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370 lines
15 KiB
370 lines
15 KiB
#!/usr/bin/env python3
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import argparse
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import os
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import pyautogui
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import subprocess
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import dearpygui.dearpygui as dpg
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import multiprocessing
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import uuid
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import signal
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import yaml # type: ignore
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from openpilot.common.swaglog import cloudlog
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from openpilot.common.basedir import BASEDIR
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from openpilot.tools.jotpluggler.data import DataManager
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from openpilot.tools.jotpluggler.datatree import DataTree
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from openpilot.tools.jotpluggler.layout import LayoutManager
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DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
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class WorkerManager:
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def __init__(self, max_workers=None):
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self.pool = multiprocessing.Pool(max_workers or min(4, multiprocessing.cpu_count()), initializer=WorkerManager.worker_initializer)
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self.active_tasks = {}
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def submit_task(self, func, args_list, callback=None, task_id=None):
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task_id = task_id or str(uuid.uuid4())
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if task_id in self.active_tasks:
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try:
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self.active_tasks[task_id].terminate()
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except Exception:
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pass
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def handle_success(result):
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self.active_tasks.pop(task_id, None)
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if callback:
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try:
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callback(result)
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except Exception as e:
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print(f"Callback for task {task_id} failed: {e}")
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def handle_error(error):
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self.active_tasks.pop(task_id, None)
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print(f"Task {task_id} failed: {error}")
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async_result = self.pool.starmap_async(func, args_list, callback=handle_success, error_callback=handle_error)
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self.active_tasks[task_id] = async_result
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return task_id
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@staticmethod
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def worker_initializer():
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signal.signal(signal.SIGINT, signal.SIG_IGN)
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def shutdown(self):
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for task in self.active_tasks.values():
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try:
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task.terminate()
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except Exception:
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pass
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self.pool.terminate()
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self.pool.join()
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class PlaybackManager:
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def __init__(self):
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self.is_playing = False
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self.current_time_s = 0.0
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self.duration_s = 0.0
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self.num_segments = 0
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self.x_axis_bounds = (0.0, 0.0) # (min_time, max_time)
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self.x_axis_observers = [] # callbacks for x-axis changes
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self._updating_x_axis = False
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def set_route_duration(self, duration: float):
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self.duration_s = duration
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self.seek(min(self.current_time_s, duration))
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def toggle_play_pause(self):
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if not self.is_playing and self.current_time_s >= self.duration_s:
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self.seek(0.0)
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self.is_playing = not self.is_playing
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texture_tag = "pause_texture" if self.is_playing else "play_texture"
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dpg.configure_item("play_pause_button", texture_tag=texture_tag)
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def seek(self, time_s: float):
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self.current_time_s = max(0.0, min(time_s, self.duration_s))
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def update_time(self, delta_t: float):
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if self.is_playing:
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self.current_time_s = min(self.current_time_s + delta_t, self.duration_s)
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if self.current_time_s >= self.duration_s:
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self.is_playing = False
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dpg.configure_item("play_pause_button", texture_tag="play_texture")
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return self.current_time_s
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def set_x_axis_bounds(self, min_time: float, max_time: float, source_panel=None):
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if self._updating_x_axis:
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return
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new_bounds = (min_time, max_time)
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if new_bounds == self.x_axis_bounds:
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return
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self.x_axis_bounds = new_bounds
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self._updating_x_axis = True # prevent recursive updates
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try:
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for callback in self.x_axis_observers:
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try:
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callback(min_time, max_time, source_panel)
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except Exception as e:
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print(f"Error in x-axis sync callback: {e}")
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finally:
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self._updating_x_axis = False
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def add_x_axis_observer(self, callback):
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if callback not in self.x_axis_observers:
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self.x_axis_observers.append(callback)
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def remove_x_axis_observer(self, callback):
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if callback in self.x_axis_observers:
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self.x_axis_observers.remove(callback)
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class MainController:
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def __init__(self, scale: float = 1.0):
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self.scale = scale
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self.data_manager = DataManager()
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self.playback_manager = PlaybackManager()
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self.worker_manager = WorkerManager()
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self._create_global_themes()
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self.data_tree = DataTree(self.data_manager, self.playback_manager)
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self.layout_manager = LayoutManager(self.data_manager, self.playback_manager, self.worker_manager, scale=self.scale)
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self.data_manager.add_observer(self.on_data_loaded)
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self._total_segments = 0
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def _create_global_themes(self):
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with dpg.theme(tag="line_theme"):
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with dpg.theme_component(dpg.mvLineSeries):
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scaled_thickness = max(1.0, self.scale)
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dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
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with dpg.theme(tag="timeline_theme"):
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with dpg.theme_component(dpg.mvInfLineSeries):
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scaled_thickness = max(1.0, self.scale)
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dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
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dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots)
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for tag, color in (("active_tab_theme", (37, 37, 38, 255)), ("inactive_tab_theme", (70, 70, 75, 255))):
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with dpg.theme(tag=tag):
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for cmp, target in ((dpg.mvChildWindow, dpg.mvThemeCol_ChildBg), (dpg.mvInputText, dpg.mvThemeCol_FrameBg), (dpg.mvImageButton, dpg.mvThemeCol_Button)):
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with dpg.theme_component(cmp):
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dpg.add_theme_color(target, color)
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with dpg.theme(tag="tab_bar_theme"):
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with dpg.theme_component(dpg.mvChildWindow):
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dpg.add_theme_color(dpg.mvThemeCol_ChildBg, (51, 51, 55, 255))
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def on_data_loaded(self, data: dict):
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duration = data.get('duration', 0.0)
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self.playback_manager.set_route_duration(duration)
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if data.get('metadata_loaded'):
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self.playback_manager.num_segments = data.get('total_segments', 0)
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self._total_segments = data.get('total_segments', 0)
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dpg.set_value("load_status", f"Loading... 0/{self._total_segments} segments processed")
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elif data.get('reset'):
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self.playback_manager.current_time_s = 0.0
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self.playback_manager.duration_s = 0.0
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self.playback_manager.is_playing = False
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self._total_segments = 0
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dpg.set_value("load_status", "Loading...")
