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commaai / openpilot

openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system in 275+ supported cars.
https://comma.ai/openpilot
MIT License
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Use Webcam tool to run Openpilot #21008

Closed LIHaoran-good closed 3 years ago

LIHaoran-good commented 3 years ago

Describe the bug I use the webcam tool to run openpilot on PC. We refer to the guideline and connected the PC to two web cameras and CAN card(We use CAN card instead of Panda). When input "PASSIVE=0 NOSENSOR=1 USE_WEBCAM=1 ./manager.py", report " Connecting to panda starting python selfdrive.loggerd.uploader deviceState: Reader was evicted, reconnecting "Error transferring https://api.commadotai.com/v1/devices/UnregisteredDevice/owner - server replied: NOT FOUND" "Error transferring https://api.commadotai.com/v1.1/devices/UnregisteredDevice/ - server replied: NOT FOUND"

Details error reported below :

(base) li@li-HD632-H81C:~/openpilot/selfdrive/manager$ PASSIVE=0 NOSENSOR=1 USE_WEBCAM=1 ./manager.py System time valid generating your personal RSA key Generating RSA private key, 2048 bit long modulus (2 primes) ......................+++++ ..........................................................................................................................+++++ e is 65537 (0x010001) writing RSA key getting pilotauth Unable to register device, got 403 starting process ui preimporting selfdrive.locationd.calibrationd preimporting selfdrive.controls.controlsd Type conversion already registered from type QList<QPair<QByteArray,QByteArray> > to type QtMetaTypePrivate::QSequentialIterableImpl preimporting selfdrive.loggerd.deleter preimporting selfdrive.logmessaged preimporting selfdrive.pandad preimporting selfdrive.locationd.paramsd preimporting selfdrive.controls.plannerd preimporting selfdrive.controls.radard preimporting selfdrive.thermald.thermald preimporting selfdrive.loggerd.uploader manager start {'environ': environ({'PASSIVE': '0', 'USE_WEBCAM': '1', 'NOSENSOR': '1', 'SHELL': '/bin/bash', 'SESSION_MANAGER': 'local/li-HD632-H81C:@/tmp/.ICE-unix/1569,unix/li-HD632-H81C:/tmp/.ICE-unix/1569', 'QT_ACCESSIBILITY': '1', 'COLORTERM': 'truecolor', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'CONDA_EXE': '/home/li/anaconda3/bin/conda', '_CE_M': '', 'PKG_CONFIG_PATH': '/usr/local/lib/pkgconfig::/usr/local/lib/pkgconfig', 'LC_ADDRESS': 'zh_CN.UTF-8', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'LC_NAME': 'zh_CN.UTF-8', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'XMODIFIERS': '@im=ibus', 'DESKTOP_SESSION': 'ubuntu', 'LC_MONETARY': 'zh_CN.UTF-8', 'SSH_AGENT_PID': '1540', 'GTK_MODULES': 'gail:atk-bridge', 'DBUS_STARTER_BUS_TYPE': 'session', 'PWD': '/home/li/openpilot/selfdrive/manager', 'LOGNAME': 'li', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XDG_SESSION_TYPE': 'x11', 'CONDA_PREFIX': '/home/li/anaconda3', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'WINDOWPATH': '2', 'HOME': '/home/li', 'USERNAME': 'li', 'IM_CONFIG_PHASE': '1', 'LC_PAPER': 'zh_CN.UTF-8', 'LANG': 'en_US.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:.tar=01;31:.tgz=01;31:.arc=01;31:.arj=01;31:.taz=01;31:.lha=01;31:.lz4=01;31:.lzh=01;31:.lzma=01;31:.tlz=01;31:.txz=01;31:.tzo=01;31:.t7z=01;31:.zip=01;31:.z=01;31:.dz=01;31:.gz=01;31:.lrz=01;31:.lz=01;31:.lzo=01;31:.xz=01;31:.zst=01;31:.tzst=01;31:.bz2=01;31:.bz=01;31:.tbz=01;31:.tbz2=01;31:.tz=01;31:.deb=01;31:.rpm=01;31:.jar=01;31:.war=01;31:.ear=01;31:.sar=01;31:.rar=01;31:.alz=01;31:.ace=01;31:.zoo=01;31:.cpio=01;31:.7z=01;31:.rz=01;31:.cab=01;31:.wim=01;31:.swm=01;31:.dwm=01;31:.esd=01;31:.jpg=01;35:.jpeg=01;35:.mjpg=01;35:.mjpeg=01;35:.gif=01;35:.bmp=01;35:.pbm=01;35:.pgm=01;35:.ppm=01;35:.tga=01;35:.xbm=01;35:.xpm=01;35:.tif=01;35:.tiff=01;35:.png=01;35:.svg=01;35:.svgz=01;35:.mng=01;35:.pcx=01;35:.mov=01;35:.mpg=01;35:.mpeg=01;35:.m2v=01;35:.mkv=01;35:.webm=01;35:.ogm=01;35:.mp4=01;35:.m4v=01;35:.mp4v=01;35:.vob=01;35:.qt=01;35:.nuv=01;35:.wmv=01;35:.asf=01;35:.rm=01;35:.rmvb=01;35:.flc=01;35:.avi=01;35:.fli=01;35:.flv=01;35:.gl=01;35:.dl=01;35:.xcf=01;35:.xwd=01;35:.yuv=01;35:.cgm=01;35:.emf=01;35:.ogv=01;35:.ogx=01;35:.aac=00;36:.au=00;36:.flac=00;36:.m4a=00;36:.mid=00;36:.midi=00;36:.mka=00;36:.mp3=00;36:.mpc=00;36:.ogg=00;36:.ra=00;36:.wav=00;36:.oga=00;36:.opus=00;36:.spx=00;36:*.xspf=00;36:', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'VTE_VERSION': '6003', 