openpilot_comma/tools/jotpluggler/pluggle.py

#!/usr/bin/env python3
import argparse
import os
import pyautogui
import subprocess
import dearpygui.dearpygui as dpg
import threading
from openpilot.common.basedir import BASEDIR
from openpilot.tools.jotpluggler.data import DataManager
from openpilot.tools.jotpluggler.views import DataTreeView
from openpilot.tools.jotpluggler.layout import PlotLayoutManager, SplitterNode, LeafNode

DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"


class PlaybackManager:
  def __init__(self):
    self.is_playing = False
    self.current_time_s = 0.0
    self.duration_s = 0.0
    self.last_indices = {}

  def set_route_duration(self, duration: float):
    self.duration_s = duration
    self.seek(min(self.current_time_s, duration))

  def toggle_play_pause(self):
    if not self.is_playing and self.current_time_s >= self.duration_s:
      self.seek(0.0)
    self.is_playing = not self.is_playing

  def seek(self, time_s: float):
    self.is_playing = False
    self.current_time_s = max(0.0, min(time_s, self.duration_s))
    self.last_indices.clear()

  def update_time(self, delta_t: float):
    if self.is_playing:
      self.current_time_s = min(self.current_time_s + delta_t, self.duration_s)
      if self.current_time_s >= self.duration_s:
        self.is_playing = False
    return self.current_time_s

  def update_index(self, path: str, new_idx: int | None):
    if new_idx is not None:
      self.last_indices[path] = new_idx


def calculate_avg_char_width(font):
  sample_text = "abcdefghijklmnopqrstuvwxyz0123456789"
  if size := dpg.get_text_size(sample_text, font=font):
    return size[0] / len(sample_text)
  return None


def format_and_truncate(value, available_width: float, avg_char_width: float) -> str:
  s = str(value)
  max_chars = int(available_width / avg_char_width) - 3
  if len(s) > max_chars:
    return s[: max(0, max_chars)] + "..."
  return s


class MainController:
  def __init__(self, scale: float = 1.0):
    self.ui_lock = threading.Lock()
    self.scale = scale
    self.data_manager = DataManager()
    self.playback_manager = PlaybackManager()
    self._create_global_themes()
    self.data_tree_view = DataTreeView(self.data_manager, self.ui_lock)
    self.plot_layout_manager = PlotLayoutManager(self.data_manager, self.playback_manager, scale=self.scale)
    self.data_manager.add_callback(self.on_data_loaded)
    self.avg_char_width = None

  def _create_global_themes(self):
    with dpg.theme(tag="global_line_theme"):
      with dpg.theme_component(dpg.mvLineSeries):
        scaled_thickness = max(1.0, self.scale)
        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)

    with dpg.theme(tag="global_timeline_theme"):
      with dpg.theme_component(dpg.mvInfLineSeries):
        scaled_thickness = max(1.0, self.scale)
        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
        dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots)

  def on_data_loaded(self, data: dict):
    self.playback_manager.set_route_duration(data['duration'])
    num_msg_types = len(data['time_series_data'])
    dpg.set_value("load_status", f"Loaded {num_msg_types} message types")
    dpg.configure_item("load_button", enabled=True)
    dpg.configure_item("timeline_slider", max_value=data['duration'])

  def setup_ui(self):
    with dpg.item_handler_registry(tag="tree_node_handler"):
      dpg.add_item_toggled_open_handler(callback=self.data_tree_view.update_active_nodes_list)

    dpg.set_viewport_resize_callback(callback=self.on_viewport_resize)

    with dpg.window(tag="Primary Window"):
      with dpg.group(horizontal=True):
        # Left panel - Data tree
        with dpg.child_window(label="Data Pool", width=300 * self.scale, tag="data_pool_window", border=True, resizable_x=True):
          with dpg.group(horizontal=True):
            dpg.add_input_text(tag="route_input", width=-75 * self.scale, hint="Enter route name...")
            dpg.add_button(label="Load", callback=self.load_route, tag="load_button", width=-1)
          dpg.add_text("Ready to load route", tag="load_status")
          dpg.add_separator()
          dpg.add_text("Available Data")
          dpg.add_separator()
          dpg.add_input_text(tag="search_input", width=-1, hint="Search fields...", callback=self.search_data)
          dpg.add_separator()
          with dpg.group(tag="data_tree_container", track_offset=True):
            pass

