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IQ.Lvbs CI [bot]
262 lines
12 KiB
Python
262 lines
12 KiB
Python
#!/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 math
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import numpy as np
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import os
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import webbrowser
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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.common.utils import tabulate
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from cereal import car
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LP_FILTER_CUTOFF_HZ
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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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from openpilot.common.constants import CV
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from openpilot.tools.longitudinal_maneuvers.generate_report import format_car_params
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ANGLE_CONTROL = (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvatureDEPRECATED)
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def lat_accel(curvature, v):
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return curvature * max(v, 1.0) ** 2
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def report(platform, route, _description, CP, ID, maneuvers):
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output_path = Path(__file__).resolve().parent / "lateral_reports"
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output_fn = output_path / f"{platform}_{route.replace('/', '_').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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builder = [
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"<style>summary { cursor: pointer; }\n td, th { padding: 8px; } </style>\n",
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"<h1>Lateral maneuver report</h1>\n",
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f"<h3>{platform}</h3>\n",
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f"<h3>{route}</h3>\n",
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f"<h3>{ID.gitCommit}, {ID.gitBranch}, {ID.gitRemote}</h3>\n",
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]
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if _description is not None:
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builder.append(f"<h3>Description: {_description}</h3>\n")
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builder.append(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
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builder.append('{ summary }') # to be replaced below
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for description, runs in maneuvers:
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# filter incomplete runs
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completed_runs = [msgs for msgs in runs
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if any(m.alertDebug.alertText1 == 'Complete' for m in msgs if m.which() == 'alertDebug')]
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print(f'plotting maneuver: {description}, runs: {len(completed_runs)}')
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if not completed_runs:
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continue
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builder.append("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
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builder.append(f"<h2>{description}</h2>\n")
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for run, msgs in enumerate(completed_runs):
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last_active = max(m.logMonoTime for m in msgs if m.which() == 'lateralManeuverPlan' and m.valid)
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msgs = [m for m in msgs if m.logMonoTime <= last_active]
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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_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
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t_controlsState, controlsState = zip(*[(m.logMonoTime, m.controlsState) for m in msgs if m.which() == 'controlsState'], strict=True)
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t_lateralPlan, lateralPlan = zip(*[(m.logMonoTime, m.lateralManeuverPlan) for m in msgs if m.which() == 'lateralManeuverPlan' and m.valid], 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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# 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_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
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t_controlsState = [(t - t_controlsState[0]) / 1e9 for t in t_controlsState]
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t_lateralPlan = [(t - t_lateralPlan[0]) / 1e9 for t in t_lateralPlan]
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t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
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# maneuver validity
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latActive = [m.latActive for m in carControl]
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maneuver_valid = all(latActive) and not any(cs.steeringPressed 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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builder.append(f"<details {_open}><summary><h3 style='display: inline-block;'>{title}</h3></summary>\n")
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baseline_accel = lat_accel(controlsState[0].curvature, carState[0].vEgo)
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v_ego = [m.vEgo for m in carState]
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cross_markers = []
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if description.startswith(('sine', 'jitter')):
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amplitude = max(abs(lat_accel(lp.desiredCurvature, v) - baseline_accel)
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for lp, v in zip(lateralPlan, v_ego, strict=False))
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threshold = amplitude * 0.5
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builder.append('<h3 style="font-weight: normal">50% peak')
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for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
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actual = lat_accel(cs.curvature, v) - baseline_accel
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if abs(actual) > threshold:
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builder.append(f', <strong>crossed in {t:.3f}s</strong>')
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cross_markers.append((t, actual + baseline_accel))
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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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else:
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builder.append(', <strong>not crossed</strong>')
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builder.append('</h3>')
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if maneuver_valid:
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target_cross_times.setdefault(description, [])
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else:
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action_targets = [(0, lat_accel(lateralPlan[0].desiredCurvature, v_ego[0]) - baseline_accel)]
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for i in range(1, min(len(lateralPlan), len(v_ego))):
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if abs(lateralPlan[i].desiredCurvature - lateralPlan[i - 1].desiredCurvature) > 0.001:
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desired = lat_accel(lateralPlan[i].desiredCurvature, v_ego[i]) - baseline_accel
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action_targets.append((i, desired))
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for j, (start_i, act_target) in enumerate(action_targets):
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start_time = t_lateralPlan[start_i]
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end_time = t_lateralPlan[action_targets[j + 1][0]] if j + 1 < len(action_targets) else t_controlsState[-1]
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builder.append(f'<h3 style="font-weight: normal">aTarget: {round(act_target, 1)} m/s^2')
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prev_crossed = False
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for t, cs, v in zip(t_controlsState, controlsState, v_ego, strict=False):
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if not (start_time <= t <= end_time):
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continue
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actual_accel = lat_accel(cs.curvature, v) - baseline_accel
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crossed = (0 < act_target < actual_accel) or (0 > act_target > actual_accel)
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if crossed and prev_crossed:
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cross_time = t - start_time
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builder.append(f', <strong>crossed in {cross_time:.3f}s</strong>')
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cross_markers.append((t, act_target + baseline_accel))
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if maneuver_valid:
