@ -1,10 +1,12 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import sys import sys
import argparse import argparse
import multiprocessing import multiprocessing
import rerun as rr import rerun as rr
import rerun . blueprint as rrb import rerun . blueprint as rrb
from functools import partial from functools import partial
from collections import defaultdict
from cereal . services import SERVICE_LIST from cereal . services import SERVICE_LIST
from openpilot . tools . rerun . camera_reader import probe_packet_info , CameraReader , CameraConfig , CameraType from openpilot . tools . rerun . camera_reader import probe_packet_info , CameraReader , CameraConfig , CameraType
@ -20,19 +22,16 @@ RR_WIN = "openpilot logs"
""" """
Relevant upstream Rerun issues : Relevant upstream Rerun issues :
- large time series : https : / / github . com / rerun - io / rerun / issues / 5967
- loading videos directly : https : / / github . com / rerun - io / rerun / issues / 6532 - loading videos directly : https : / / github . com / rerun - io / rerun / issues / 6532
""" """
class Rerunner : class Rerunner :
def __init__ ( self , route , segment_range , camera_config , enabled_services ) : def __init__ ( self , route , segment_range , camera_config ) :
self . enabled_services = [ s . lower ( ) for s in enabled_services ]
self . log_all = " all " in self . enabled_services
self . lr = LogReader ( route_or_segment_name ) self . lr = LogReader ( route_or_segment_name )
# hevc files don't have start_time. We get it from qcamera.ts # hevc files don't have start_time. We get it from qcamera.ts
start_time = 0 start_time = 0
dat = probe_packet_info ( r . qcamera_paths ( ) [ 0 ] ) dat = probe_packet_info ( route . qcamera_paths ( ) [ 0 ] )
for d in dat : for d in dat :
if d . startswith ( " pts_time= " ) : if d . startswith ( " pts_time= " ) :
start_time = float ( d . split ( ' = ' ) [ 1 ] ) start_time = float ( d . split ( ' = ' ) [ 1 ] )
@ -49,34 +48,30 @@ class Rerunner:
if dcam : if dcam :
self . camera_readers [ CameraType . dcam ] = CameraReader ( route . dcamera_paths ( ) , start_time , segment_range . seg_idxs ) self . camera_readers [ CameraType . dcam ] = CameraReader ( route . dcamera_paths ( ) , start_time , segment_range . seg_idxs )
def _start_rerun ( self ) :
self . blueprint = self . _create_blueprint ( )
rr . init ( RR_WIN , spawn = True )
def _create_blueprint ( self ) : def _create_blueprint ( self ) :
blueprint = None blueprint = None
service_views = [ ] service_views = [ ]
log_msg_visible = len ( self . enabled_services ) < = 3 and not self . log_all
for topic in sorted ( SERVICE_LIST . keys ( ) ) : for topic in sorted ( SERVICE_LIST . keys ( ) ) :
if not self . log_all and topic . lower ( ) not in self . enabled_services :
continue
View = rrb . TimeSeriesView if topic != " thumbnail " else rrb . Spatial2DView View = rrb . TimeSeriesView if topic != " thumbnail " else rrb . Spatial2DView
service_views . append ( View ( name = topic , origin = f " / { topic } / " , visible = log_msg_visibl e) ) service_views . append ( View ( name = topic , origin = f " / { topic } / " , visible = False ) )
rr . log ( topic , rr . SeriesLine ( name = topic ) , timeless = True ) rr . log ( topic , rr . SeriesLine ( name = topic ) , timeless = True )
center_view = [ rrb . Vertical ( * service_views , name = " streams " ) ]
if len ( self . camera_readers ) :
center_view . append ( rrb . Vertical ( * [ rrb . Spatial2DView ( name = cam_type , origin = cam_type ) for cam_type in self . camera_readers . keys ( ) ] , name = " cameras " ) )
blueprint = rrb . Blueprint ( blueprint = rrb . Blueprint (
rrb . Horizontal ( rrb . Horizontal (
rrb . Vertical ( * service_views ) , * center_view
rrb . Vertical ( * [ rrb . Spatial2DView ( name = cam_type , origin = cam_type ) for cam_type in self . camera_readers . keys ( ) ] ) ,
) , ) ,
rrb . SelectionPanel ( expanded = False ) , rrb . SelectionPanel ( expanded = False ) ,
