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54 lines
2.5 KiB
54 lines
2.5 KiB
# PlotJuggler
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We've extended [PlotJuggler](https://github.com/facontidavide/PlotJuggler) to plot all of your openpilot logs. Check out our plugins: https://github.com/commaai/PlotJuggler.
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## Installation
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Once you've cloned and are in openpilot, download PlotJuggler and install our plugins with this command:
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`cd tools/plotjuggler && ./install.sh`
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## Usage
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```
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batman@z840-openpilot:~/openpilot/tools/plotjuggler$ ./juggle.py -h
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usage: juggle.py [-h] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [route_name] [segment_number] [segment_count]
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PlotJuggler plugin for reading openpilot logs
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positional arguments:
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route_name The name of the route that will be plotted. (default: None)
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segment_number The index of the segment that will be plotted (default: None)
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segment_count The number of segments that will be plotted (default: 1)
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optional arguments:
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-h, --help show this help message and exit
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--qlog Use qlogs (default: False)
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--can Parse CAN data (default: False)
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--stream Start PlotJuggler without a route to stream data using Cereal (default: False)
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--layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None)
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```
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Example:
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`./juggle.py "0982d79ebb0de295|2021-01-17--17-13-08"`
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## Streaming
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To get started exploring and plotting data live in your car, you can start PlotJuggler in streaming mode: `./juggle.py --stream`.
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For this to work, you'll need a few things:
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- Enable tethering on your comma device and connect your laptop.
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- Run `export ZMQ=1` on the computer, which tells the streaming plugin backend to use ZMQ. If you're streaming locally, you can omit this step as ZMQ is used to transport data over the network.
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- Most importantly: openpilot by default uses the MSGQ backend, so you'll need to [ssh into your device](https://github.com/commaai/openpilot/wiki/SSH) and run bridge. This simply re-broadcasts each message over ZMQ: `./cereal/messaging/bridge`.
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Now start PlotJuggler using the above `juggle.py` command, and find the `Cereal Subscriber` plugin in the dropdown under Streaming. Click Start and enter the IP address of the comma two. You should now be seeing all the messages for each [service in openpilot](https://github.com/commaai/cereal/blob/master/services.py) received live from your car!
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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 "https://commadataci.blob.core.windows.net/openpilotci/d83f36766f8012a5/2020-02-05--18-42-21/0/rlog.bz2" --layout=demo_layout.xml`
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