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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/tools/plotjuggler/README.md

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PlotJuggler

We've extended PlotJuggler to plot all of your openpilot logs. Check out our plugins: https://github.com/commaai/PlotJuggler.

Installation

Once you've cloned and are in openpilot, download PlotJuggler and install our plugins with this command:

cd tools/plotjuggler && ./install.sh

Usage

$ ./juggle.py -h
usage: juggle.py [-h] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [route_name] [segment_number] [segment_count]

PlotJuggler plugin for reading openpilot logs

positional arguments:
  route_name         The route name to plot (cabana share URL accepted) (default: None)
  segment_number     The index of the segment to plot (default: None)
  segment_count      The number of segments to plot (default: 1)

optional arguments:
  -h, --help         show this help message and exit
  --qlog             Use qlogs (default: False)
  --can              Parse CAN data (default: False)
  --stream           Start PlotJuggler without a route to stream data using Cereal (default: False)
  --layout [LAYOUT]  Run PlotJuggler with a pre-defined layout (default: None)

Example:

./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"

Streaming

Explore live data from your car! Follow these steps to stream from your comma device to your laptop:

  • Enable wifi tethering on your comma device
  • SSH into your device and run cd /data/openpilot && ./cereal/messaging/bridge
  • On your laptop, connect to the device's wifi hotspot
  • Start PlotJuggler with ZMQ=1 ./juggle.py --stream, find the Cereal Subscriber plugin in the dropdown under Streaming, and click Start.

If streaming to PlotJuggler from a replay on your PC, simply run: ./juggle.py --stream and start the cereal subscriber.

Demo

For a quick demo, go through the installation step and run this command:

./juggle.py "https://commadataci.blob.core.windows.net/openpilotci/d83f36766f8012a5/2020-02-05--18-42-21/0/rlog.bz2" --layout=layouts/demo.xml

Tuning

Use this layout to generate plots for tuning PRs. Also see tuning wiki and tuning PR template.

--layout layouts/tuning.xml

screenshot