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longitudinal maneuver report improvements (#33551)

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* switch to route name

* add car params and relative time

* separate plots, easier to read
This commit is contained in:
Shane Smiskol
2024-09-12 20:25:22 -07:00
committed by GitHub
parent 5fc79bda64
commit 03ea2b180f
1 changed files with 17 additions and 6 deletions
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tools/longitudinal_maneuvers/generate_report.py
+17 -6
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@@ -3,7 +3,7 @@ import argparse
import base64
import io
import os
import time
import json
from pathlib import Path
import matplotlib.pyplot as plt
@@ -11,15 +11,21 @@ from openpilot.tools.lib.logreader import LogReader
from openpilot.system.hardware.hw import Paths
def report(platform, maneuvers):
def format_car_params(CP):
return json.dumps({k: v for k, v in CP.to_dict().items() if not k.endswith('DEPRECATED')}, indent=2)
def report(platform, route, CP, 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_fn = output_path / f"{platform}_{route}.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")
f.write(f"<h3>{route}</h3>\n")
f.write(f"<details><summary><h3 style='display: inline-block;'>CarParams</h3></summary><pre>{format_car_params(CP)}</pre></details>\n")
for description, runs in maneuvers:
print('plotting maneuver:', description, 'runs:', len(runs))
print(f'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):
@@ -28,6 +34,11 @@ def report(platform, maneuvers):
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)
t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
longActive = [m.longActive for m in carControl]
gasPressed = [m.gasPressed for m in carState]
brakePressed = [m.brakePressed for m in carState]
@@ -41,7 +52,7 @@ def report(platform, maneuvers):
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 = fig.subplots(4, 1, sharex=True, gridspec_kw={'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)
@@ -112,4 +123,4 @@ if __name__ == '__main__':
if active_prev:
maneuvers[-1][1][-1].append(msg)
report(platform, maneuvers)
report(platform, args.route, CP, maneuvers)