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