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74 lines
2.9 KiB
74 lines
2.9 KiB
# PlotJuggler
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[PlotJuggler](https://github.com/facontidavide/PlotJuggler) is a tool to quickly visualize time series data, and we've written plugins to parse openpilot logs. Check out our plugins: https://github.com/commaai/PlotJuggler.
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## Installation
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Once you've [set up the openpilot environment](../README.md), this command will download PlotJuggler and install our plugins:
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`cd tools/plotjuggler && ./juggle.py --install`
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## Usage
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```
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$ ./juggle.py -h
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usage: juggle.py [-h] [--demo] [--qlog] [--ci] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
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[route_or_segment_name] [segment_count]
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A helper to run PlotJuggler on openpilot routes
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positional arguments:
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route_or_segment_name
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The route or segment name to plot (cabana share URL accepted) (default: None)
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segment_count The number of segments to plot (default: None)
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optional arguments:
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-h, --help show this help message and exit
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--demo Use the demo route instead of providing one (default: False)
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--qlog Use qlogs (default: False)
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--ci Download data from openpilot CI bucket (default: False)
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--can Parse CAN data (default: False)
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--stream Start PlotJuggler in streaming mode (default: False)
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--layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None)
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--install Install or update PlotJuggler + plugins (default: False)
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--dbc DBC Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically
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inferred from the logs. (default: None)
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```
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Examples using route name:
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`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19"`
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Examples using segment name:
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`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19--1"`
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## Streaming
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Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
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- Enable wifi tethering on your comma device
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- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./cereal/messaging/bridge`
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- On your laptop, connect to the device's wifi hotspot
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- Start PlotJuggler with `ZMQ=1 ./juggle.py --stream`, find the `Cereal Subscriber` plugin in the dropdown under Streaming, and click `Start`.
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If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py --stream` and start the cereal subscriber.
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## Demo
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For a quick demo, go through the installation step and run this command:
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`./juggle.py --demo --qlog --layout=layouts/demo.xml`
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## Layouts
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If you create a layout that's useful for others, consider upstreaming it.
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### Tuning
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Use this layout to improve your car's tuning and generate plots for tuning PRs. Also see the [tuning wiki](https://github.com/commaai/openpilot/wiki/Tuning) and tuning PR template.
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`--layout layouts/tuning.xml`
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