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
@@ -22,110 +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(''.join(builder))
-    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")
 
   print(f"\nReport written to {output_fn}\n")