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59 lines
2.2 KiB
59 lines
2.2 KiB
# PlotJuggler
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We've extended [PlotJuggler](https://github.com/facontidavide/PlotJuggler) to plot all of your openpilot logs. Check out our plugins: https://github.com/commaai/PlotJuggler.
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## Installation
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Once you've cloned and are in openpilot, download PlotJuggler and install our plugins with this command:
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`cd tools/plotjuggler && ./install.sh`
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## Usage
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```
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$ ./juggle.py -h
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usage: juggle.py [-h] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [route_name] [segment_number] [segment_count]
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PlotJuggler plugin for reading openpilot logs
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positional arguments:
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route_name The route name to plot (cabana share URL accepted) (default: None)
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segment_number The index of the segment to plot (default: None)
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segment_count The number of segments to plot (default: 1)
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optional arguments:
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-h, --help show this help message and exit
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--qlog Use qlogs (default: False)
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--can Parse CAN data (default: False)
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--stream Start PlotJuggler without a route to stream data using Cereal (default: False)
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--layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None)
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```
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Example:
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`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"`
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## Streaming
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Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
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- Enable wifi tethering on your comma device
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- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./cereal/messaging/bridge`
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- On your laptop, connect to the device's wifi hotspot
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- Start PlotJuggler with `ZMQ=1 ./juggle.py --stream`, find the `Cereal Subscriber` plugin in the dropdown under Streaming, and click `Start`.
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If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py --stream` and start the cereal subscriber.
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## Demo
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For a quick demo, go through the installation step and run this command:
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`./juggle.py "https://commadataci.blob.core.windows.net/openpilotci/d83f36766f8012a5/2020-02-05--18-42-21/0/rlog.bz2" --layout=layouts/demo.xml`
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## Tuning
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Use this layout to generate plots for tuning PRs. Also see tuning wiki and tuning PR template.
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`--layout layouts/tuning.xml`
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