Checkout a video demo here

Build

To build this project on Linux, you need to first have the emscripten SDK installed and a local copy of the Capnproto repo.

Next, build the Capnproto WASM static libraries and includes with the following command in the capnproto/c++ dir:

sudo bash -c "source ../../emsdk/emsdk_env.sh; emconfigure ./configure --host=wasm32 --disable-shared; emmake make -j6 check"

Next, you may compile the glue script in wasm.cpp with the following command:

emcc -I/usr/local/include ../capnproto/c++/.libs/libcapnp.a ../capnproto/c++/.libs/libkj.a ../capnproto/c++/.libs/libcapnp-json.a wasm.cpp --bind -sNO_DISABLE_EXCEPTION_CATCHING -sALLOW_MEMORY_GROWTH -sEXPORT_ES6 -sMODULARIZE -O3

Finally, copy the resultant emscripten code objects (.js and wasm .a) into the mcap-support package in this Foxglove studio branch:

cp a.out.js ../../ui-viz/studio/packages/mcap-support/src/
cp a.out.wasm ../../ui-viz/studio/packages/mcap-support/src/

The branch can then import openpilot logs that have been serialized into mcap files using the scripts available in this repo.

As a quick test, you may try importing the resultant out.mcap file in the rlog_to_mcap subdir.