103 lines
3.3 KiB
Python
Executable File
103 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import sys
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import multiprocessing
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import subprocess
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import argparse
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from tempfile import NamedTemporaryFile
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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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juggle_dir = os.path.dirname(os.path.realpath(__file__))
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def load_segment(segment_name):
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print(f"Loading {segment_name}")
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if segment_name is None:
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return []
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try:
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return list(LogReader(segment_name))
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except ValueError as e:
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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, layout=None):
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env = os.environ.copy()
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env["BASEDIR"] = BASEDIR
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if dbc:
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env["DBC_NAME"] = dbc
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pj = os.getenv("PLOTJUGGLER_PATH", "plotjuggler")
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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, can, 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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else:
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r = Route(route_name)
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logs = r.qlog_paths() if qlog else 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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for d in pool.map(load_segment, logs):
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all_data += d
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if not can:
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all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']]
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# Infer DBC name from logs
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dbc = None
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for cp in [m for m in all_data if m.which() == 'carParams']:
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try:
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DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
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dbc = DBC[cp.carParams.carFingerprint]['pt']
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except (ImportError, KeyError, AttributeError):
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pass
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break
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tempfile = NamedTemporaryFile(suffix='.rlog', dir=juggle_dir)
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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, 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("--can", action="store_true", help="Parse CAN data")
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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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if __name__ == "__main__":
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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, args.qlog, args.can, args.layout)
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