        # Right panel - Plots and timeline
        with dpg.group():
          with dpg.child_window(label="Plot Window", border=True, height=-(30 + 13 * self.scale), tag="main_plot_area"):
            self.plot_layout_manager.create_ui("main_plot_area")

          with dpg.child_window(label="Timeline", border=True):
            with dpg.table(header_row=False, borders_innerH=False, borders_innerV=False, borders_outerH=False, borders_outerV=False):
              dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale))  # Play button
              dpg.add_table_column(width_stretch=True)  # Timeline slider
              dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale))  # FPS counter
              with dpg.table_row():
                dpg.add_button(label="Play", tag="play_pause_button", callback=self.toggle_play_pause, width=int(50 * self.scale))
                dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag)
                dpg.add_text("", tag="fps_counter")

    dpg.set_primary_window("Primary Window", True)

  def on_viewport_resize(self):
    self.plot_layout_manager.on_viewport_resize()

  def load_route(self):
    route_name = dpg.get_value("route_input").strip()
    if route_name:
      dpg.set_value("load_status", "Loading route...")
      dpg.configure_item("load_button", enabled=False)
      self.data_manager.load_route(route_name)

  def search_data(self):
    search_term = dpg.get_value("search_input")
    self.data_tree_view.search_data(search_term)

  def toggle_play_pause(self, sender):
    self.playback_manager.toggle_play_pause()
    label = "Pause" if self.playback_manager.is_playing else "Play"
    dpg.configure_item(sender, label=label)

  def timeline_drag(self, sender, app_data):
    self.playback_manager.seek(app_data)
    dpg.configure_item("play_pause_button", label="Play")

  def update_frame(self, font):
    with self.ui_lock:
      if self.avg_char_width is None:
        self.avg_char_width = calculate_avg_char_width(font)  # must be calculated after first frame

      new_time = self.playback_manager.update_time(dpg.get_delta_time())
      if not dpg.is_item_active("timeline_slider"):
        dpg.set_value("timeline_slider", new_time)

      self._update_timeline_indicators(new_time)
      if not self.data_manager.loading and self.avg_char_width:
        self._update_data_values()

      dpg.set_value("fps_counter", f"{dpg.get_frame_rate():.1f} FPS")

  def _update_data_values(self):
    pool_width = dpg.get_item_rect_size("data_pool_window")[0]
    value_column_width = pool_width * 0.5
    active_nodes = self.data_tree_view.active_leaf_nodes

    for node in active_nodes:
      path = node.full_path
      value_tag = f"value_{path}"

      if dpg.does_item_exist(value_tag) and dpg.is_item_visible(value_tag):
        last_index = self.playback_manager.last_indices.get(path)
        value, new_idx = self.data_manager.get_current_value(path, self.playback_manager.current_time_s, last_index)

        if value is not None:
          self.playback_manager.update_index(path, new_idx)
          formatted_value = format_and_truncate(value, value_column_width, self.avg_char_width)
          dpg.set_value(value_tag, formatted_value)

  def _update_timeline_indicators(self, current_time_s: float):
    def update_node_recursive(node):
      if isinstance(node, LeafNode):
        if hasattr(node.panel, 'update_timeline_indicator'):
          node.panel.update_timeline_indicator(current_time_s)
      elif isinstance(node, SplitterNode):
        for child in node.children:
          update_node_recursive(child)

    if self.plot_layout_manager.root_node:
      update_node_recursive(self.plot_layout_manager.root_node)


def main(route_to_load=None):
  dpg.create_context()

  # TODO: find better way of calculating display scaling
  try:
    w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l)  # actual resolution
    scale = pyautogui.size()[0] / w  # scaled resolution
  except Exception:
    scale = 1

  with dpg.font_registry():
    default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/Inter-Regular.ttf"), int(13 * scale))
  dpg.bind_font(default_font)

  viewport_width, viewport_height = int(1200 * scale), int(800 * scale)
  mouse_x, mouse_y = pyautogui.position()  # TODO: find better way of creating the window where the user is (default dpg behavior annoying on multiple displays)
  dpg.create_viewport(
    title='JotPluggler', width=viewport_width, height=viewport_height, x_pos=mouse_x - viewport_width // 2, y_pos=mouse_y - viewport_height // 2
  )
  dpg.setup_dearpygui()

  controller = MainController(scale=scale)
  controller.setup_ui()

  if route_to_load:
    dpg.set_value("route_input", route_to_load)
    controller.load_route()

  dpg.show_viewport()

  # Main loop
  while dpg.is_dearpygui_running():
    controller.update_frame(default_font)
    dpg.render_dearpygui_frame()

  dpg.destroy_context()


if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.")
  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
  parser.add_argument("route", nargs='?', default=None, help="Optional route name to load on startup.")
  args = parser.parse_args()
  route = DEMO_ROUTE if args.demo else args.route
  main(route_to_load=route)