new demo route (#37456)

2026-02-27 08:04:24 -08:00
parent 1bf0fb3851
commit c5372e9041
5 changed files with 81 additions and 32 deletions
--- a/selfdrive/debug/mem_usage.py
+++ b/selfdrive/debug/mem_usage.py
@@ -8,13 +8,14 @@ import numpy as np
 from openpilot.common.utils import tabulate
 from openpilot.tools.lib.logreader import LogReader

-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 MB = 1024 * 1024
 TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")


 def _get_procs():
  from openpilot.selfdrive.test.test_onroad import PROCS
+
  return PROCS


@@ -137,9 +138,9 @@ def print_process_tables(op_procs, other_procs, total_mb, use_pss):

  op_rows, op_total = process_table_rows(op_procs, total_mb, use_pss, show_detail)
  # filter other: >5MB avg and not bare interpreter paths (test infra noise)
-  other_filtered = {n: v for n, v in other_procs.items()
-                    if np.mean(v['pss' if use_pss else 'rss']) > 5.0
-                    and os.path.basename(n.split()[0]) not in ('python', 'python3')}
+  other_filtered = {
+    n: v for n, v in other_procs.items() if np.mean(v['pss' if use_pss else 'rss']) > 5.0 and os.path.basename(n.split()[0]) not in ('python', 'python3')
+  }
  other_rows, other_total = process_table_rows(other_filtered, total_mb, use_pss, show_detail)

  rows = op_rows
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -24,7 +24,7 @@ from openpilot.common.utils import Timer
 from msgq.visionipc import VisionIpcServer, VisionStreamType

 FRAMERATE = 20
-DEMO_ROUTE, DEMO_START, DEMO_END = 'a2a0ccea32023010/2023-07-27--13-01-19', 90, 105
+DEMO_ROUTE, DEMO_START, DEMO_END = '5beb9b58bd12b691/0000010a--a51155e496', 90, 105

 logger = logging.getLogger('clip')

@@ -81,6 +81,7 @@ def _download_segment(path: str) -> bytes:
 def _parse_and_chunk_segment(args: tuple) -> list[dict]:
  raw_data, fps = args
  from openpilot.tools.lib.logreader import _LogFileReader
+
  messages = migrate_all(list(_LogFileReader("", dat=raw_data, sort_by_time=True)))
  if not messages:
    return []
@@ -122,6 +123,7 @@ def patch_submaster(message_chunks, ui_state):
          sm.data[svc] = getattr(msg.as_builder(), svc)
          sm.logMonoTime[svc], sm.recv_time[svc], sm.recv_frame[svc] = msg.logMonoTime, t, sm.frame
    sm.frame += 1
+
  ui_state.sm.update = mock_update


@@ -150,8 +152,7 @@ def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=Fal
      if use_qcam:
        w, h = frame_size or get_frame_dimensions(path)
        with FileReader(path) as f:
-          result = subprocess.run(["ffmpeg", "-v", "quiet", "-i", "-", "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
-                                  input=f.read(), capture_output=True)
+          result = subprocess.run(["ffmpeg", "-v", "quiet", "-i", "-", "-f", "rawvideo", "-pix_fmt", "nv12", "-"], input=f.read(), capture_output=True)
        if result.returncode != 0:
          raise RuntimeError(f"ffmpeg failed: {result.stderr.decode()}")
        seg_frames = np.frombuffer(result.stdout, dtype=np.uint8).reshape(-1, w * h * 3 // 2)
@@ -172,8 +173,7 @@ class FrameQueue:
    self.frame_w, self.frame_h = get_frame_dimensions(first_path)

    self._queue, self._stop, self._error = queue.Queue(maxsize=prefetch_count), threading.Event(), None
-    self._thread = threading.Thread(target=self._worker,
-                                    args=(camera_paths, start_time, end_time, fps, use_qcam, (self.frame_w, self.frame_h)), daemon=True)
+    self._thread = threading.Thread(target=self._worker, args=(camera_paths, start_time, end_time, fps, use_qcam, (self.frame_w, self.frame_h)), daemon=True)
    self._thread.start()

