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61 lines
2.3 KiB
61 lines
2.3 KiB
import io
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import os
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import time
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import base64
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import argparse
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import numpy as np
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import matplotlib.pyplot as plt
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from collections import defaultdict
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from dataclasses import dataclass, asdict
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from pathlib import Path
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def report(args, logs, fp):
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output_path = Path(__file__).resolve().parent / "longitudinal_reports"
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output_fn = args.output or output_path / f"{fp}_{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>{fp}</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 logs.items():
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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, log in runs.items():
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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(log["t"], log["carControl.actuators.accel"], label='accel command', linewidth=6)
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ax[0].plot(log["t"], log["carState.aEgo"], 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(log["t"], log["carState.vEgo"], '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(log["t"], log["carControl.enabled"], label='enabled', linewidth=6)
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ax[3].plot(log["t"], log["carState.gasPressed"], label='gasPressed', linewidth=6)
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ax[3].plot(log["t"], log["carState.brakePressed"], 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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import json
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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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