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Source commit:13cb725652Original commits: * Sync: `commaai/openpilot:master` into `sunnypilot/sunnypilot:master-new` (#580) * test_processes: update ref logs toafde277* # Conflicts: * # .github/workflows/ui_preview.yaml * # opendbc_repo * # panda * # release/release_files.py * # selfdrive/test/process_replay/ref_commit * # selfdrive/ui/tests/test_ui/run.py * bring back ui.py (#34396) * * bring back uipy * * fix it * * fix * Log satellite count in GpsLocationData (#34395) * * Log satellite count in GpsLocationData * * update refs * * forgot to build * Toyota: allow brake hold (#34394) * toyota okay * fix uv (#34393) * uv fix * Update RELEASES.md * release this month * no need * fix * unused * Longitudinal: Distance button hold to toggle Chill/Experimental Mode * Hyundai: match cancel button panda safety logic (#34390) * * rising edge * * should work * * TODO * * fix * card: fix cruise speed initialization w/ buttons (#34386) * * fix initialize w/ buttons * * what * * comment * VW: switch to common pcmCruise check (#34389) * Update car_specific.py * card: vcruise all in one place (#34387) * * no reason to not be here * * oh this was off by a frame! * * ref * Fix missing visual car dash alerts (#34385) * * fix missing visual dash alerts * * update refs * process_replay: add cast in migrate_longitudinalPlan (#34383) * * Cast * * Something * * Remove newline * process_replay: ignore unknown members in the migration code (#34382) * * Fix the migration for the events * * clean up * clean up * clean up * * no continue * --------- * Co-authored-by: Shane Smiskol <shane@smiskol.com> * Getting rid of openpilot.common.numpy_fast (#34368) * * Got rid openpilot.common.numpy_fast * * fixed some data type erros * * importing numpy instead of importing specific functions * * fixing some numpy importing mistakes * * Update selfdrive/car/cruise.py * --------- * Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * Toyota: remove longitudinal derivative (#34378) * * Update Python packages * * update refs * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Shane Smiskol <shane@smiskol.com> * PlotJuggler: Layout for debugging locationdTemporaryError (#34381) * * PlotJuggler: layout for debugging locationd * * not needed, and codespell doesn't like it * raylib: revert auto fit screen size (#34380) * revert auto fit screen size * Remove release files (conceptually) (#34379) * * Remove release files (conceptually) * * fix * raylib: refactor to implement new App class (#34375) * refactor to implement new App class * [bot] Update Python packages (#34376) * * Update Python packages * * time -> time_helpers * --------- * Co-authored-by: Vehicle Researcher <user@comma.ai> * Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com> * CI: Add missing uppercase_keyboard UI view (#34347) * * add-uppercase-preview * * testing-UI-on-fork * * change back * * add-my-branch * * needs to see sha from fork for test * * fix missing sha * * change back * * get correct named artifact * * try this * * experimenting coordinates * * try these coordinates * * try these coordinates * * draws circles to see touches - changes coordinates * * try these changes * * better coordinates * * click is more centered * * try again * * revert back * * revert these too * * last revert... * Keyboard: add missing control btns to uppercase (#34344) * * add-slash-to uppercase * * Trigger UI preview workflow * Move uds.py (#34374) * * rm uds pt. 1 * * rm uds pt. 2 * * imports * oops need raw * third_party: add raygui (#34369) * swaglog: fix locale dependence (#34367) * encoderd: refactor VideoEncoder::publisher_publish to standardize member variable access (#34342) * remove redundant pointer parameter * modeld: properly release OpenCL context in `__dealloc__` method (#34353) * release OpenCL context in __dealloc__ * release soon * loggerd: typing and remove unused default arg (#34349) * deleter cleanups (#34345)
openpilot in simulator
openpilot implements a bridge that allows it to run in the MetaDrive simulator.
Launching openpilot
First, start openpilot.
# 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