openpilot Agent Skills & AI Rules

# Cabana

Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai).

## Usage Instructions

```bash
$ ./cabana -h
Usage: ./cabana [options] [route]

  route                     the drive to replay. find your drives at connect.comma.ai

Options:
  --help                    show this help
  --demo                    use a demo route instead of providing your own
  --auto                    Auto load the route from the best available source (no video):
                            internal, openpilotci, comma_api, car_segments, testing_closet
  --qcam                    load qcamera
  --wide-road               load wide road camera (alias: --ecam)
  --cabin                   load cabin camera (alias: --dcam)
  --msgq                    read can messages from the msgq
  --panda                   read can messages from panda
  --panda-serial <serial>   read can messages from panda with given serial
  --socketcan <device>      read can messages from given SocketCAN device
  --zmq <ip-address>        read can messages from zmq at the specified ip-address
  --data_dir <dir>          local directory with routes
  --no-vipc                 do not output video
  --no-cache                turn off the local route file cache
  --dbc <file>              dbc file to open
```

## Examples

### Running Cabana in Demo Mode
To run Cabana using a built-in demo route, use the following command:

```shell
cabana --demo
```

### Loading a Specific Route

To load a specific route for replay, provide the route as an argument:

```shell
cabana "5beb9b58bd12b691/0000010a--a51155e496"
```

Replace "5beb9b58bd12b691/0000010a--a51155e496" with your desired route identifier.


### Running Cabana with multiple cameras
To run Cabana with multiple cameras, use the following command:

```shell
cabana "5beb9b58bd12b691/0000010a--a51155e496" --cabin --wide-road
```

### Streaming CAN Messages from a comma Device

[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:

```shell
cd /data/openpilot
./openpilot/cereal/messaging/bridge &
```

Then Run Cabana with the device's IP address:

```shell
cabana --zmq <ipaddress>
```

Replace &lt;ipaddress&gt; with your comma device's IP address.

While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings.

After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route.

### Streaming CAN Messages from Panda

To read CAN messages from a connected Panda, use the following command:

```shell
cabana --panda
```

### Using the Stream Selector Dialog

If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream.

```shell
cabana
```

## Additional Information

For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)