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tools/rerun: Rerun 0.18 (#33188) 

old-commit-hash: a604dcc524
This commit is contained in:
Hoang Bui 2024-08-08 17:30:14 -04:00 committed by GitHub
parent fcba77b59e
commit 93e980b925
4 changed files with 75 additions and 85 deletions
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50
tools/rerun/README.md
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@ -5,53 +5,33 @@ Rerun is a tool to quickly visualize time series data. It supports all openpilot
## Usage
```
usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name]
usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name]
A helper to run rerun on openpilot routes
positional arguments:
route_or_segment_name
The route or segment name to plot (default: None)
options:
-h, --help show this help message and exit
--demo Use the demo route instead of providing one (default: False)
--qcam Log decimated driving camera (default: False)
--fcam Log driving camera (default: False)
--ecam Log wide camera (default: False)
--dcam Log driver monitoring camera (default: False)
--print_services List out openpilot services (default: False)
--services [SERVICES ...] Specify openpilot services that will be logged. No service will be logged if not specified.
To log all services include 'all' as one of your services (default: [])
--route [ROUTE] The route or segment name to plot (default: None)
-h, --help show this help message and exit
--demo Use the demo route instead of providing one (default: False)
--qcam Show low-res road camera (default: False)
--fcam Show driving camera (default: False)
--ecam Show wide camera (default: False)
--dcam Show driver monitoring camera (default: False)
```
Examples using route name to observe accelerometer and qcamera:
`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
## Cautions:
- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data.
- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`) are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
This example draws 13GB of memory:
`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
## Openpilot services
To list all openpilot services:
`./run.py --print_services`
Examples including openpilot services:
`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
Examples including all services:
`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`) are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
## Demo
`./run.py --services accelerometer carcontrol caroutput --qcam --demo`
`./run.sh --qcam --demo`

5
tools/rerun/camera_reader.py
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@ -37,6 +37,7 @@ class _FrameReader:
frame_sz = self.w * self.h * 3 // 2
proc = subprocess.Popen(
["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
stderr=subprocess.DEVNULL
)
@ -84,9 +85,9 @@ class CameraReader:
def _run_on_segment(self, func, i):
return func(self._get_fr(i))
def run_across_segments(self, num_processes, func):
def run_across_segments(self, num_processes, func, desc=None):
with multiprocessing.Pool(num_processes) as pool:
num_segs = len(self.seg_idxs)
for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs):
for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc):
continue

