longitudinal maneuvers: summary table (#33790)

* bob the builder

* table

* clean up

tools/longitudinal_maneuvers/generate_report.py

@@ -8,6 +8,7 @@ import pprint
 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
@@ -22,17 +23,21 @@ 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)
-  with open(output_fn, "w") as f:
+
-    f.write("<h1>Longitudinal maneuver report</h1>\n")
+  builder = [
-    f.write(f"<h3>{platform}</h3>\n")
+    "<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
-    f.write(f"<h3>{route}</h3>\n")
+    "<h1>Longitudinal maneuver report</h1>\n",
+    f"<h3>{platform}</h3>\n",
+    f"<h3>{route}</h3>\n"
+  ]
   if _description is not None:
-      f.write(f"<h3>Description: {_description}</h3>\n")
+    builder.append(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")
+  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)}')
-      f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+    builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
-      f.write(f"<h2>{description}</h2>\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)
@@ -54,30 +59,30 @@ def report(platform, route, _description, CP, maneuvers):
       _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")
+      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
-        f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
+      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:
-            f.write(f', <strong>crossed in {t:.3f}s</strong>')
+          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:
-          f.write(', <strong>not crossed</strong>')
+        builder.append(', <strong>not crossed</strong>')
-        f.write('</h3>')
+      builder.append('</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>')
+      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))
@@ -116,16 +121,25 @@ def report(platform, route, _description, CP, maneuvers):
       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")
+      builder.append(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
-        f.write("</details>\n")
+      builder.append("</details>\n")
 
-    f.write("<h2>Summary</h2>\n")
+  summary = ["<h2>Summary</h2>\n"]
+  cols = ['maneuver', 'crossed', 'runs', 'mean', 'min', 'max']
+  table = []
   for description, runs in maneuvers:
     times = target_cross_times[description]
-      f.write(f"<h3>{description}</h3>\n")
+    l = [description, len(times), len(runs)]
-      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")
+      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(''.join(builder))
 
   print(f"\nReport written to {output_fn}\n")