plotjuggler falling back to qlog (#20105)
* fallback to qlogs * minor fixes * removed extra line * help on no args * Update tools/plotjuggler/juggle.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/20108/head
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@ -11,6 +11,7 @@ SEGMENT_NAME_RE = r'[a-z0-9]{16}[|_][0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2
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EXPLORER_FILE_RE = r'^({})--([a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME_RE)
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OP_SEGMENT_DIR_RE = r'^({})$'.format(SEGMENT_NAME_RE)
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QLOG_FILENAMES = ['qlog.bz2']
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LOG_FILENAMES = ['rlog.bz2', 'raw_log.bz2']
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CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
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@ -21,20 +22,23 @@ class Route(object):
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self._segments = self._get_segments_local(data_dir)
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else:
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self._segments = self._get_segments_remote()
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self.max_seg_number = self._segments[-1].canonical_name.segment_num
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@property
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def segments(self):
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return self._segments
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def log_paths(self):
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max_seg_number = self._segments[-1].canonical_name.segment_num
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log_path_by_seg_num = {s.canonical_name.segment_num: s.log_path for s in self._segments}
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return [log_path_by_seg_num.get(i, None) for i in range(max_seg_number+1)]
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return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
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def qlog_paths(self):
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qlog_path_by_seg_num = {s.canonical_name.segment_num: s.qlog_path for s in self._segments}
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return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
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def camera_paths(self):
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max_seg_number = self._segments[-1].canonical_name.segment_num
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camera_path_by_seg_num = {s.canonical_name.segment_num: s.camera_path for s in self._segments}
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return [camera_path_by_seg_num.get(i, None) for i in range(max_seg_number+1)]
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return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
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def _get_segments_remote(self):
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api = CommaApi(get_token())
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@ -48,12 +52,14 @@ class Route(object):
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segments[segment_name] = RouteSegment(
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segment_name,
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url if fn in LOG_FILENAMES else segments[segment_name].log_path,
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url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path,
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url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path
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)
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else:
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segments[segment_name] = RouteSegment(
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segment_name,
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url if fn in LOG_FILENAMES else None,
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url if fn in QLOG_FILENAMES else None,
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url if fn in CAMERA_FILENAMES else None
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)
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@ -88,26 +94,33 @@ class Route(object):
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segments = []
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for segment, files in segment_files.items():
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try:
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log_path = next(path for path, filename in files if filename in LOG_FILENAMES)
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except StopIteration:
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log_path = None
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try:
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qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES)
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except StopIteration:
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qlog_path = None
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try:
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camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES)
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except StopIteration:
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camera_path = None
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segments.append(RouteSegment(segment, log_path, camera_path))
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segments.append(RouteSegment(segment, log_path, qlog_path, camera_path))
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if len(segments) == 0:
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raise ValueError('Could not find segments for route {} in data directory {}'.format(self.route_name, data_dir))
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return sorted(segments, key=lambda seg: seg.canonical_name.segment_num)
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class RouteSegment(object):
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def __init__(self, name, log_path, camera_path):
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def __init__(self, name, log_path, qlog_path, camera_path):
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self._name = RouteSegmentName(name)
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self.log_path = log_path
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self.qlog_path = qlog_path
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self.camera_path = camera_path
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@property
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@ -10,7 +10,6 @@ from common.basedir import BASEDIR
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from selfdrive.test.process_replay.compare_logs import save_log
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from tools.lib.route import Route
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from tools.lib.logreader import LogReader
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from tools.lib.url_file import URLFile
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def load_segment(segment_name):
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@ -26,14 +25,26 @@ def juggle_file(fn):
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juggle_dir = os.path.dirname(os.path.realpath(__file__))
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subprocess.call(f"bin/plotjuggler -d {fn}", shell=True, env=env, cwd=juggle_dir)
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def juggle_route(route_name):
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def juggle_route(route_name, segment_number):
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r = Route(route_name)
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all_data = []
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logs = r.log_paths()
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if segment_number is not None:
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logs = logs[segment_number:segment_number+1]
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if None in logs:
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fallback_answer = input("At least one of the rlogs in this segment does not exist, would you like to use the qlogs? (y/n) : ")
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if fallback_answer == 'y':
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logs = r.qlog_paths()
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if segment_number is not None:
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logs = logs[segment_number:segment_number+1]
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else:
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print(f"Please try a different {'segment' if segment_number is not None else 'route'}")
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return
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all_data = []
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pool = multiprocessing.Pool(24)
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all_data = []
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for d in pool.map(load_segment, r.log_paths()):
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for d in pool.map(load_segment, logs):
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all_data += d
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tempfile = NamedTemporaryFile(suffix='.rlog')
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@ -42,29 +53,19 @@ def juggle_route(route_name):
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juggle_file(tempfile.name)
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def juggle_segment(route_name, segment_nr):
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r = Route(route_name)
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lp = r.log_paths()[segment_nr]
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if lp is None:
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print("This segment does not exist, please try a different one")
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return
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uf = URLFile(lp)
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juggle_file(uf.name)
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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("route_name", nargs='?', help="The name of the route that will be plotted.")
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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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if __name__ == "__main__":
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args = get_arg_parser().parse_args(sys.argv[1:])
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if args.segment_number is None:
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juggle_route(args.route_name)
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else:
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juggle_segment(args.route_name, args.segment_number)
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arg_parser = get_arg_parser()
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if len(sys.argv) == 1:
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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)
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