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168 lines
7.6 KiB
168 lines
7.6 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 math
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import pprint
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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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from openpilot.system.hardware.hw import Paths
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def format_car_params(CP):
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return pprint.pformat({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2)
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def report(platform, route, _description, CP, maneuvers):
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output_path = Path(__file__).resolve().parent / "longitudinal_reports"
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output_fn = output_path / f"{platform}_{route.replace('/', '_')}.html"
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output_path.mkdir(exist_ok=True)
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target_cross_times = defaultdict(list)
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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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f.write(f"<h3>{route}</h3>\n")
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if _description is not None:
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f.write(f"<h3>Description: {_description}</h3>\n")
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f.write(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
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for description, runs in maneuvers:
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print(f'plotting maneuver: {description}, runs: {len(runs)}')
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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'], strict=True)
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t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
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t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
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t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
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t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
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# make time relative seconds
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t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
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t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
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t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
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t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
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t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
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# maneuver validity
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longActive = [m.longActive for m in carControl]
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maneuver_valid = all(longActive) and not any(cs.cruiseState.standstill for cs in carState)
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_open = 'open' if maneuver_valid else ''
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title = f'Run #{int(run)+1}' + (' <span style="color: red">(invalid maneuver!)</span>' if not maneuver_valid else '')
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f.write(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
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# get first acceleration target and first intersection
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aTarget = longitudinalPlan[0].aTarget
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target_cross_time = None
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f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
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# Localizer is noisy, require two consecutive 20Hz frames above threshold
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prev_crossed = False
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for t, lp in zip(t_livePose, livePose, strict=True):
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crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
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if crossed and prev_crossed:
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f.write(f', <strong>crossed in {t:.3f}s</strong>')
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target_cross_time = t
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if maneuver_valid:
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target_cross_times[description].append(t)
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break
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prev_crossed = crossed
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else:
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f.write(', <strong>not crossed</strong>')
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f.write('</h3>')
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pitches = [math.degrees(m.orientationNED[1]) for m in carControl]
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f.write(f'<h3 style="font-weight: normal">Average pitch: <strong>{sum(pitches) / len(pitches):0.2f} degrees</strong></h3>')
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plt.rcParams['font.size'] = 40
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fig = plt.figure(figsize=(30, 26))
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ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'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='carControl.actuators.accel', linewidth=6)
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ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
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ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
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ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
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ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
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# TODO localizer accel
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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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if target_cross_time is not None:
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ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
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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, longActive, label='longActive', 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("</details>\n")
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f.write("<h2>Summary</h2>\n")
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for description, runs in maneuvers:
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times = target_cross_times[description]
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f.write(f"<h3>{description}</h3>\n")
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f.write(f"<p>Target crossed {len(times)} out of {len(runs)} runs</p>\n")
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if len(times):
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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")
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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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parser.add_argument('description', type=str, nargs='?')
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args = parser.parse_args()
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if '/' in args.route or '|' in args.route:
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lr = LogReader(args.route)
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else:
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segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg]
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lr = LogReader([os.path.join(Paths.log_root(), 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('processing report for', 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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if active_prev:
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maneuvers[-1][1][-1].append(msg)
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report(platform, args.route, args.description, CP, maneuvers)
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