PlotJuggler demo (#20172)

* initial demo with popup bug

* demo fixes

* demo fixes

* Update tools/plotjuggler/juggle.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

tools/plotjuggler/README.md

@@ -13,7 +13,7 @@ Once you've cloned openpilot, run this command inside this directory:
 
 ```
 batman@z840-openpilot:~/openpilot/tools/plotjuggler$ ./juggle.py -h
-usage: juggle.py [-h] [route_name] [segment_number]
+usage: juggle.py [-h] [--qlog] [--layout [LAYOUT]] [route_name] [segment_number]
 
 PlotJuggler plugin for reading rlogs
 
@@ -23,8 +23,17 @@ positional arguments:
 
 optional arguments:
   -h, --help         show this help message and exit
+  --qlog             Use qlogs (default: False)
+  --layout [LAYOUT]  Run PlotJuggler with a pre-defined layout (default: None)
 ```
 
 Example:
 
 `./juggle.py "0982d79ebb0de295|2021-01-17--17-13-08"`
+
+## Demo:
+
+For a quick demo of what PlotJuggler can do, go through the installation step and use this command:
+
+`./juggle.py "https://commadataci.blob.core.windows.net/openpilotci/d83f36766f8012a5/2020-02-05--18-42-21/0/rlog.bz2" --layout=demo_layout.xml`
+

tools/plotjuggler/demo_layout.xml

@@ -0,0 +1,110 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root version="2.3.8">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="1" count="1">
+     <DockSplitter orientation="|" sizes="0.5;0.5" count="2">
+      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="2.762667" bottom="-3.239397" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#1f77b4" name="/carState/aEgo"/>
+         <curve color="#17becf" name="/carState/brake"/>
+        </plot>
+       </DockArea>
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="5.191867" bottom="-5.724069" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#1ac938" name="dv/dt"/>
+        </plot>
+       </DockArea>
+      </DockSplitter>
+      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="16.065524" bottom="-0.470076" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#d62728" name="/carState/vEgo"/>
+         <curve color="#bcbd22" name="/carState/gas"/>
+        </plot>
+       </DockArea>
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="1.014703" bottom="-0.012971" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#ff7f0e" name="/model/meta/brakeDisengageProb"/>
+         <curve color="#f14cc1" name="/model/meta/engagedProb"/>
+         <curve color="#9467bd" name="/model/meta/steerOverrideProb"/>
+        </plot>
+       </DockArea>
+      </DockSplitter>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis=""/>
+  </plugin>
+  <plugin ID="DataLoad ROS bags">
+   <use_header_stamp value="false"/>
+   <use_renaming_rules value="true"/>
+   <discard_large_arrays value="true"/>
+   <max_array_size value="100"/>
+  </plugin>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="LSL Subscriber"/>
+  <plugin ID="MQTT Subscriber"/>
+  <plugin ID="ROS Topic Subscriber">
+   <use_header_stamp value="false"/>
+   <use_renaming_rules value="true"/>
+   <discard_large_arrays value="true"/>
+   <max_array_size value="100"/>
+  </plugin>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin status="idle" ID="ROS /rosout Visualization"/>
+  <plugin status="idle" ID="ROS Topic Re-Publisher"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <previouslyLoaded_Datafiles>
+  <fileInfo filename="/home/batman/openpilot/tools/plotjuggler/tmps2q85e2d.rlog" prefix="">
+   <selected_datasources value=""/>
+   <plugin ID="DataLoad Rlog"/>
+  </fileInfo>
+ </previouslyLoaded_Datafiles>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="dv/dt">
+   <global>prevX = 0
+prevY = 0
+is_first = true</global>
+   <function>if (is_first) then
+  is_first = false
+  prevX = time
+  prevY = value
+end
+
+dx = time - prevX
+dy = value - prevY
+prevX = time
+prevY = value
+
+return dy/dx</function>
+   <linkedSource>/carState/vEgo</linkedSource>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/juggle.py

@@ -24,7 +24,7 @@ def load_segment(segment_name):
     print(f"Error parsing {segment_name}: {e}")
     return []
 
-def juggle_file(fn, dbc=None):
+def juggle_file(fn, dbc=None, layout=None):
   env = os.environ.copy()
   env["BASEDIR"] = BASEDIR
 
@@ -32,9 +32,12 @@ def juggle_file(fn, dbc=None):
     env["DBC_NAME"] = dbc
 
   pj = os.getenv("PLOTJUGGLER_PATH", "plotjuggler")
-  subprocess.call(f'{pj} --plugin_folders {os.path.join(juggle_dir, "bin")} -d {fn}', shell=True, env=env, cwd=juggle_dir)
+  extra_args = ""
+  if layout is not None:
+    extra_args += f'-l {layout}'
+  subprocess.call(f'{pj} --plugin_folders {os.path.join(juggle_dir, "bin")} -d {fn} {extra_args}', shell=True, env=env, cwd=juggle_dir)
 
-def juggle_route(route_name, segment_number, qlog):
+def juggle_route(route_name, segment_number, qlog, layout):
 
   if route_name.startswith("http://") or route_name.startswith("https://"):
     logs = [route_name]
@@ -74,13 +77,14 @@ def juggle_route(route_name, segment_number, qlog):
   save_log(tempfile.name, all_data, compress=False)
   del all_data
 
-  juggle_file(tempfile.name, dbc)
+  juggle_file(tempfile.name, dbc, layout)
 
 def get_arg_parser():
   parser = argparse.ArgumentParser(description="PlotJuggler plugin for reading rlogs",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
   parser.add_argument("--qlog", action="store_true", help="Use qlogs")
+  parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
   parser.add_argument("route_name", nargs='?', help="The name of the route that will be plotted.")
   parser.add_argument("segment_number", type=int, nargs='?', help="The index of the segment that will be plotted")
   return parser
@@ -91,4 +95,4 @@ if __name__ == "__main__":
     arg_parser.print_help()
     sys.exit()
   args = arg_parser.parse_args(sys.argv[1:])
-  juggle_route(args.route_name, args.segment_number, args.qlog)
+  juggle_route(args.route_name, args.segment_number, args.qlog, args.layout)