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target_cross_times[description].append(cross_time)
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break
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prev_crossed = crossed
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else:
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builder.append(', <strong>not crossed</strong>')
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builder.append('</h3>')
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if maneuver_valid:
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target_cross_times.setdefault(description, [])
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plt.rcParams['font.size'] = 40
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fig = plt.figure(figsize=(30, 40))
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ax = fig.subplots(5, 1, sharex=True, gridspec_kw={'height_ratios': [5, 5, 3, 3, 3]})
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ax[0].grid(linewidth=4)
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desired_label = 'lateralManeuverPlan.desiredCurvature * vEgo^2'
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desired_lat_accel = [lat_accel(m.desiredCurvature, v) for m, v in zip(lateralPlan, v_ego, strict=False)]
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if description.startswith(('sine', 'jitter')):
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ax[0].plot(t_lateralPlan[:len(desired_lat_accel)], desired_lat_accel, 'C1', label=desired_label, linewidth=6)
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else:
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t_desired = [t_lateralPlan[0]] + t_lateralPlan[:len(desired_lat_accel)]
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desired_lat_accel = [baseline_accel] + desired_lat_accel
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ax[0].step(t_desired, desired_lat_accel, 'C1', label=desired_label, linewidth=6, where='post')
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actual_lat_accel = [lat_accel(cs.curvature, v) for cs, v in zip(controlsState, v_ego, strict=False)]
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ax[0].plot(t_controlsState[:len(actual_lat_accel)], actual_lat_accel, 'g', label='controlsState.curvature * vEgo^2', linewidth=6)
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ax[0].set_ylabel('Lateral Accel (m/s^2)')
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for ct, cv in cross_markers:
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ax[0].plot(ct, cv, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')
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ax[0].legend(prop={'size': 30})
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ax[1].grid(linewidth=4)
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if CP.steerControlType in ANGLE_CONTROL:
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steer_field, steer_ylabel = 'steeringAngleDeg', 'Steer angle (deg)'
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else:
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steer_field, steer_ylabel = 'torque', 'Steer torque'
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ax[1].plot(t_carControl, [getattr(m.actuators, steer_field) for m in carControl], 'C1', label=f'carControl.actuators.{steer_field}', linewidth=6)
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ax[1].plot(t_carOutput, [getattr(m.actuatorsOutput, steer_field) for m in carOutput], 'g', label=f'carOutput.actuatorsOutput.{steer_field}', linewidth=6)
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ax[1].set_ylabel(steer_ylabel)
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ax[1].legend(prop={'size': 30})
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ax[2].grid(linewidth=4)
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ax[2].plot(t_carState, [v * CV.MS_TO_MPH for v in v_ego], label='carState.vEgo', linewidth=6)
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ax[2].set_ylabel('Velocity (mph)')
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ax[2].yaxis.set_major_formatter(plt.FormatStrFormatter('%.1f'))
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ax[2].legend()
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t_accel = np.array(t_controlsState[:len(actual_lat_accel)])
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raw_jerk = np.gradient(actual_lat_accel, t_accel)
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dt_avg = np.mean(np.diff(t_accel))
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jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), dt_avg)
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filtered_jerk = [jerk_filter.update(j) for j in raw_jerk]
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ax[3].grid(linewidth=4)
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ax[3].plot(t_accel, filtered_jerk, label='d/dt(controlsState.curvature * vEgo^2)', linewidth=6)
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ax[3].set_ylabel('Jerk (m/s^3)')
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ax[3].legend()
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ax[4].grid(linewidth=4)
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ax[4].plot(t_carControl, [math.degrees(m.orientationNED[0]) if len(m.orientationNED) == 3 else 0.0 for m in carControl],
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label='carControl.orientationNED[0]', linewidth=6)
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ax[4].set_ylabel('Roll (deg)')
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ax[4].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='webp')
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plt.close(fig)
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buffer.seek(0)
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builder.append(f"<img src='data:image/webp;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
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builder.append("</details>\n")
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summary = ["<h2>Summary</h2>\n"]
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cols = ['maneuver', 'crossed', 'mean', 'min', 'max']
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table = []
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for description, times in target_cross_times.items():
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l = [description, len(times)]
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if len(times):
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l.extend([round(sum(times) / len(times), 2), round(min(times), 2), round(max(times), 2)])
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table.append(l)
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summary.append(tabulate(table, headers=cols, tablefmt='html', numalign='left') + '\n')
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sum_idx = builder.index('{ summary }')
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builder[sum_idx:sum_idx + 1] = summary
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with open(output_fn, "w") as f:
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f.write(''.join(builder))
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print(f"\nOpening report: {output_fn}\n")
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webbrowser.open_new_tab(str(output_fn))
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def open_route(route: str) -> LogReader:
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if os.path.isdir(route):
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rlogs = sorted(str(p) for p in Path(route).glob("*rlog.zst"))
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if not rlogs:
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raise SystemExit(f"no *rlog.zst files in {route}")
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print(f"loading {len(rlogs)} rlogs from {route}")
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return LogReader(rlogs, only_union_types=True)
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if os.path.exists(route) or '/' in route or '|' in route:
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return LogReader(route, only_union_types=True)
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segs = [seg for seg in os.listdir(Paths.log_root()) if route in seg]
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return LogReader([os.path.join(Paths.log_root(), seg, 'rlog.zst') for seg in segs], only_union_types=True)
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description='Generate lateral maneuver report from route')
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parser.add_argument('route', type=str, help='Route name, local rlog path, or directory of rlogs')
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parser.add_argument('description', type=str, nargs='?')
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args = parser.parse_args()
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lr = open_route(args.route)
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CP = lr.first('carParams')
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ID = lr.first('initData')
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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 = 'Active' in msg.alertDebug.alertText1 or msg.alertDebug.alertText1 == 'Complete'
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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, ID, maneuvers)
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