From 43d162e8fbb8ab84b233e541e68113e9499120ae Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Tue, 17 Feb 2026 11:49:26 -0800 Subject: [PATCH] mpc_longitudinal_tuning_report: use enum for axis (#37231) --- .../maneuver_helpers.py | 18 +++++ .../mpc_longitudinal_tuning_report.py | 75 +++++++------------ 2 files changed, 47 insertions(+), 46 deletions(-) create mode 100644 tools/longitudinal_maneuvers/maneuver_helpers.py diff --git a/tools/longitudinal_maneuvers/maneuver_helpers.py b/tools/longitudinal_maneuvers/maneuver_helpers.py new file mode 100644 index 000000000..9fc65fb9e --- /dev/null +++ b/tools/longitudinal_maneuvers/maneuver_helpers.py @@ -0,0 +1,18 @@ +from enum import IntEnum + +class Axis(IntEnum): + TIME = 0 + EGO_POSITION = 1 + LEAD_DISTANCE= 2 + EGO_V = 3 + LEAD_V = 4 + EGO_A = 5 + D_REL = 6 + +axis_labels = {Axis.TIME: 'Time (s)', + Axis.EGO_POSITION: 'Ego position (m)', + Axis.LEAD_DISTANCE: 'Lead absolute position (m)', + Axis.EGO_V: 'Ego Velocity (m/s)', + Axis.LEAD_V: 'Lead Velocity (m/s)', + Axis.EGO_A: 'Ego acceleration (m/s^2)', + Axis.D_REL: 'Lead distance (m)'} diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py index 7623f669c..ae3fee735 100644 --- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -5,29 +5,16 @@ import numpy as np import matplotlib.pyplot as plt from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance +from openpilot.tools.longitudinal_maneuvers.maneuver_helpers import Axis, axis_labels from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver -TIME = 0 -LEAD_DISTANCE= 2 -EGO_V = 3 -EGO_A = 5 -D_REL = 6 - -axis_labels = ['Time (s)', - 'Ego position (m)', - 'Lead absolute position (m)', - 'Ego Velocity (m/s)', - 'Lead Velocity (m/s)', - 'Ego acceleration (m/s^2)', - 'Lead distance (m)' - ] def get_html_from_results(results, labels, AXIS): fig, ax = plt.subplots(figsize=(16, 8)) - for idx, speed in enumerate(list(results.keys())): - ax.plot(results[speed][:, TIME], results[speed][:, AXIS], label=labels[idx]) + for idx, key in enumerate(results.keys()): + ax.plot(results[key][:, Axis.TIME], results[key][:, AXIS], label=labels[idx]) - ax.set_xlabel('Time (s)') + ax.set_xlabel(axis_labels[Axis.TIME]) ax.set_ylabel(axis_labels[AXIS]) ax.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0) ax.grid(True, linestyle='--', alpha=0.7) @@ -60,8 +47,8 @@ def generate_mpc_tuning_report(): labels.append(f'{lead_accel} m/s^2 lead acceleration') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) results = {} @@ -78,12 +65,11 @@ def generate_mpc_tuning_report(): breakpoints=[0., 30.], ) valid, results[speed] = man.evaluate() - results[speed][:,2] = results[speed][:,2] - results[speed][:,1] labels.append(f'{speed} m/s approach speed') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_A)) - htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.D_REL)) results = {} @@ -104,9 +90,9 @@ def generate_mpc_tuning_report(): labels.append(f'{oscil} m/s oscillation size') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, D_REL)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.D_REL)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) results = {} @@ -128,12 +114,12 @@ def generate_mpc_tuning_report(): breakpoints=bps, ) valid, results[oscil] = man.evaluate() - labels.append(f'{oscil} m/s oscilliation size') + labels.append(f'{oscil} m/s oscillation size') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, D_REL)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.D_REL)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) results = {} @@ -150,12 +136,11 @@ def generate_mpc_tuning_report(): breakpoints=[0.], ) valid, results[distance] = man.evaluate() - results[distance][:,2] = results[distance][:,2] - results[distance][:,1] labels.append(f'{distance} m initial distance') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.D_REL)) results = {} @@ -172,12 +157,11 @@ def generate_mpc_tuning_report(): breakpoints=[0.], ) valid, results[distance] = man.evaluate() - results[distance][:,2] = results[distance][:,2] - results[distance][:,1] labels.append(f'{distance} m initial distance') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.D_REL)) results = {} @@ -195,12 +179,11 @@ def generate_mpc_tuning_report(): breakpoints=[0., 5., 5 + stop_time], ) valid, results[stop_time] = man.evaluate() - results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1] labels.append(f'{stop_time} seconds stop time') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_A)) - htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.D_REL)) results = {} @@ -222,8 +205,8 @@ def generate_mpc_tuning_report(): labels.append(f'{speed} m/s speed') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_A)) - htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.D_REL)) results = {} @@ -244,8 +227,8 @@ def generate_mpc_tuning_report(): labels.append(f'{speed} m/s speed') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) results = {} @@ -267,8 +250,8 @@ def generate_mpc_tuning_report(): labels.append(f'{speed} m/s speed') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) results = {} @@ -290,8 +273,8 @@ def generate_mpc_tuning_report(): labels.append(f'{speed} m/s speed') htmls.append(markdown.markdown('# ' + name)) - htmls.append(get_html_from_results(results, labels, EGO_V)) - htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_V)) + htmls.append(get_html_from_results(results, labels, Axis.EGO_A)) return htmls