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plotjuggler: support segment names (#23263)

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* plotjuggler: support segment names

* update docs

* generic parser

* convert segment number to int when parsing

* add SegmentName

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 71132edf17a78b629e3fa244caa21bebdc488929
This commit is contained in:
Greg Hogan
2022-01-04 06:55:46 -08:00
committed by GitHub
parent 0c24902e05
commit bb3402b54d
3 changed files with 112 additions and 64 deletions
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tools/plotjuggler/README.md
+9 -5
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@@ -13,14 +13,14 @@ Once you've cloned and are in openpilot, this command will download PlotJuggler
```
$ ./juggle.py -h
usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [--install]
[route_name] [segment_number] [segment_count]
[route_or_segment_name] [segment_count]
A helper to run PlotJuggler on openpilot routes
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)
route_or_segment_name
The route or segment name to plot (cabana share URL accepted) (default: None)
segment_count The number of segments to plot (default: None)
optional arguments:
-h, --help show this help message and exit
@@ -32,10 +32,14 @@ optional arguments:
--install Install or update PlotJuggler + plugins (default: False)
```
Example:
Examples using route name:
`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"`
Examples using segment name:
`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36--1"`
## Streaming
Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
tools/plotjuggler/juggle.py
+23 -19
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@@ -15,7 +15,7 @@ from selfdrive.test.process_replay.compare_logs import save_log
from tools.lib.api import CommaApi
from tools.lib.auth_config import get_token
from tools.lib.robust_logreader import RobustLogReader
from tools.lib.route import Route
from tools.lib.route import Route, SegmentName
from urllib.parse import urlparse, parse_qs
juggle_dir = os.path.dirname(os.path.realpath(__file__))
@@ -74,29 +74,33 @@ def start_juggler(fn=None, dbc=None, layout=None):
subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
def juggle_route(route_name, segment_number, segment_count, qlog, can, layout):
# TODO: abstract out the cabana stuff
if 'cabana' in route_name:
query = parse_qs(urlparse(route_name).query)
def juggle_route(route_or_segment_name, segment_count, qlog, can, layout):
segment_start = 0
if 'cabana' in route_or_segment_name:
query = parse_qs(urlparse(route_or_segment_name).query)
api = CommaApi(get_token())
logs = api.get(f'v1/route/{query["route"][0]}/log_urls?sig={query["sig"][0]}&exp={query["exp"][0]}')
elif route_name.startswith("http://") or route_name.startswith("https://") or os.path.isfile(route_name):
logs = [route_name]
elif route_or_segment_name.startswith("http://") or route_or_segment_name.startswith("https://") or os.path.isfile(route_or_segment_name):
logs = [route_or_segment_name]
else:
r = Route(route_name)
route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
segment_start = max(route_or_segment_name.segment_num, 0)
if route_or_segment_name.segment_num != -1 and segment_count is None:
segment_count = 1
r = Route(route_or_segment_name.route_name.canonical_name)
logs = r.qlog_paths() if qlog else r.log_paths()
if segment_number is not None:
logs = logs[segment_number:segment_number+segment_count]
segment_end = segment_start + segment_count if segment_count else -1
logs = logs[segment_start:segment_end]
if None in logs:
ans = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ")
if ans == 'y':
logs = r.qlog_paths()
if segment_number is not None:
logs = logs[segment_number:segment_number+segment_count]
logs = r.qlog_paths()[segment_start:segment_end]
else:
print(f"Please try a different {'segment' if segment_number is not None else 'route'}")
print("Please try a different route or segment")
return
all_data = []
@@ -133,9 +137,9 @@ if __name__ == "__main__":
parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins")
parser.add_argument("route_name", nargs='?', help="The route name to plot (cabana share URL accepted)")
parser.add_argument("segment_number", type=int, nargs='?', help="The index of the segment to plot")
parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot", default=1)
parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot")
if len(sys.argv) == 1:
parser.print_help()
sys.exit()
@@ -148,5 +152,5 @@ if __name__ == "__main__":
if args.stream:
start_juggler(layout=args.layout)
else:
route = DEMO_ROUTE if args.demo else args.route_name.strip()
juggle_route(route, args.segment_number, args.segment_count, args.qlog, args.can, args.layout)
route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout)