From 03ea2b180faa0521e7ab48b9e87881058940d11c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 12 Sep 2024 20:25:22 -0700
Subject: [PATCH] longitudinal maneuver report improvements (#33551)

* switch to route name

* add car params and relative time

* separate plots, easier to read
---
 .../longitudinal_maneuvers/generate_report.py | 23 ++++++++++++++-----
 1 file changed, 17 insertions(+), 6 deletions(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 262ea93ef3f911..b3ab8d9a7a6570 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -3,7 +3,7 @@
 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.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 @@ def report(platform, maneuvers):
     if active_prev:
       maneuvers[-1][1][-1].append(msg)
 
-  report(platform, maneuvers)
+  report(platform, args.route, CP, maneuvers)