PlotJuggler demo (#20172)
* initial demo with popup bug * demo fixes * demo fixes * Update tools/plotjuggler/juggle.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>albatross
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@ -13,18 +13,27 @@ Once you've cloned openpilot, run this command inside this directory:
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```
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batman@z840-openpilot:~/openpilot/tools/plotjuggler$ ./juggle.py -h
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usage: juggle.py [-h] [route_name] [segment_number]
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usage: juggle.py [-h] [--qlog] [--layout [LAYOUT]] [route_name] [segment_number]
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PlotJuggler plugin for reading rlogs
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positional arguments:
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route_name The name of the route that will be plotted. (default: None)
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segment_number The index of the segment that will be plotted (default: None)
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route_name The name of the route that will be plotted. (default: None)
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segment_number The index of the segment that will be plotted (default: None)
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optional arguments:
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-h, --help show this help message and exit
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-h, --help show this help message and exit
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--qlog Use qlogs (default: False)
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--layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None)
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```
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Example:
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`./juggle.py "0982d79ebb0de295|2021-01-17--17-13-08"`
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## Demo:
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For a quick demo of what PlotJuggler can do, go through the installation step and use this command:
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`./juggle.py "https://commadataci.blob.core.windows.net/openpilotci/d83f36766f8012a5/2020-02-05--18-42-21/0/rlog.bz2" --layout=demo_layout.xml`
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@ -0,0 +1,110 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<root version="2.3.8">
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<tabbed_widget parent="main_window" name="Main Window">
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<Tab tab_name="tab1" containers="1">
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<Container>
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<DockSplitter orientation="-" sizes="1" count="1">
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<DockSplitter orientation="|" sizes="0.5;0.5" count="2">
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<DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
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<DockArea name="...">
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<plot mode="TimeSeries" style="Lines">
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<range top="2.762667" bottom="-3.239397" right="56.512723" left="0.000000"/>
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<limitY/>
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<curve color="#1f77b4" name="/carState/aEgo"/>
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<curve color="#17becf" name="/carState/brake"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot mode="TimeSeries" style="Lines">
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<range top="5.191867" bottom="-5.724069" right="56.512723" left="0.000000"/>
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<limitY/>
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<curve color="#1ac938" name="dv/dt"/>
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</plot>
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</DockArea>
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</DockSplitter>
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<DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
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<DockArea name="...">
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<plot mode="TimeSeries" style="Lines">
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<range top="16.065524" bottom="-0.470076" right="56.512723" left="0.000000"/>
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<limitY/>
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<curve color="#d62728" name="/carState/vEgo"/>
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<curve color="#bcbd22" name="/carState/gas"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot mode="TimeSeries" style="Lines">
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<range top="1.014703" bottom="-0.012971" right="56.512723" left="0.000000"/>
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<limitY/>
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<curve color="#ff7f0e" name="/model/meta/brakeDisengageProb"/>
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<curve color="#f14cc1" name="/model/meta/engagedProb"/>
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<curve color="#9467bd" name="/model/meta/steerOverrideProb"/>
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</plot>
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</DockArea>
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</DockSplitter>
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</DockSplitter>
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</DockSplitter>
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</Container>
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</Tab>
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<currentTabIndex index="0"/>
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</tabbed_widget>
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<use_relative_time_offset enabled="1"/>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<Plugins>
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<plugin ID="DataLoad CSV">
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<default time_axis=""/>
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</plugin>
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<plugin ID="DataLoad ROS bags">
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<use_header_stamp value="false"/>
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<use_renaming_rules value="true"/>
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<discard_large_arrays value="true"/>
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<max_array_size value="100"/>
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</plugin>
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<plugin ID="DataLoad Rlog"/>
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<plugin ID="DataLoad ULog"/>
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<plugin ID="LSL Subscriber"/>
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<plugin ID="MQTT Subscriber"/>
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<plugin ID="ROS Topic Subscriber">
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<use_header_stamp value="false"/>
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<use_renaming_rules value="true"/>
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<discard_large_arrays value="true"/>
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<max_array_size value="100"/>
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</plugin>
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<plugin ID="UDP Server"/>
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<plugin ID="WebSocket Server"/>
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<plugin ID="ZMQ Subscriber"/>
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<plugin status="idle" ID="ROS /rosout Visualization"/>
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<plugin status="idle" ID="ROS Topic Re-Publisher"/>
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</Plugins>
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<!-- - - - - - - - - - - - - - - -->
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<previouslyLoaded_Datafiles>
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<fileInfo filename="/home/batman/openpilot/tools/plotjuggler/tmps2q85e2d.rlog" prefix="">
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<selected_datasources value=""/>
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<plugin ID="DataLoad Rlog"/>
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</fileInfo>
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</previouslyLoaded_Datafiles>
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<!-- - - - - - - - - - - - - - - -->
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<customMathEquations>
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<snippet name="dv/dt">
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<global>prevX = 0
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prevY = 0
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is_first = true</global>
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<function>if (is_first) then
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is_first = false
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prevX = time
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prevY = value
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end
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dx = time - prevX
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dy = value - prevY
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prevX = time
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prevY = value
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return dy/dx</function>
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<linkedSource>/carState/vEgo</linkedSource>
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</snippet>
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</customMathEquations>
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<snippets/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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@ -24,7 +24,7 @@ def load_segment(segment_name):
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print(f"Error parsing {segment_name}: {e}")
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return []
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def juggle_file(fn, dbc=None):
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def juggle_file(fn, dbc=None, layout=None):
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env = os.environ.copy()
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env["BASEDIR"] = BASEDIR
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@ -32,9 +32,12 @@ def juggle_file(fn, dbc=None):
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env["DBC_NAME"] = dbc
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pj = os.getenv("PLOTJUGGLER_PATH", "plotjuggler")
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subprocess.call(f'{pj} --plugin_folders {os.path.join(juggle_dir, "bin")} -d {fn}', shell=True, env=env, cwd=juggle_dir)
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extra_args = ""
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if layout is not None:
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extra_args += f'-l {layout}'
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subprocess.call(f'{pj} --plugin_folders {os.path.join(juggle_dir, "bin")} -d {fn} {extra_args}', shell=True, env=env, cwd=juggle_dir)
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def juggle_route(route_name, segment_number, qlog):
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def juggle_route(route_name, segment_number, qlog, layout):
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if route_name.startswith("http://") or route_name.startswith("https://"):
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logs = [route_name]
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@ -74,13 +77,14 @@ def juggle_route(route_name, segment_number, qlog):
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save_log(tempfile.name, all_data, compress=False)
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del all_data
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juggle_file(tempfile.name, dbc)
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juggle_file(tempfile.name, dbc, layout)
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def get_arg_parser():
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parser = argparse.ArgumentParser(description="PlotJuggler plugin for reading rlogs",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("--qlog", action="store_true", help="Use qlogs")
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parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
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parser.add_argument("route_name", nargs='?', help="The name of the route that will be plotted.")
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parser.add_argument("segment_number", type=int, nargs='?', help="The index of the segment that will be plotted")
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return parser
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@ -91,4 +95,4 @@ if __name__ == "__main__":
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arg_parser.print_help()
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sys.exit()
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args = arg_parser.parse_args(sys.argv[1:])
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juggle_route(args.route_name, args.segment_number, args.qlog)
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juggle_route(args.route_name, args.segment_number, args.qlog, args.layout)
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