You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
115 lines
4.8 KiB
115 lines
4.8 KiB
#!/usr/bin/env python3
|
|
import argparse
|
|
import base64
|
|
import io
|
|
import os
|
|
import time
|
|
from pathlib import Path
|
|
import matplotlib.pyplot as plt
|
|
|
|
from openpilot.tools.lib.logreader import LogReader
|
|
from openpilot.system.hardware.hw import Paths
|
|
|
|
|
|
def report(platform, maneuvers):
|
|
output_path = Path(__file__).resolve().parent / "longitudinal_reports"
|
|
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>{platform}</h3>\n")
|
|
for description, runs in maneuvers:
|
|
print('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_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
|
|
|
|
longActive = [m.longActive for m in carControl]
|
|
gasPressed = [m.gasPressed for m in carState]
|
|
brakePressed = [m.brakePressed for m in carState]
|
|
|
|
maneuver_valid = all(longActive) and not (any(gasPressed) or any(brakePressed))
|
|
|
|
_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")
|
|
|
|
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(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)
|
|
# TODO localizer accel
|
|
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(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, gasPressed, label='gasPressed', linewidth=6)
|
|
ax[3].plot(t_carState, brakePressed, 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")
|
|
|
|
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()
|
|
|
|
if '/' in args.route or '|' in args.route:
|
|
lr = LogReader(args.route)
|
|
else:
|
|
segs = [seg for seg in os.listdir(Paths.log_root()) if args.route in seg]
|
|
lr = LogReader([os.path.join(Paths.log_root(), seg, 'rlog') for seg in segs])
|
|
|
|
CP = lr.first('carParams')
|
|
platform = CP.carFingerprint
|
|
print('processing report for', 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
|
|
|
|
if active_prev:
|
|
maneuvers[-1][1][-1].append(msg)
|
|
|
|
report(platform, maneuvers)
|
|
|