You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
123 lines
4.4 KiB
123 lines
4.4 KiB
#!/usr/bin/env python3
|
|
import os
|
|
import sys
|
|
import multiprocessing
|
|
import subprocess
|
|
import argparse
|
|
from tempfile import NamedTemporaryFile
|
|
|
|
from common.basedir import BASEDIR
|
|
from selfdrive.test.process_replay.compare_logs import save_log
|
|
from tools.lib.api import CommaApi
|
|
from tools.lib.auth_config import get_token
|
|
from tools.lib.robust_logreader import RobustLogReader
|
|
from tools.lib.route import Route
|
|
from urllib.parse import urlparse, parse_qs
|
|
|
|
juggle_dir = os.path.dirname(os.path.realpath(__file__))
|
|
|
|
DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
|
|
|
|
def load_segment(segment_name):
|
|
print(f"Loading {segment_name}")
|
|
if segment_name is None:
|
|
return []
|
|
|
|
try:
|
|
return list(RobustLogReader(segment_name))
|
|
except ValueError as e:
|
|
print(f"Error parsing {segment_name}: {e}")
|
|
return []
|
|
|
|
def start_juggler(fn=None, dbc=None, layout=None):
|
|
env = os.environ.copy()
|
|
env["BASEDIR"] = BASEDIR
|
|
pj = os.getenv("PLOTJUGGLER_PATH", os.path.join(juggle_dir, "bin/plotjuggler"))
|
|
|
|
if dbc:
|
|
env["DBC_NAME"] = dbc
|
|
|
|
extra_args = []
|
|
if fn is not None:
|
|
extra_args.append(f'-d {fn}')
|
|
|
|
if layout is not None:
|
|
extra_args.append(f'-l {layout}')
|
|
|
|
extra_args = " ".join(extra_args)
|
|
subprocess.call(f'{pj} --plugin_folders {os.path.join(juggle_dir, "bin")} {extra_args}', shell=True, env=env, cwd=juggle_dir)
|
|
|
|
def juggle_route(route_name, segment_number, segment_count, qlog, can, layout):
|
|
if 'cabana' in route_name:
|
|
query = parse_qs(urlparse(route_name).query)
|
|
api = CommaApi(get_token())
|
|
logs = api.get(f'v1/route/{query["route"][0]}/log_urls?sig={query["sig"][0]}&exp={query["exp"][0]}')
|
|
elif route_name.startswith("http://") or route_name.startswith("https://") or os.path.isfile(route_name):
|
|
logs = [route_name]
|
|
else:
|
|
r = Route(route_name)
|
|
logs = r.qlog_paths() if qlog else r.log_paths()
|
|
|
|
if segment_number is not None:
|
|
logs = logs[segment_number:segment_number+segment_count]
|
|
|
|
if None in logs:
|
|
fallback_answer = input("At least one of the rlogs in this segment does not exist, would you like to use the qlogs? (y/n) : ")
|
|
if fallback_answer == 'y':
|
|
logs = r.qlog_paths()
|
|
if segment_number is not None:
|
|
logs = logs[segment_number:segment_number+segment_count]
|
|
else:
|
|
print(f"Please try a different {'segment' if segment_number is not None else 'route'}")
|
|
return
|
|
|
|
all_data = []
|
|
with multiprocessing.Pool(24) as pool:
|
|
for d in pool.map(load_segment, logs):
|
|
all_data += d
|
|
|
|
if not can:
|
|
all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']]
|
|
|
|
# Infer DBC name from logs
|
|
dbc = None
|
|
for cp in [m for m in all_data if m.which() == 'carParams']:
|
|
try:
|
|
DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
|
|
dbc = DBC[cp.carParams.carFingerprint]['pt']
|
|
except (ImportError, KeyError, AttributeError):
|
|
pass
|
|
break
|
|
|
|
tempfile = NamedTemporaryFile(suffix='.rlog', dir=juggle_dir)
|
|
save_log(tempfile.name, all_data, compress=False)
|
|
del all_data
|
|
|
|
start_juggler(tempfile.name, dbc, layout)
|
|
|
|
def get_arg_parser():
|
|
parser = argparse.ArgumentParser(description="A helper to run PlotJuggler 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("--qlog", action="store_true", help="Use qlogs")
|
|
parser.add_argument("--can", action="store_true", help="Parse CAN data")
|
|
parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
|
|
parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
|
|
parser.add_argument("route_name", nargs='?', help="The route name to plot (cabana share URL accepted)")
|
|
parser.add_argument("segment_number", type=int, nargs='?', help="The index of the segment to plot")
|
|
parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot", default=1)
|
|
return parser
|
|
|
|
if __name__ == "__main__":
|
|
arg_parser = get_arg_parser()
|
|
if len(sys.argv) == 1:
|
|
arg_parser.print_help()
|
|
sys.exit()
|
|
args = arg_parser.parse_args(sys.argv[1:])
|
|
|
|
if args.stream:
|
|
start_juggler(layout=args.layout)
|
|
else:
|
|
route = DEMO_ROUTE if args.demo else args.route_name.strip()
|
|
juggle_route(route, args.segment_number, args.segment_count, args.qlog, args.can, args.layout)
|
|
|