generate report from local logs

tools/longitudinal_maneuvers/generate_report.py

@@ -1,48 +1,60 @@
+#!/usr/bin/env python3
+import argparse
+import base64
 import io
 import os
+import json
 import time
-import base64
-import argparse
-import numpy as np
-import matplotlib.pyplot as plt
 from collections import defaultdict
-from dataclasses import dataclass, asdict
 from pathlib import Path
 
+import matplotlib.pyplot as plt
+from openpilot.tools.lib.logreader import LogReader
 
-def report(args, logs, fp):
+
+# TODO any import for this?
+REALDATA = Path('/home/batman/.comma/media/0/realdata')
+
+
+def report(platform, maneuvers):
   output_path = Path(__file__).resolve().parent / "longitudinal_reports"
-  output_fn = args.output or output_path / f"{fp}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
+  output_fn = output_path / f"{platform}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
   output_path.mkdir(exist_ok=True)
   with open(output_fn, "w") as f:
     f.write("<h1>Longitudinal maneuver report</h1>\n")
-    f.write(f"<h3>{fp}</h3>\n")
+    f.write(f"<h3>{platform}</h3>\n")
-    if args.desc:
+    # if args.desc:
-      f.write(f"<h3>{args.desc}</h3>")
+    #   f.write(f"<h3>{args.desc}</h3>")
-    for description, runs in logs.items():
+    for description, runs in maneuvers:
+      print('using description:', description)
       f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
       f.write(f"<h2>{description}</h2>\n")
-      for run, log in runs.items():
+      for run, msgs in enumerate(runs):
+        t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'])
+        t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'])
+        t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'])
+
         f.write(f"<h3>Run #{int(run)+1}</h3>\n")
         plt.rcParams['font.size'] = 40
         fig = plt.figure(figsize=(30, 25))
         ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'hspace': 0, 'height_ratios': [5, 3, 1, 1]})
 
         ax[0].grid(linewidth=4)
-        ax[0].plot(log["t"], log["carControl.actuators.accel"], label='accel command', linewidth=6)
+        ax[0].plot(t_carControl, [m.actuators.accel for m in carControl], label='accel command', linewidth=6)
-        ax[0].plot(log["t"], log["carState.aEgo"], label='aEgo', linewidth=6)
+        ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='accel target', linewidth=6)
+        ax[0].plot(t_carState, [m.aEgo for m in carState], label='aEgo', linewidth=6)
         ax[0].set_ylabel('Acceleration (m/s^2)')
         #ax[0].set_ylim(-6.5, 6.5)
         ax[0].legend()
 
         ax[1].grid(linewidth=4)
-        ax[1].plot(log["t"], log["carState.vEgo"], 'g', label='vEgo', linewidth=6)
+        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(log["t"], log["carControl.enabled"], label='enabled', linewidth=6)
+        ax[2].plot(t_carControl, [m.enabled for m in carControl], label='enabled', linewidth=6)
-        ax[3].plot(log["t"], log["carState.gasPressed"], label='gasPressed', linewidth=6)
+        ax[3].plot(t_carState, [m.gasPressed for m in carState], label='gasPressed', linewidth=6)
-        ax[3].plot(log["t"], log["carState.brakePressed"], label='brakePressed', 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)
@@ -56,6 +68,51 @@ def report(args, logs, fp):
         buffer.seek(0)
         f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
 
-    import json
+    # f.write(f"<p style='display: none'>{json.dumps(logs)}</p>")
-    f.write(f"<p style='display: none'>{json.dumps(logs)}</p>")
   print(f"\nReport written to {output_fn}\n")
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description='Generate longitudinal maneuver report from route')
+  parser.add_argument('route', type=str, help='Route name (e.g. 00000000--5f742174be)')
+
+  args = parser.parse_args()
+
+  logs = defaultdict(dict)
+
+  segs = []
+  for seg in os.listdir(REALDATA):
+    if args.route == seg[:20]:
+      print(seg)
+      segs.append(seg)
+
+  lr = LogReader([str(REALDATA / seg / 'rlog') for seg in segs])
+
+  CP = lr.first('carParams')
+  platform = CP.carFingerprint
+  print('got platform', platform)
+
+  maneuvers: list[tuple[str, list[list]]] = []
+  active_prev = False
+  description_prev = None
+
+  for msg in lr:
+    if msg.which() == 'alertDebug':
+      active = 'Maneuver Active' in msg.alertDebug.alertText1
+      if active and not active_prev:
+        if msg.alertDebug.alertText2 == description_prev:
+          maneuvers[-1][1].append([])
+        else:
+          maneuvers.append((msg.alertDebug.alertText2, [[]]))
+        description_prev = maneuvers[-1][0]
+      active_prev = active
+      # print((msg.alertDebug.alertText1, msg.alertDebug.alertText2))
+
+    if active_prev:
+      maneuvers[-1][1][-1].append(msg)
+
+  # print(len(list(lr)))
+  for desc, msgs in maneuvers:
+    print(desc, len(msgs))
+
+  report(platform, maneuvers)

tools/sim/launch_openpilot.sh

@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA_CIVIC_2022"
 
-export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
+export BLOCK="${BLOCK},camerad,encoderd,micd,logmessaged"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"