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