This is the file to be started with to build the complete simulation of Openpilot on Stunt Rally. The whole project is divided into three modules: CAN streaming, Workbench and Racing game.

This repo contains all the files needed to stream CAN messages to EON (the dashcam). Openpilot is the directory forked from https://github.com/commaai/openpilot This is the self-driving system embedded in EON. Inside Openpilot directory, clone Openpilot-tools from https://github.com/commaai/openpilot-tools This directory helps to simulate the periphery connections of a physical car with EON

If you'd like to use Ubuntu with pre-installed dependencies and directories, find the disk image here: If you'd like to install the dependencies by yourself, follow the instructions here: The installation is indicated in https://github.com/commaai/openpilot-tools (Even though the official github says mentioned the dependencies for Mac, the environment is more friendly with Ubuntu 16.04) Make sure install the requirements for both Openpilot and Openpilot-tools.

1. As indicated in Openpilot-tools, in order to stream the CAN messages to EON, you need pre-existing logger files. Openpilot provides a one-minute logger file they recorded when the vehicle running highway straightly. Which can be retrieved from https://github.com/commaai/comma2k19/tree/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47 I saved this logger file in the directory: unlogger_data However, this logger file is not enough to simulate all the traffic conditions for EON. More logger files are needed in the future.
2. The minor changes I made to this project:

• I changed the Openpilot debug UI from vertical view to horizontal view so that it can be displayed on laptop.
• Instead of boardd.py , I created three boardd.py files namded as boardd_doge.py and boardd_original.py in openpilot/openpilot_tools/replay/ . boardd_original.py and boardd.py are the same. boardd_doge.py creates an array to store 100 CAN messages and cycles 100 CAN messages to sustain a stable speed for EON. From our experiment, the minimum of CAN messages needed to maintain a relatively stable state for EON is 100.

3. To stream the CAN messages, move unlogger_data to your desired directory, it does not necessarily placed together with Openpilot directory. But make sure you know the file path to unlogger_data.

• For example: if unlogger_data is placed in my home directory (and my user name is wendy), the file path is home/wendy/unlogger_ata

4. To start streaming CAN messages:

• First make sure to connect all the caples with Panda and EON, as indicated in Openpilot repo. Notice that do not turn on the power switch on the debugging board before your computer recognizes EON as the connection may not be detected by you computer when the power switch is toggled to ON (this is a weird problem in my Ubuntu virtual machine). After your computer pops up a window says USB connection is detected, turn on the power switch. You can also turn on the ignt switch now.
• Open a terminal, under openpilot_tools directory, input MOCK=1 replay/boardd.py. This should generate a line saying can init done, which indicates that EON recognize your computer as a car
• Open another terminal, under openpilot_tools directory, input python replay/unlogger.py <logger_file name> <logger_file path>. For example, if I want to stream the the logger files in unlogger_data stored in my home directory, I need to type python replay/unlogger.py 'b0c9d2329ad1606b|2018-08-02--08-34-47' /home/wendy/unlogger_datad

1. More CAN messages are needed to simulate different traffic conditions for Openpilot.

1. The Openpilot and Openpilot-tools directories in this file is a few commits behind the current official repo. (I cloned the two January 2019) It seems that the development group just added a few features to the current repos, but they shouldn't affect the main functionaily.
2. openpilot/openpilot-tools/cereal was cloned from its repo and cannot be directly accessed in this repo. Please replace this folder as its official repo.