rrb . TimePanel ( expanded = False ) rrb . TimePanel ( expanded = False ) ,
) )
return blueprint return blueprint
@staticmethod @staticmethod
def _log _msg ( msg , parent_key = ' ' ) : def _parse _msg ( msg , parent_key = ' ' ) :
stack = [ ( msg , parent_key ) ] stack = [ ( msg , parent_key ) ]
while stack : while stack :
current_msg , current_parent_key = stack . pop ( ) current_msg , current_parent_key = stack . pop ( )
@ -84,40 +79,47 @@ class Rerunner:
for index , item in enumerate ( current_msg ) : for index , item in enumerate ( current_msg ) :
new_key = f " { current_parent_key } / { index } " new_key = f " { current_parent_key } / { index } "
if isinstance ( item , ( int , float ) ) : if isinstance ( item , ( int , float ) ) :
rr . log ( new_key , rr . Scalar ( item ) ) yield new_key , item
elif isinstance ( item , dict ) : elif isinstance ( item , dict ) :
stack . append ( ( item , new_key ) ) stack . append ( ( item , new_key ) )
elif isinstance ( current_msg , dict ) : elif isinstance ( current_msg , dict ) :
for key , value in current_msg . items ( ) : for key , value in current_msg . items ( ) :
new_key = f " { current_parent_key } / { key } " new_key = f " { current_parent_key } / { key } "
if isinstance ( value , ( int , float ) ) : if isinstance ( value , ( int , float ) ) :
rr . log ( new_key , rr . Scalar ( value ) ) yield new_key , value
elif isinstance ( value , dict ) : elif isinstance ( value , dict ) :
stack . append ( ( value , new_key ) ) stack . append ( ( value , new_key ) )
elif isinstance ( value , list ) : elif isinstance ( value , list ) :
for index , item in enumerate ( value ) : for index , item in enumerate ( value ) :
if isinstance ( item , ( int , float ) ) : if isinstance ( item , ( int , float ) ) :
rr . log ( f " { new_key } / { index } " , rr . Scalar ( item ) ) yield f " { new_key } / { index } " , item
else : else :
pass # Not a plottable value pass # Not a plottable value
@staticmethod @staticmethod
@rr . shutdown_at_exit @rr . shutdown_at_exit
def _process_log_msgs ( blueprint , enabled_services , log_all , lr ) : def _process_log_msgs ( blueprint , lr ) :
rr . init ( RR_WIN ) rr . init ( RR_WIN )
rr . connect ( default_blueprint = blueprint ) rr . connect ( )
rr . send_blueprint ( blueprint )
log_msgs = defaultdict ( lambda : defaultdict ( list ) )
for msg in lr : for msg in lr :
rr . set_time_nanos ( RR_TIMELINE_NAME , msg . logMonoTime )
msg_type = msg . which ( ) msg_type = msg . which ( )
if not log_all and msg_type . lower ( ) not in enabled_services : if msg_type == " thumbnail " :
continue continue
if msg_type != " thumbnail " : for entity_path , dat in Rerunner . _parse_msg ( msg . to_dict ( ) [ msg_type ] , msg_type ) :
Rerunner . _log_msg ( msg . to_dict ( ) [ msg . which ( ) ] , msg . which ( ) ) log_msgs [ entity_path ] [ " times " ] . append ( msg . logMonoTime / 1e9 )
else : log_msgs [ entity_path ] [ " data " ] . append ( dat )
rr . log ( " /thumbnail " , rr . ImageEncoded ( contents = msg . to_dict ( ) [ msg . which ( ) ] . get ( " thumbnail " ) ) )
for entity_path , log_msg in log_msgs . items ( ) :
rr . log_temporal_batch (
entity_path ,
times = [ rr . TimeSecondsBatch ( RR_TIMELINE_NAME , log_msg [ " times " ] ) ] ,
components = [ rr . components . ScalarBatch ( log_msg [ " data " ] ) ]
)
return [ ] return [ ]
@ -125,18 +127,22 @@ class Rerunner:
@rr . shutdown_at_exit @rr . shutdown_at_exit
def _process_cam_readers ( blueprint , cam_type , h , w , fr ) : def _process_cam_readers ( blueprint , cam_type , h , w , fr ) :
rr . init ( RR_WIN ) rr . init ( RR_WIN )
rr . connect ( default_blueprint = blueprint ) rr . connect ( )
rr . send_blueprint ( blueprint )
for ts , frame in fr : for ts , frame in fr :
rr . set_time_nanos ( RR_TIMELINE_NAME , int ( ts * 1e9 ) ) rr . set_time_nanos ( RR_TIMELINE_NAME , int ( ts * 1e9 ) )
rr . log ( cam_type , rr . Image ( bytes = frame , width = w , height = h , pixel_format = rr . PixelFormat . NV12 ) ) rr . log ( cam_type , rr . Image ( bytes = frame , width = w , height = h , pixel_format = rr . PixelFormat . NV12 ) )