'CONDA_PROMPT_MODIFIER': '(base) ', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/f1d54aa4_5e2d_4cec_bef4_5abff7816fad', 'INVOCATION_ID': 'e97091b69c6a4a1491f3cec1e4d6a8eb', 'MANAGERPID': '1370', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'XDG_SESSION_CLASS': 'user', 'PYTHONPATH': '/home/li/openpilot', 'TERM': 'xterm-256color', 'LC_IDENTIFICATION': 'zh_CN.UTF-8', '_CE_CONDA': '', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'li', 'GNOME_TERMINAL_SERVICE': ':1.136', 'CONDA_SHLVL': '1', 'DISPLAY': ':1', 'SHLVL': '1', 'LC_TELEPHONE': 'zh_CN.UTF-8', 'QT_IM_MODULE': 'ibus', 'LC_MEASUREMENT': 'zh_CN.UTF-8', 'DBUS_STARTER_ADDRESS': 'unix:path=/run/user/1000/bus,guid=8652915b4cdf3b6bd122c95560ab1153', 'CONDA_PYTHON_EXE': '/home/li/anaconda3/bin/python', 'LD_LIBRARY_PATH': '/usr/local/cuda/lib64::/usr/local/lib', 'XDG_RUNTIME_DIR': '/run/user/1000', 'CONDA_DEFAULT_ENV': 'base', 'LC_TIME': 'zh_CN.UTF-8', 'JOURNAL_STREAM': '8:45152', 'OPENPILOT_ENV': '1', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PATH': '/home/li/.pyenv/bin:/usr/local/cuda/bin:/home/li/anaconda3/bin:/home/li/anaconda3/condabin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'GDMSESSION': 'ubuntu', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus,guid=8652915b4cdf3b6bd122c95560ab1153', 'LC_NUMERIC': 'zhCN.UTF-8', '': './manager.py', 'DONGLE_ID': 'UnregisteredDevice'})} selfdrive/loggerd/bootlog.cc: bootlog to /home/li/.comma/media/0/realdata/boot/2021-05-24--13-27-31.bz2 starting daemon manage_athenad starting python selfdrive.loggerd.deleter starting python selfdrive.logmessaged starting python selfdrive.pandad starting python selfdrive.thermald.thermald Connecting to panda starting python selfdrive.loggerd.uploader deviceState: Reader was evicted, reconnecting "Error transferring https://api.commadotai.com/v1/devices/UnregisteredDevice/owner - server replied: NOT FOUND" "Error transferring https://api.commadotai.com/v1.1/devices/UnregisteredDevice/ - server replied: NOT FOUND" ui deleter logmessaged pandad thermald uploader managerState: Reader was evicted, reconnecting ui deleter logmessaged pandad thermald uploader {"event": "STATUS_PACKET", "count": 0, "pandaState": null, "location": null, "deviceState": {"deviceState": {"freeSpacePercent": 67.44171905517578, "batteryPercent": 100, "batteryStatus": "Charging", "fanSpeedPercentDesired": 0, "started": false, "usbOnline": false, "startedMonoTime": 0, "thermalStatus": "green", "batteryCurrent": 0, "batteryVoltage": 0, "chargingError": false, "chargingDisabled": false, "memoryUsagePercent": 36, "cpuUsagePercent": 16, "networkType": "wifi", "offroadPowerUsageUwh": 0, "networkStrength": "unknown", "carBatteryCapacityUwh": 3000000, "cpuTempC": [0.0], "gpuTempC": [0.0], "memoryTempC": 0.0, "batteryTempC": 0.0, "ambientTempC": 0.0}, "logMonoTime": 10332900231293, "valid": true}} "Error transferring https://api.commadotai.com/v1.1/devices/UnregisteredDevice/stats - server replied: NOT FOUND" ui deleter logmessaged pandad thermald uploader ui deleter logmessaged pandad thermald uploader ui deleter logmessaged pandad thermald uploader ui deleter logmessaged pandad thermald uploader "Error transferring https://api.commadotai.com/v1.1/devices/UnregisteredDevice/ - server replied: NOT FOUND" ui deleter logmessaged pandad thermald uploader upload ('boot/2021-05-24--13-27-31.bz2', '/home/li/.comma/media/0/realdata/boot/2021-05-24--13-27-31.bz2') over wifi {"event": "upload", "key": "boot/2021-05-24--13-27-31.bz2", "fn": "/home/li/.comma/media/0/realdata/boot/2021-05-24--13-27-31.bz2", "sz": 1079} checking 'boot/2021-05-24--13-27-31.bz2' with size 1079 uploading '/home/li/.comma/media/0/realdata/boot/2021-05-24--13-27-31.bz2'

Expected behavior

UI should show the road webcam's view successfully

Additional context

Operating system: [Ubuntu 20.04]

adeebshihadeh commented 3 years ago

openpilot goes onroad on the rising edge of ignition, which comes from the panda. If you just want the camera view or to use other hardware besides panda, you'll need to modify the code.

LIHaoran-good commented 3 years ago

Thanks for your reply. I also have supporting vehicle now, and I want to replace Panda with CAN Card, which specific code module do I need to modify, looking forward to your reply.