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longitudinal maneuvers: summary table (#33790)
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* bob the builder

* table

* clean up
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@sshane
sshane authored Oct 14, 2024
1 parent 3c5d8da commit 9674c7b
Showing 1 changed file with 117 additions and 103 deletions.
220 changes: 117 additions & 103 deletions tools/longitudinal_maneuvers/generate_report.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
from collections import defaultdict
from pathlib import Path
import matplotlib.pyplot as plt
from tabulate import tabulate

from openpilot.tools.lib.logreader import LogReader
from openpilot.system.hardware.hw import Paths
Expand All @@ -22,110 +23,123 @@ def report(platform, route, _description, CP, maneuvers):
output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
output_path.mkdir(exist_ok=True)
target_cross_times = defaultdict(list)

builder = [
"<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
"<h1>Longitudinal maneuver report</h1>\n",
f"<h3>{platform}</h3>\n",
f"<h3>{route}</h3>\n"
]
if _description is not None:
builder.append(f"<h3>Description: {_description}</h3>\n")
builder.append(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
builder.append('{ summary }') # to be replaced below
for description, runs in maneuvers:
print(f'plotting maneuver: {description}, runs: {len(runs)}')
builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
builder.append(f"<h2>{description}</h2>\n")
for run, msgs in enumerate(runs):
t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)

# make time relative seconds
t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]

# maneuver validity
longActive = [m.longActive for m in carControl]
maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)

_open = 'open' if maneuver_valid else ''
title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')

builder.append(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")

# get first acceleration target and first intersection
aTarget = longitudinalPlan[0].aTarget
target_cross_time = None
builder.append(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')

# Localizer is noisy, require two consecutive 20Hz frames above threshold
prev_crossed = False
for t, lp in zip(t_livePose, livePose, strict=True):
crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
if crossed and prev_crossed:
builder.append(f', <strong>crossed in {t:.3f}s</strong>')
target_cross_time = t
if maneuver_valid:
target_cross_times[description].append(t)
break
prev_crossed = crossed
else:
builder.append(', <strong>not crossed</strong>')
builder.append('</h3>')

pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
builder.append(f'<h3 style="font-weight: normal">Average pitch: <strong>{sum(pitches) / len(pitches):0.2f} degrees</strong></h3>')

plt.rcParams['font.size'] = 40
fig = plt.figure(figsize=(30, 26))
ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})

ax[0].grid(linewidth=4)
ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
# TODO localizer accel
ax[0].set_ylabel('Acceleration (m/s^2)')
#ax[0].set_ylim(-6.5, 6.5)
ax[0].legend(prop={'size': 30})

if target_cross_time is not None:
ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')

ax[1].grid(linewidth=4)
ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
ax[1].set_ylabel('Velocity (m/s)')
ax[1].legend()

ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
for i in (2, 3):
ax[i].set_yticks([0, 1], minor=False)
ax[i].set_ylim(-1, 2)
ax[i].legend()

ax[-1].set_xlabel("Time (s)")
fig.tight_layout()

buffer = io.BytesIO()
fig.savefig(buffer, format='png')
buffer.seek(0)
builder.append(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
builder.append("</details>\n")

summary = ["<h2>Summary</h2>\n"]
cols = ['maneuver', 'crossed', 'runs', 'mean', 'min', 'max']
table = []
for description, runs in maneuvers:
times = target_cross_times[description]
l = [description, len(times), len(runs)]
if len(times):
l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)])
table.append(l)
summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n')

sum_idx = builder.index('{ summary }')
builder[sum_idx:sum_idx + 1] = summary

with open(output_fn, "w") as f:
f.write("<h1>Longitudinal maneuver report</h1>\n")
f.write(f"<h3>{platform}</h3>\n")
f.write(f"<h3>{route}</h3>\n")
if _description is not None:
f.write(f"<h3>Description: {_description}</h3>\n")
f.write(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
for description, runs in maneuvers:
print(f'plotting maneuver: {description}, runs: {len(runs)}')
f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
f.write(f"<h2>{description}</h2>\n")
for run, msgs in enumerate(runs):
t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)

# make time relative seconds
t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]

# maneuver validity
longActive = [m.longActive for m in carControl]
maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)

_open = 'open' if maneuver_valid else ''
title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')

f.write(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")

# get first acceleration target and first intersection
aTarget = longitudinalPlan[0].aTarget
target_cross_time = None
f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')

# Localizer is noisy, require two consecutive 20Hz frames above threshold
prev_crossed = False
for t, lp in zip(t_livePose, livePose, strict=True):
crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
if crossed and prev_crossed:
f.write(f', <strong>crossed in {t:.3f}s</strong>')
target_cross_time = t
if maneuver_valid:
target_cross_times[description].append(t)
break
prev_crossed = crossed
else:
f.write(', <strong>not crossed</strong>')
f.write('</h3>')

pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
f.write(f'<h3 style="font-weight: normal">Average pitch: <strong>{sum(pitches) / len(pitches):0.2f} degrees</strong></h3>')

plt.rcParams['font.size'] = 40
fig = plt.figure(figsize=(30, 26))
ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'height_ratios': [5, 3, 1, 1]})

ax[0].grid(linewidth=4)
ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='carControl.actuators.accel', linewidth=6)
ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
# TODO localizer accel
ax[0].set_ylabel('Acceleration (m/s^2)')
#ax[0].set_ylim(-6.5, 6.5)
ax[0].legend(prop={'size': 30})

if target_cross_time is not None:
ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')

ax[1].grid(linewidth=4)
ax[1].plot(t_carState, [m.vEgo for m in carState], 'g', label='vEgo', linewidth=6)
ax[1].set_ylabel('Velocity (m/s)')
ax[1].legend()

ax[2].plot(t_carControl, longActive, label='longActive', linewidth=6)
ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
ax[3].plot(t_carState, [m.brakePressed for m in carState], label='brakePressed', linewidth=6)
for i in (2, 3):
ax[i].set_yticks([0, 1], minor=False)
ax[i].set_ylim(-1, 2)
ax[i].legend()

ax[-1].set_xlabel("Time (s)")
fig.tight_layout()

buffer = io.BytesIO()
fig.savefig(buffer, format='png')
buffer.seek(0)
f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
f.write("</details>\n")

f.write("<h2>Summary</h2>\n")
for description, runs in maneuvers:
times = target_cross_times[description]
f.write(f"<h3>{description}</h3>\n")
f.write(f"<p>Target crossed {len(times)} out of {len(runs)} runs</p>\n")
if len(times):
f.write(f"<p>Mean time to cross: {sum(times) / len(times):.3f}s, min: {min(times):.3f}s, max: {max(times):.3f}s</p>\n")
f.write(''.join(builder))

print(f"\nReport written to {output_fn}\n")

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