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PlotJuggler demo (#20172)

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* 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>
old-commit-hash: 371272d94b
commatwo_master
iejMac 5 years ago committed by GitHub
parent 36ecc144ff
commit 461046adcb
3 changed files with 132 additions and 9 deletions
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  1. 11
      tools/plotjuggler/README.md
  2. 110
      tools/plotjuggler/demo_layout.xml
  3. 14
      tools/plotjuggler/juggle.py

11
tools/plotjuggler/README.md
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@ -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`

110
tools/plotjuggler/demo_layout.xml
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@ -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>

14
tools/plotjuggler/juggle.py
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@ -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)

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