def __init__(self, is_simulation, is_sim):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.is_sim = is_sim
self.hard_break_list = []
self.total_cycle_num = 0
self.init_point_curvature = []
self.init_point_dcurvature = []
self.init_point_accel = []
self.init_point_decel = []
self.last_init_point_t = None
self.last_init_point = None
self.centripetal_jerk_list = []
self.breaking_2_3_cnt = 0
self.breaking_3_5_cnt = 0
self.breaking_5_cnt = 0
self.throttle_2_3_cnt = 0
self.throttle_3_5_cnt = 0
self.throttle_5_cnt = 0
def __init__(self):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
class ControlAnalyzer:
"""control analyzer"""
def __init__(self):
"""init"""
self.module_latency = []
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
def put(self, control_cmd):
"""put data"""
latency = control_cmd.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(control_cmd.header.status.error_code)
self.error_msg_analyzer.put(control_cmd.header.status.msg)
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Control Latency (ms) ---" + \
PrintColors.ENDC
analyzer = StatisticalAnalyzer()
analyzer.print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- Control Error Code Distribution ---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Control Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
def __init__(self):
"""init"""
self.module_latency = []
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.lon_station_error = []
self.lon_speed_error = []
self.lat_lateral_error = []
self.lat_heading_error = []
class ControlAnalyzer:
"""control analyzer"""
def __init__(self):
"""init"""
self.module_latency = []
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.lon_station_error = []
self.lon_speed_error = []
self.lat_lateral_error = []
self.lat_heading_error = []
def put(self, control_cmd):
"""put data"""
latency = control_cmd.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(control_cmd.header.status.error_code)
self.error_msg_analyzer.put(control_cmd.header.status.msg)
lon_debug = control_cmd.debug.simple_lon_debug
self.lon_station_error.append(lon_debug.station_error)
self.lon_speed_error.append(lon_debug.speed_error)
lat_debug = control_cmd.debug.simple_lat_debug
self.lat_lateral_error.append(lat_debug.lateral_error)
self.lat_heading_error.append(lat_debug.heading_error)
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Control Latency (ms) ---" + \
PrintColors.ENDC
analyzer = StatisticalAnalyzer()
analyzer.print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- station error ---" + \
PrintColors.ENDC
analyzer.print_statistical_results(self.lon_station_error)
print PrintColors.HEADER + "--- speed error ---" + \
PrintColors.ENDC
analyzer.print_statistical_results(self.lon_speed_error)
print PrintColors.HEADER + "--- lateral error ---" + \
PrintColors.ENDC
analyzer.print_statistical_results(self.lat_lateral_error)
print PrintColors.HEADER + "--- heading error ---" + \
PrintColors.ENDC
analyzer.print_statistical_results(self.lat_heading_error)
print PrintColors.HEADER + "--- Control Error Code Distribution ---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Control Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
def __init__(self):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
def __init__(self, is_simulation):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.hard_break_list = []
self.total_cycle_num = 0
class PlannigAnalyzer:
"""planning analyzer"""
def __init__(self):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
def put(self, adc_trajectory):
"""put"""
latency = adc_trajectory.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(adc_trajectory.header.status.error_code)
self.error_msg_analyzer.put(adc_trajectory.header.status.msg)
traj_type = planning_pb2.ADCTrajectory.TrajectoryType.Name(
adc_trajectory.trajectory_type)
self.trajectory_type_dist[traj_type] = \
self.trajectory_type_dist.get(traj_type, 0) + 1
if adc_trajectory.estop.is_estop:
