app_es.po # openpilot/selfdrive/ui/translations/app_fr.po # openpilot/selfdrive/ui/translations/app_ja.po # openpilot/selfdrive/ui/translations/app_ko.po # openpilot/selfdrive/ui/translations/app_pt-BR.po # openpilot/selfdrive/ui/translations/app_th.po # openpilot/selfdrive/ui/translations/app_tr.po # openpilot/selfdrive/ui/translations/app_uk.po # openpilot/selfdrive/ui/translations/app_zh-CHS.po # openpilot/selfdrive/ui/translations/app_zh-CHT.po # openpilot/system/athena/athenad.py # openpilot/system/hardware/hardwared.py # openpilot/system/loggerd/deleter.py # openpilot/system/manager/process_config.py # openpilot/system/ui/lib/application.py # panda # pyproject.toml # tinygrad_repo # uv.lock
openpilot in simulator
openpilot implements a bridge that allows it to run in the MetaDrive simulator.
Launching openpilot
First, start openpilot.
# Run locally
./openpilot/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 openpilot/tools/sim:
./run_bridge.py