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dpg.set_value("timeline_slider", 0.0)
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dpg.configure_item("timeline_slider", max_value=0.0)
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dpg.configure_item("play_pause_button", texture_tag="play_texture")
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dpg.configure_item("load_button", enabled=True)
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elif data.get('loading_complete'):
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num_paths = len(self.data_manager.get_all_paths())
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dpg.set_value("load_status", f"Loaded {num_paths} data paths")
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dpg.configure_item("load_button", enabled=True)
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elif data.get('segment_added'):
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segment_count = data.get('segment_count', 0)
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dpg.set_value("load_status", f"Loading... {segment_count}/{self._total_segments} segments processed")
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dpg.configure_item("timeline_slider", max_value=duration)
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def save_layout_to_yaml(self, filepath: str):
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layout_dict = self.layout_manager.to_dict()
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with open(filepath, 'w') as f:
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yaml.dump(layout_dict, f, default_flow_style=False, sort_keys=False)
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def load_layout_from_yaml(self, filepath: str):
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with open(filepath) as f:
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layout_dict = yaml.safe_load(f)
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self.layout_manager.clear_and_load_from_dict(layout_dict)
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self.layout_manager.create_ui("main_plot_area")
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def save_layout_dialog(self):
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if dpg.does_item_exist("save_layout_dialog"):
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dpg.delete_item("save_layout_dialog")
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with dpg.file_dialog(
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callback=self._save_layout_callback, tag="save_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
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default_filename="layout", default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
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):
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dpg.add_file_extension(".yaml")
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def load_layout_dialog(self):
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if dpg.does_item_exist("load_layout_dialog"):
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dpg.delete_item("load_layout_dialog")
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with dpg.file_dialog(
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callback=self._load_layout_callback, tag="load_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
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default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
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):
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dpg.add_file_extension(".yaml")
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def _save_layout_callback(self, sender, app_data):
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filepath = app_data['file_path_name']
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try:
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self.save_layout_to_yaml(filepath)
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dpg.set_value("load_status", f"Layout saved to {os.path.basename(filepath)}")
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except Exception:
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dpg.set_value("load_status", "Error saving layout")
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cloudlog.exception(f"Error saving layout to {filepath}")
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dpg.delete_item("save_layout_dialog")
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def _load_layout_callback(self, sender, app_data):
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filepath = app_data['file_path_name']
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try:
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self.load_layout_from_yaml(filepath)
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dpg.set_value("load_status", f"Layout loaded from {os.path.basename(filepath)}")
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except Exception:
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dpg.set_value("load_status", "Error loading layout")
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cloudlog.exception(f"Error loading layout from {filepath}:")
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dpg.delete_item("load_layout_dialog")
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def setup_ui(self):
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with dpg.texture_registry():
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script_dir = os.path.dirname(os.path.realpath(__file__))
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for image in ["play", "pause", "x", "split_h", "split_v", "plus"]:
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texture = dpg.load_image(os.path.join(script_dir, "assets", f"{image}.png"))
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dpg.add_static_texture(width=texture[0], height=texture[1], default_value=texture[3], tag=f"{image}_texture")
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with dpg.window(tag="Primary Window"):
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with dpg.group(horizontal=True):
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# Left panel - Data tree
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with dpg.child_window(label="Sidebar", width=int(300 * self.scale), tag="sidebar_window", border=True, resizable_x=True):
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with dpg.group(horizontal=True):
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dpg.add_input_text(tag="route_input", width=int(-75 * self.scale), hint="Enter route name...")