def load_data ( self ) : def load_data ( self ) :
self . _start_rerun ( ) rr . init ( RR_WIN , spawn = True )
if len ( self . enabled_services ) > 0 :
self . lr . run_across_segments ( NUM_CPUS , partial ( self . _process_log_msgs , self . blueprint , self . enabled_services , self . log_all ) ) startup_blueprint = self . _create_blueprint ( )
self . lr . run_across_segments ( NUM_CPUS , partial ( self . _process_log_msgs , startup_blueprint ) , desc = " Log messages " )
for cam_type , cr in self . camera_readers . items ( ) : for cam_type , cr in self . camera_readers . items ( ) :
cr . run_across_segments ( NUM_CPUS , partial ( self . _process_cam_readers , self . blueprint , cam_type , cr . h , cr . w ) ) cr . run_across_segments ( NUM_CPUS , partial ( self . _process_cam_readers , startup_blueprint , cam_type , cr . h , cr . w ) , desc = cam_type )
rr . send_blueprint ( self . _create_blueprint ( ) )
if __name__ == ' __main__ ' : if __name__ == ' __main__ ' :
@ -147,34 +153,28 @@ if __name__ == '__main__':
parser . add_argument ( " --fcam " , action = " store_true " , help = " Show driving camera " ) parser . add_argument ( " --fcam " , action = " store_true " , help = " Show driving camera " )
parser . add_argument ( " --ecam " , action = " store_true " , help = " Show wide camera " ) parser . add_argument ( " --ecam " , action = " store_true " , help = " Show wide camera " )
parser . add_argument ( " --dcam " , action = " store_true " , help = " Show driver monitoring camera " ) parser . add_argument ( " --dcam " , action = " store_true " , help = " Show driver monitoring camera " )
parser . add_argument ( " --print_services " , action = " store_true " , help = " List out openpilot services " ) parser . add_argument ( " route_or_segment_name " , nargs = ' ? ' , help = " The route or segment name to plot " )
parser . add_argument ( " --services " , default = [ ] , nargs = ' * ' , help = " Specify openpilot services that will be logged. \
No service will be logged if not specified . \
To log all services include ' all ' as one of your services " )
parser . add_argument ( " --route " , nargs = ' ? ' , help = " The route or segment name to plot " )
args = parser . parse_args ( ) args = parser . parse_args ( )
if not args . demo and not args . route : if not args . demo and not args . route_or_segment_name :
parser . print_help ( ) parser . print_help ( )
sys . exit ( ) sys . exit ( )
if args . print_services :
print ( " \n " . join ( SERVICE_LIST . keys ( ) ) )
sys . exit ( )
camera_config = CameraConfig ( args . qcam , args . fcam , args . ecam , args . dcam ) camera_config = CameraConfig ( args . qcam , args . fcam , args . ecam , args . dcam )
route_or_segment_name = DEMO_ROUTE if args . demo else args . route_or_segment_name . strip ( )
route_or_segment_name = DEMO_ROUTE if args . demo else args . route . strip ( )
sr = SegmentRange ( route_or_segment_name ) sr = SegmentRange ( route_or_segment_name )
r = Route ( sr . route_name ) r = Route ( sr . route_name )
if len ( sr . seg_idxs ) > 10 : hevc_requested = any ( camera_config [ 1 : ] )
print ( " You ' re requesting more than 10 segments of the route, " + \ if len ( sr . seg_idxs ) > 1 and hevc_requested :
" please be aware that might take a lot of memory " ) print ( " You ' re requesting more than 1 segment with hevc videos, " + \
" please be aware that might take a lot of memory " + \
" since rerun isn ' t yet well supported for high resolution video logging " )
response = input ( " Do you wish to continue? (Y/n): " ) response = input ( " Do you wish to continue? (Y/n): " )
if response . strip ( ) . lower ( ) != " y " : if response . strip ( ) . lower ( ) != " y " :
sys . exit ( ) sys . exit ( )
rerunner = Rerunner ( r , sr , camera_config , args . services ) rerunner = Rerunner ( r , sr , camera_config )
rerunner . load_data ( ) rerunner . load_data ( )
Hoang Bui
9 months ago
committed by
GitHub