rerun.io proof of concept (#32416)

* Adding demo version for acceleration only

* Adding, plot any event

* Adding dynamic blueprint creation and menu to choose what to plot

* Adding, pool of processes for faster data visualization

* Adding, install rerun if not present

* Adding. thumbnail support

* Refactoring, minor cleanup

* -Use rerun pre-release
-Remove json as a middle format
-Replace recursion with stack-based approach

* Refactoring, using services from cereal instead of hardcoding them

* Use of lr.run_across_segments instead of pool,
Use of python dict instead of capnp objs - better performance
Use LogReader syntax

* Enable logging of liveTracks, pandaStates

* Use of plotjuggler user experience

* Fixing bug in log_msg function

* cleanup

---------

Co-authored-by: savojovic <jovo.savic00@gmail.com>
Co-authored-by: savojovic <74861870+savojovic@users.noreply.github.com>
old-commit-hash: 1c481c5ad3

tools/rerun/run.py

@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+import subprocess
+import sys
+import argparse
+import multiprocessing
+from functools import partial
+
+from openpilot.tools.lib.logreader import LogReader
+from cereal.services import SERVICE_LIST
+
+
+NUM_CPUS = multiprocessing.cpu_count()
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels"
+
+
+def install():
+  # currently requires a preview release build
+  subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True)
+  print("Rerun installed")
+
+
+def log_msg(msg, parent_key=''):
+  stack = [(msg, parent_key)]
+  while stack:
+    current_msg, current_parent_key = stack.pop()
+    if isinstance(current_msg, list):
+      for index, item in enumerate(current_msg):
+        new_key = f"{current_parent_key}/{index}"
+        if isinstance(item, (int, float)):
+          rr.log(str(new_key), rr.Scalar(item))
+        elif isinstance(item, dict):
+          stack.append((item, new_key))
+    elif isinstance(current_msg, dict):
+      for key, value in current_msg.items():
+        new_key = f"{current_parent_key}/{key}"
+        if isinstance(value, (int, float)):
+          rr.log(str(new_key), rr.Scalar(value))
+        elif isinstance(value, dict):
+          stack.append((value, new_key))
+        elif isinstance(value, list):
+          for index, item in enumerate(value):
+            if isinstance(item, (int, float)):
+              rr.log(f"{new_key}/{index}", rr.Scalar(item))
+    else:
+      pass  # Not a plottable value
+
+
+def createBlueprint():
+  timeSeriesViews = []
+  for topic in sorted(SERVICE_LIST.keys()):
+    timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False))
+    rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+    blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)),
+                                        rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
+  return blueprint
+
+
+def log_thumbnail(thumbnailMsg):
+  bytesImgData = thumbnailMsg.get('thumbnail')
+  rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
+
+
+def process(blueprint, lr):
+  ret = []
+  rr.init("rerun_test", spawn=True, default_blueprint=blueprint)
+  for msg in lr:
+    ret.append(msg)
+    rr.set_time_nanos("TIMELINE", msg.logMonoTime)
+    if msg.which() != "thumbnail":
+      log_msg(msg.to_dict()[msg.which()], msg.which())
+    else:
+      log_thumbnail(msg.to_dict()[msg.which()])
+  return ret
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
+                                  formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
+  parser.add_argument("--install", action="store_true", help="Install or update rerun")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+
+  args = parser.parse_args()
+  if args.install:
+    install()
+    sys.exit()
+
+  try:
+    import rerun as rr
+    import rerun.blueprint as rrb
+  except ImportError:
+    print("Rerun is not installed, run with --install first")
+    sys.exit()
+
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
+  blueprint = createBlueprint()
+  print("Getting route log paths")
+  lr = LogReader(route_or_segment_name)
+  lr.run_across_segments(NUM_CPUS, partial(process, blueprint))