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134 lines
4.7 KiB
134 lines
4.7 KiB
#!/usr/bin/env python3
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import os
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import sys
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import platform
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import shutil
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import subprocess
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import tarfile
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import tempfile
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import requests
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import argparse
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from functools import partial
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from opendbc.car.fingerprints import MIGRATION
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from openpilot.common.basedir import BASEDIR
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from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
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juggle_dir = os.path.dirname(os.path.realpath(__file__))
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os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/"
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DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
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RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
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INSTALL_DIR = os.path.join(juggle_dir, "bin")
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PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
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MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
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MAX_STREAMING_BUFFER_SIZE = 1000
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def install():
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m = f"{platform.system()}-{platform.machine()}"
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supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
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if m not in supported:
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raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")
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if os.path.exists(INSTALL_DIR):
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shutil.rmtree(INSTALL_DIR)
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os.mkdir(INSTALL_DIR)
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url = os.path.join(RELEASES_URL, m + ".tar.gz")
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with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp:
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r.raise_for_status()
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with open(tmp.name, 'wb') as tmpf:
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for chunk in r.iter_content(chunk_size=1024 * 1024):
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tmpf.write(chunk)
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with tarfile.open(tmp.name) as tar:
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tar.extractall(path=INSTALL_DIR)
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def get_plotjuggler_version():
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out = subprocess.check_output([PLOTJUGGLER_BIN, "-v"], encoding="utf-8").strip()
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version = out.split(" ")[1]
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return tuple(map(int, version.split(".")))
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def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None):
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env = os.environ.copy()
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env["BASEDIR"] = BASEDIR
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env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
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if dbc:
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env["DBC_NAME"] = dbc
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extra_args = ""
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if fn is not None:
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extra_args += f" -d {fn}"
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if layout is not None:
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extra_args += f" -l {layout}"
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if route_or_segment_name is not None:
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extra_args += f" --window_title \"{route_or_segment_name}\""
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cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
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subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
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def process(can, lr):
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return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
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def juggle_route(route_or_segment_name, can, layout, dbc=None):
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sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
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all_data = sr.run_across_segments(24, partial(process, can))
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# Infer DBC name from logs
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if dbc is None:
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for cp in [m for m in all_data if m.which() == 'carParams']:
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try:
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DBC = __import__(f"opendbc.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
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fingerprint = cp.carParams.carFingerprint
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dbc = DBC[MIGRATION.get(fingerprint, fingerprint)]['pt']
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except Exception:
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pass
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break
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with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
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save_log(tmp.name, all_data, compress=False)
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del all_data
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start_juggler(tmp.name, dbc, layout, route_or_segment_name)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="A helper to run PlotJuggler 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("--can", action="store_true", help="Parse CAN data")
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parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
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parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
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parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins")
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parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.")
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parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
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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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if args.install:
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install()
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sys.exit()
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if not os.path.exists(PLOTJUGGLER_BIN):
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print("PlotJuggler is missing. Downloading...")
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install()
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if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
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print("PlotJuggler is out of date. Installing update...")
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install()
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if args.stream:
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start_juggler(layout=args.layout)
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else:
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route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
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juggle_route(route_or_segment_name, args.can, args.layout, args.dbc)
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