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dpg.add_button(label="Load", callback=self.load_route, tag="load_button", width=-1)
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dpg.add_text("Ready to load route", tag="load_status")
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dpg.add_separator()
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with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp):
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dpg.add_table_column(init_width_or_weight=0.5)
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dpg.add_table_column(init_width_or_weight=0.5)
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with dpg.table_row():
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dpg.add_button(label="Save Layout", callback=self.save_layout_dialog, width=-1)
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dpg.add_button(label="Load Layout", callback=self.load_layout_dialog, width=-1)
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dpg.add_separator()
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self.data_tree.create_ui("sidebar_window")
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# Right panel - Plots and timeline
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with dpg.group(tag="right_panel"):
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with dpg.child_window(label="Plot Window", border=True, height=int(-(32 + 13 * self.scale)), tag="main_plot_area"):
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self.layout_manager.create_ui("main_plot_area")
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with dpg.child_window(label="Timeline", border=True):
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with dpg.table(header_row=False):
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btn_size = int(13 * self.scale)
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dpg.add_table_column(width_fixed=True, init_width_or_weight=(btn_size + 8)) # Play button
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dpg.add_table_column(width_stretch=True) # Timeline slider
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dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale)) # FPS counter
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with dpg.table_row():
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dpg.add_image_button(texture_tag="play_texture", tag="play_pause_button", callback=self.toggle_play_pause, width=btn_size, height=btn_size)
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dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag)
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dpg.add_text("", tag="fps_counter")
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with dpg.item_handler_registry(tag="plot_resize_handler"):
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dpg.add_item_resize_handler(callback=self.on_plot_resize)
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dpg.bind_item_handler_registry("right_panel", "plot_resize_handler")
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dpg.set_primary_window("Primary Window", True)
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def on_plot_resize(self, sender, app_data, user_data):
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self.layout_manager.on_viewport_resize()
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def load_route(self):
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route_name = dpg.get_value("route_input").strip()
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if route_name:
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dpg.set_value("load_status", "Loading route...")
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dpg.configure_item("load_button", enabled=False)
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self.data_manager.load_route(route_name)
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def toggle_play_pause(self, sender):
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self.playback_manager.toggle_play_pause()
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def timeline_drag(self, sender, app_data):
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self.playback_manager.seek(app_data)
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def update_frame(self, font):
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self.data_tree.update_frame(font)
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new_time = self.playback_manager.update_time(dpg.get_delta_time())
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if not dpg.is_item_active("timeline_slider"):
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dpg.set_value("timeline_slider", new_time)
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self.layout_manager.update_all_panels()
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dpg.set_value("fps_counter", f"{dpg.get_frame_rate():.1f} FPS")
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def shutdown(self):
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self.worker_manager.shutdown()
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def main(route_to_load=None, layout_to_load=None):
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dpg.create_context()
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# TODO: find better way of calculating display scaling
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try:
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w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l) # actual resolution
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scale = pyautogui.size()[0] / w # scaled resolution
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except Exception:
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scale = 1
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with dpg.font_registry():
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default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale * 2)) # 2x then scale for hidpi
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dpg.bind_font(default_font)
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dpg.set_global_font_scale(0.5)
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viewport_width, viewport_height = int(1200 * scale), int(800 * scale)
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mouse_x, mouse_y = pyautogui.position() # TODO: find better way of creating the window where the user is (default dpg behavior annoying on multiple displays)
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dpg.create_viewport(
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title='JotPluggler', width=viewport_width, height=viewport_height, x_pos=mouse_x - viewport_width // 2, y_pos=mouse_y - viewport_height // 2
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)
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dpg.setup_dearpygui()
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controller = MainController(scale=scale)
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controller.setup_ui()
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if layout_to_load:
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try:
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controller.load_layout_from_yaml(layout_to_load)
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print(f"Loaded layout from {layout_to_load}")
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except Exception as e:
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print(f"Failed to load layout from {layout_to_load}: {e}")
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cloudlog.exception(f"Error loading layout from {layout_to_load}")
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if route_to_load:
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dpg.set_value("route_input", route_to_load)
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controller.load_route()
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dpg.show_viewport()
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# Main loop
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try:
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while dpg.is_dearpygui_running():
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controller.update_frame(default_font)
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dpg.render_dearpygui_frame()
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finally:
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controller.shutdown()
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dpg.destroy_context()
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.")
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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("--layout", type=str, help="Path to YAML layout file to load on startup")
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parser.add_argument("route", nargs='?', default=None, help="Optional route name to load on startup.")
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args = parser.parse_args()
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route = DEMO_ROUTE if args.demo else args.route
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main(route_to_load=route, layout_to_load=args.layout)
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