  def _worker(self, camera_paths, start_time, end_time, fps, use_qcam, frame_size):
@@ -208,6 +208,7 @@ class FrameQueue:

 def load_route_metadata(route):
  from openpilot.common.params import Params, UnknownKeyName
+
  path = next((item for item in route.log_paths() if item), None)
  if not path:
    raise Exception('error getting route metadata: cannot find any uploaded logs')
@@ -223,15 +224,20 @@ def load_route_metadata(route):

  origin = init_data.gitRemote.split('/')[3] if len(init_data.gitRemote.split('/')) > 3 else 'unknown'
  return {
-    'version': init_data.version, 'route': route.name.canonical_name,
-    'car': car_params.carFingerprint if car_params else 'unknown', 'origin': origin,
-    'branch': init_data.gitBranch, 'commit': init_data.gitCommit[:7], 'modified': str(init_data.dirty).lower(),
+    'version': init_data.version,
+    'route': route.name.canonical_name,
+    'car': car_params.carFingerprint if car_params else 'unknown',
+    'origin': origin,
+    'branch': init_data.gitBranch,
+    'commit': init_data.gitCommit[:7],
+    'modified': str(init_data.dirty).lower(),
  }


 def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False):
  import pyray as rl
  from openpilot.system.ui.lib.text_measure import measure_text_cached
+
  box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE
  text_size = measure_text_cached(font, text, size)
  text_width, text_height = int(text_size.x), int(text_size.y)
@@ -244,6 +250,7 @@ def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False):
 def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
  from openpilot.system.ui.lib.text_measure import measure_text_cached
  from openpilot.system.ui.lib.wrap_text import wrap_text
+
  metadata_size = 16 if big else 12
  title_size = 32 if big else 24
  time_size = 24 if big else 16
@@ -259,8 +266,17 @@ def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx,
  # Metadata overlay (first 5 seconds)
  if show_metadata and metadata and frame_idx < FRAMERATE * 5:
    m = metadata
-    text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}",
-                      f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"])
+    text = ", ".join(
+      [
+        f"openpilot v{m['version']}",
+        f"route: {m['route']}",
+        f"car: {m['car']}",
+        f"origin: {m['origin']}",
+        f"branch: {m['branch']}",
+        f"commit: {m['commit']}",
+        f"modified: {m['modified']}",
+      ]
+    )
    # Wrap text if too wide (leave margin on each side)
    margin = 2 * (time_width + 10 if show_time else 20)  # leave enough margin for time overlay
    max_width = gui_app.width - margin
@@ -278,17 +294,29 @@ def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx,
    draw_text_box(title, 0, 60, title_size, gui_app, font, center=True)


-def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False,
-         title: str | None = None, show_metadata: bool = True, show_time: bool = True, use_qcam: bool = False):
+def clip(
+  route: Route,
+  output: str,
+  start: int,
+  end: int,
+  headless: bool = True,
+  big: bool = False,
+  title: str | None = None,
+  show_metadata: bool = True,
+  show_time: bool = True,
+  use_qcam: bool = False,
+):
  timer, duration = Timer(), end - start

  import pyray as rl
+
  if big:
    from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
  else:
    from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
  from openpilot.selfdrive.ui.ui_state import ui_state
  from openpilot.system.ui.lib.application import gui_app, FontWeight
+
  timer.lap("import")

  logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)")
@@ -297,7 +325,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
  timer.lap("logs")

  frame_start = (start - seg_start * 60) * FRAMERATE
-  message_chunks = all_chunks[frame_start:frame_start + duration * FRAMERATE]
+  message_chunks = all_chunks[frame_start : frame_start + duration * FRAMERATE]
  if not message_chunks:
    logger.error("No messages to render")
    sys.exit(1)
@@ -350,8 +378,18 @@ def main():
  args = parse_args()

  setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start)
-  clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, not args.windowed,
-       args.big, args.title, not args.no_metadata, not args.no_time_overlay, args.qcam)
+  clip(
+    Route(args.route, data_dir=args.data_dir),
+    args.output,
+    args.start,
+    args.end,
+    not args.windowed,
+    args.big,
+    args.title,
+    not args.no_metadata,
+    not args.no_time_overlay,
+    args.qcam,
+  )


 if __name__ == "__main__":
--- a/tools/jotpluggler/pluggle.py
+++ b/tools/jotpluggler/pluggle.py
@@ -12,7 +12,7 @@ from openpilot.tools.jotpluggler.data import DataManager
 from openpilot.tools.jotpluggler.datatree import DataTree
 from openpilot.tools.jotpluggler.layout import LayoutManager

-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"


 class WorkerManager:
@@ -120,6 +120,7 @@ class PlaybackManager:
    if callback in self.x_axis_observers:
      self.x_axis_observers.remove(callback)

+
 class MainController:
  def __init__(self, scale: float = 1.0):
    self.scale = scale
@@ -197,8 +198,12 @@ class MainController:
    if dpg.does_item_exist("save_layout_dialog"):
      dpg.delete_item("save_layout_dialog")
    with dpg.file_dialog(
-      callback=self._save_layout_callback, tag="save_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_filename="layout", default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
+      callback=self._save_layout_callback,
+      tag="save_layout_dialog",
+      width=int(700 * self.scale),
+      height=int(400 * self.scale),
+      default_filename="layout",
+      default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts"),
    ):
      dpg.add_file_extension(".yaml")

@@ -206,8 +211,11 @@ class MainController:
    if dpg.does_item_exist("load_layout_dialog"):
      dpg.delete_item("load_layout_dialog")
    with dpg.file_dialog(
-      callback=self._load_layout_callback, tag="load_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
+      callback=self._load_layout_callback,
+      tag="load_layout_dialog",
+      width=int(700 * self.scale),
+      height=int(400 * self.scale),
+      default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts"),
    ):
      dpg.add_file_extension(".yaml")

@@ -314,21 +322,23 @@ def main(route_to_load=None, layout_to_load=None):
  dpg.create_context()

  # TODO: find better way of calculating display scaling
-  #try:
+  # try:
  #  w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l)  # actual resolution
  #  scale = pyautogui.size()[0] / w  # scaled resolution
-  #except Exception:
+  # except Exception:
  #  scale = 1
  scale = 1

  with dpg.font_registry():
-    default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale * 2)) # 2x then scale for hidpi
+    default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale * 2))  # 2x then scale for hidpi
  dpg.bind_font(default_font)
  dpg.set_global_font_scale(0.5)

  viewport_width, viewport_height = int(1200 * scale), int(800 * scale)
  dpg.create_viewport(
-    title='JotPluggler', width=viewport_width, height=viewport_height,
+    title='JotPluggler',
+    width=viewport_width,
+    height=viewport_height,
  )
  dpg.setup_dearpygui()

@@ -358,6 +368,7 @@ def main(route_to_load=None, layout_to_load=None):
    controller.shutdown()
    dpg.destroy_context()

+
 if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.")
  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -21,7 +21,7 @@ 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"
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 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")
@@ -105,8 +105,7 @@ def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):


 if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="A helper to run PlotJuggler on openpilot routes",
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  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")
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -12,7 +12,7 @@
 #include "tools/replay/seg_mgr.h"
 #include "tools/replay/timeline.h"

-#define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19"
+#define DEMO_ROUTE "5beb9b58bd12b691/0000010a--a51155e496"

 enum REPLAY_FLAGS {
  REPLAY_FLAG_NONE = 0x0000,