self.estop_reason_dist[adc_trajectory.estop.reason] = \
self.estop_reason_dist.get(adc_trajectory.estop.reason, 0) + 1
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Planning Latency (ms) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- Planning Trajectroy Type Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.trajectory_type_dist)
print PrintColors.HEADER + "--- Planning Estop Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.estop_reason_dist)
print PrintColors.HEADER + "--- Planning Error Code Distribution---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
def __init__(self, is_simulation):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.hard_break_list = []
def __init__(self, arguments):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_sim = arguments.simulation
self.hard_break_list = []
self.total_cycle_num = 0
self.curvature_analyzer = Curvature()
self.frame_count_analyzer = FrameCount()
self.lat_acceleration_analyzer = LatAcceleration()
self.lon_acceleration_analyzer = LonAcceleration()
self.latency_analyzer = Latency()
self.reference_line = ReferenceLine()
self.bag_start_time_t = None
self.print_acc = arguments.showacc
class PlannigAnalyzer:
"""planning analyzer"""
def __init__(self, arguments):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_sim = arguments.simulation
self.hard_break_list = []
self.total_cycle_num = 0
self.curvature_analyzer = Curvature()
self.frame_count_analyzer = FrameCount()
self.lat_acceleration_analyzer = LatAcceleration()
self.lon_acceleration_analyzer = LonAcceleration()
self.latency_analyzer = Latency()
self.reference_line = ReferenceLine()
self.bag_start_time_t = None
self.print_acc = arguments.showacc
def put(self, adc_trajectory):
self.total_cycle_num += 1
if not self.is_sim:
latency = adc_trajectory.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(
adc_trajectory.header.status.error_code)
self.error_msg_analyzer.put(adc_trajectory.header.status.msg)
traj_type = planning_pb2.ADCTrajectory.TrajectoryType.Name(
adc_trajectory.trajectory_type)
self.trajectory_type_dist[traj_type] = \
self.trajectory_type_dist.get(traj_type, 0) + 1
if adc_trajectory.estop.is_estop:
self.estop_reason_dist[adc_trajectory.estop.reason] = \
self.estop_reason_dist.get(
adc_trajectory.estop.reason, 0) + 1
else:
self.curvature_analyzer.put(adc_trajectory)
self.frame_count_analyzer.put(adc_trajectory)
self.lat_acceleration_analyzer.put(adc_trajectory)
self.lon_acceleration_analyzer.put(adc_trajectory)
self.latency_analyzer.put(adc_trajectory)
self.reference_line.put(adc_trajectory)
def find_common_path(self, current_adc_trajectory, last_adc_trajectory):
current_path_points = current_adc_trajectory.trajectory_point
last_path_points = last_adc_trajectory.trajectory_point
current_path = []
for point in current_path_points:
current_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
last_path = []
for point in last_path_points:
last_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
if len(current_path) == 0 or len(last_path) == 0:
return [], []
current_ls = LineString(current_path)
last_ls = LineString(last_path)
current_start_point = Point(current_path[0])
dist = last_ls.project(current_start_point)
cut_lines = self.cut(last_ls, dist)
if len(cut_lines) == 1:
return [], []
last_ls = cut_lines[1]
dist = current_ls.project(Point(last_path[-1]))
if dist <= current_ls.length:
current_ls = self.cut(current_ls, dist)[0]
else:
dist = last_ls.project(Point(current_path[-1]))
last_ls = self.cut(last_ls, dist)[0]
return current_ls.coords, last_ls.coords
def cut(self, line, distance):
if distance <= 0.0 or distance >= line.length:
return [LineString(line)]
coords = list(line.coords)
for i, p in enumerate(coords):
pd = line.project(Point(p))
if pd == distance:
return [LineString(coords[:i + 1]), LineString(coords[i:])]
if pd > distance:
cp = line.interpolate(distance)
return [
LineString(coords[:i] + [(cp.x, cp.y)]),
LineString([(cp.x, cp.y)] + coords[i:])
]