96
tools/rerun/run.py
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@ -1,10 +1,12 @@
#!/usr/bin/env python3
import sys
import argparse
import multiprocessing
import rerun as rr
import rerun.blueprint as rrb
from functools import partial
from collections import defaultdict
from cereal.services import SERVICE_LIST
from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
@ -20,19 +22,16 @@ RR_WIN = "openpilot logs"
"""
Relevant upstream Rerun issues:
- large time series: https://github.com/rerun-io/rerun/issues/5967
- loading videos directly: https://github.com/rerun-io/rerun/issues/6532
"""
class Rerunner:
def __init__(self, route, segment_range, camera_config, enabled_services):
self.enabled_services = [s.lower() for s in enabled_services]
self.log_all = "all" in self.enabled_services
def __init__(self, route, segment_range, camera_config):
self.lr = LogReader(route_or_segment_name)
# hevc files don't have start_time. We get it from qcamera.ts
start_time = 0
dat = probe_packet_info(r.qcamera_paths()[0])
dat = probe_packet_info(route.qcamera_paths()[0])
for d in dat:
if d.startswith("pts_time="):
start_time = float(d.split('=')[1])
@ -49,34 +48,30 @@ class Rerunner:
if dcam:
self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
def _start_rerun(self):
self.blueprint = self._create_blueprint()
rr.init(RR_WIN, spawn=True)
def _create_blueprint(self):
blueprint = None
service_views = []
log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all
for topic in sorted(SERVICE_LIST.keys()):
if not self.log_all and topic.lower() not in self.enabled_services:
continue
View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible))
service_views.append(View(name=topic, origin=f"/{topic}/", visible=False))
rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
center_view = [rrb.Vertical(*service_views, name="streams")]
if len(self.camera_readers):
center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras"))
blueprint = rrb.Blueprint(
rrb.Horizontal(
rrb.Vertical(*service_views),
rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]),
*center_view
),
rrb.SelectionPanel(expanded=False),
rrb.TimePanel(expanded=False)
rrb.TimePanel(expanded=False),
)
return blueprint
@staticmethod
def _log_msg(msg, parent_key=''):
def _parse_msg(msg, parent_key=''):
stack = [(msg, parent_key)]
while stack:
current_msg, current_parent_key = stack.pop()
@ -84,40 +79,47 @@ class Rerunner:
for index, item in enumerate(current_msg):
new_key = f"{current_parent_key}/{index}"
if isinstance(item, (int, float)):
rr.log(new_key, rr.Scalar(item))
yield new_key, item
elif isinstance(item, dict):
stack.append((item, new_key))
elif isinstance(current_msg, dict):
for key, value in current_msg.items():
new_key = f"{current_parent_key}/{key}"
if isinstance(value, (int, float)):
rr.log(new_key, rr.Scalar(value))
yield new_key, value
elif isinstance(value, dict):
stack.append((value, new_key))
elif isinstance(value, list):
for index, item in enumerate(value):
if isinstance(item, (int, float)):
rr.log(f"{new_key}/{index}", rr.Scalar(item))
yield f"{new_key}/{index}", item
else:
pass # Not a plottable value
@staticmethod
@rr.shutdown_at_exit
def _process_log_msgs(blueprint, enabled_services, log_all, lr):
def _process_log_msgs(blueprint, lr):
rr.init(RR_WIN)
rr.connect(default_blueprint=blueprint)
rr.connect()
rr.send_blueprint(blueprint)
log_msgs = defaultdict(lambda: defaultdict(list))
for msg in lr:
rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime)
msg_type = msg.which()
if not log_all and msg_type.lower() not in enabled_services:
if msg_type == "thumbnail":
continue
if msg_type != "thumbnail":
Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which())
else:
rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail")))
for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type):
log_msgs[entity_path]["times"].append(msg.logMonoTime / 1e9)
log_msgs[entity_path]["data"].append(dat)
for entity_path, log_msg in log_msgs.items():
rr.log_temporal_batch(
entity_path,
times=[rr.TimeSecondsBatch(RR_TIMELINE_NAME, log_msg["times"])],
components=[rr.components.ScalarBatch(log_msg["data"])]
)
return []
@ -125,18 +127,22 @@ class Rerunner:
@rr.shutdown_at_exit
def _process_cam_readers(blueprint, cam_type, h, w, fr):
rr.init(RR_WIN)
rr.connect(default_blueprint=blueprint)
rr.connect()
rr.send_blueprint(blueprint)
for ts, frame in fr:
rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12))
def load_data(self):
self._start_rerun()
if len(self.enabled_services) > 0:
self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all))
rr.init(RR_WIN, spawn=True)
startup_blueprint = self._create_blueprint()
self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages")
for cam_type, cr in self.camera_readers.items():
cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w))
cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type)
rr.send_blueprint(self._create_blueprint())
if __name__ == '__main__':
@ -147,34 +153,28 @@ if __name__ == '__main__':
parser.add_argument("--fcam", action="store_true", help="Show driving camera")
parser.add_argument("--ecam", action="store_true", help="Show wide camera")
parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera")
parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
No service will be logged if not specified.\
To log all services include 'all' as one of your services")
parser.add_argument("--route", nargs='?', help="The route or segment name to plot")
parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
args = parser.parse_args()
if not args.demo and not args.route:
if not args.demo and not args.route_or_segment_name:
parser.print_help()
sys.exit()
if args.print_services:
print("\n".join(SERVICE_LIST.keys()))
sys.exit()
camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip()
sr = SegmentRange(route_or_segment_name)
r = Route(sr.route_name)
if len(sr.seg_idxs) > 10:
print("You're requesting more than 10 segments of the route, " + \
"please be aware that might take a lot of memory")
hevc_requested = any(camera_config[1:])
if len(sr.seg_idxs) > 1 and hevc_requested:
print("You're requesting more than 1 segment with hevc videos, " + \
"please be aware that might take a lot of memory " + \
"since rerun isn't yet well supported for high resolution video logging")
response = input("Do you wish to continue? (Y/n): ")
if response.strip().lower() != "y":
sys.exit()
rerunner = Rerunner(r, sr, camera_config, args.services)
rerunner = Rerunner(r, sr, camera_config)
rerunner.load_data()

9
tools/rerun/run.sh Executable file
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@ -0,0 +1,9 @@
#! /bin/bash
# TODO: remove this file once Rerun has interface to set log message level
set -e
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
RUST_LOG=warn $DIR/run.py $@