Release 260111

tools/plotjuggler/juggle.py

@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+import os
+import sys
+import platform
+import shutil
+import subprocess
+import tarfile
+import tempfile
+import requests
+import argparse
+from functools import partial
+
+from opendbc.car.fingerprints import MIGRATION
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.swaglog import cloudlog
+from openpilot.tools.cabana.dbc.generate_dbc_json import generate_dbc_dict
+from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
+
+juggle_dir = os.path.dirname(os.path.realpath(__file__))
+
+os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/"
+
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
+INSTALL_DIR = os.path.join(juggle_dir, "bin")
+PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
+MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
+MAX_STREAMING_BUFFER_SIZE = 1000
+
+
+def install():
+  m = f"{platform.system()}-{platform.machine()}"
+  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
+  if m not in supported:
+    raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")
+
+  if os.path.exists(INSTALL_DIR):
+    shutil.rmtree(INSTALL_DIR)
+  os.mkdir(INSTALL_DIR)
+
+  url = os.path.join(RELEASES_URL, m + ".tar.gz")
+  with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp:
+    r.raise_for_status()
+    with open(tmp.name, 'wb') as tmpf:
+      for chunk in r.iter_content(chunk_size=1024 * 1024):
+        tmpf.write(chunk)
+
+    with tarfile.open(tmp.name) as tar:
+      tar.extractall(path=INSTALL_DIR)
+
+
+def get_plotjuggler_version():
+  out = subprocess.check_output([PLOTJUGGLER_BIN, "-v"], encoding="utf-8").strip()
+  version = out.split(" ")[1]
+  return tuple(map(int, version.split(".")))
+
+
+def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, platform=None):
+  env = os.environ.copy()
+  env["BASEDIR"] = BASEDIR
+  env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
+  if dbc:
+    env["DBC_NAME"] = dbc
+
+  extra_args = ""
+  if fn is not None:
+    extra_args += f" -d {fn}"
+  if layout is not None:
+    extra_args += f" -l {layout}"
+  if route_or_segment_name is not None:
+    extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
+
+  cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
+  subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
+
+
+def process(can, lr):
+  return [d for d in lr if can or d.which() not in ['can', 'sendcan'] and not d.which().startswith('customReserved')]
+
+
+def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):
+  lr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
+
+  all_data = lr.run_across_segments(24, partial(process, can))
+  if should_migrate:
+    all_data = migrate_all(all_data)
+
+  # Infer DBC name from logs
+  platform = None
+  if dbc is None:
+    try:
+      CP = lr.first('carParams')
+      platform = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
+      dbc = generate_dbc_dict()[platform]
+    except Exception:
+      cloudlog.exception("Failed to get DBC name from logs!")
+
+  with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
+    save_log(tmp.name, all_data, compress=False)
+    del all_data
+    start_juggler(tmp.name, dbc, layout, route_or_segment_name, platform)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="A helper to run PlotJuggler on openpilot routes",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
+  parser.add_argument("--can", action="store_true", help="Parse CAN data")
+  parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
+  parser.add_argument("--no-migration", action="store_true", help="Do not perform log migration")
+  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("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+  args = parser.parse_args()
+
+  if args.install:
+    install()
+    sys.exit()
+
+  if not os.path.exists(PLOTJUGGLER_BIN):
+    print("PlotJuggler is missing. Downloading...")
+    install()
+
+  if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
+    print("PlotJuggler is out of date. Installing update...")
+    install()
+
+  if args.stream:
+    start_juggler(layout=args.layout)
+  else:
+    route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
+    juggle_route(route_or_segment_name, args.can, args.layout, args.dbc, not args.no_migration)