def print_latency_statistics(self):
"""print_latency_statistics"""
print("\n\n")
print(PrintColors.HEADER + "--- Planning Latency (ms) ---" + \
PrintColors.ENDC)
StatisticalAnalyzer().print_statistical_results(self.module_latency)
print(PrintColors.HEADER + "--- Planning Trajectroy Type Distribution" \
" ---" + PrintColors.ENDC)
DistributionAnalyzer().print_distribution_results(
self.trajectory_type_dist)
print(PrintColors.HEADER + "--- Planning Estop Distribution" \
" ---" + PrintColors.ENDC)
DistributionAnalyzer().print_distribution_results(
self.estop_reason_dist)
print(PrintColors.HEADER + "--- Planning Error Code Distribution---" + \
PrintColors.ENDC)
self.error_code_analyzer.print_results()
print(PrintColors.HEADER + "--- Planning Error Msg Distribution ---" + \
PrintColors.ENDC)
self.error_msg_analyzer.print_results()
print(PrintColors.HEADER + "--- Planning Trajectory Frechet Distance (m) ---" + \
PrintColors.ENDC)
StatisticalAnalyzer().print_statistical_results(
self.frechet_distance_list)
def print_sim_results(self):
"""
dreamland metrics for planning v2
"""
v2_results = {}
# acceleration
v2_results["accel"] = self.lon_acceleration_analyzer.get_acceleration()
# deceleration
v2_results["decel"] = self.lon_acceleration_analyzer.get_deceleration()
# jerk
v2_results["acc_jerk"] = self.lon_acceleration_analyzer.get_acc_jerk()
v2_results["dec_jerk"] = self.lon_acceleration_analyzer.get_dec_jerk()
# centripetal_jerk
v2_results["lat_jerk"] = self.lat_acceleration_analyzer.get_jerk()
# centripetal_accel
v2_results[
"lat_accel"] = self.lat_acceleration_analyzer.get_acceleration()
# frame_count
v2_results["frame_count"] = self.frame_count_analyzer.get()
# latency
v2_results["planning_latency"] = self.latency_analyzer.get()
# reference line
v2_results["reference_line"] = self.reference_line.get()
# output final reuslts
print(json.dumps(v2_results))
def plot_path(self, plt, adc_trajectory):
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
x = []
y = []
for point in path_coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'r-', alpha=0.5)
def plot_refpath(self, plt, adc_trajectory):
for path in adc_trajectory.debug.planning_data.path:
if path.name != 'planning_reference_line':
continue
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
ref_path_coord = []
for point in path.path_point:
ref_path_coord.append([point.x, point.y])
ref_path = LineString(ref_path_coord)
start_point = Point(path_coords[0])
dist = ref_path.project(start_point)
ref_path = self.cut(ref_path, dist)[1]
end_point = Point(path_coords[-1])
dist = ref_path.project(end_point)
ref_path = self.cut(ref_path, dist)[0]
x = []
y = []
for point in ref_path.coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'b--', alpha=0.5)
def trim_path_by_distance(self, adc_trajectory, s):
path_coords = []
path_points = adc_trajectory.trajectory_point
for point in path_points:
if point.path_point.s <= s:
path_coords.append([point.path_point.x, point.path_point.y])
return path_coords
def __init__(self):
"""init"""
self.module_latency = []
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
def __init__(self, is_simulation, is_sim):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.is_sim = is_sim
self.hard_break_list = []
self.total_cycle_num = 0
self.init_point_curvature = []
self.init_point_dcurvature = []
self.init_point_accel = []
self.init_point_decel = []
self.last_init_point_t = None
self.last_init_point_a = None
self.last_init_point = None
self.centripetal_jerk_list = []
self.centripetal_accel_list = []
self.jerk_list = []
# [2, 4) unit m/s^2
self.ACCEL_M_LB = 2
self.ACCEL_M_UB = 4
self.accel_medium_cnt = 0
# [4, ) unit m/s^2
self.ACCEL_H_LB = 4
self.accel_high_cnt = 0
# [-4, -2)
self.DECEL_M_LB = -4
self.DECEL_M_UB = -2
self.decel_medium_cnt = 0
# [-4, )
self.DECEL_H_UB = -4
self.decel_high_cnt = 0
# [1,2) (-2, -1]
self.JERK_M_LB_P = 1
self.JERK_M_UB_P = 2
self.JERK_M_LB_N = -2
self.JERK_M_UB_N = -1
self.jerk_medium_cnt = 0
# [2, inf) (-inf, -2]
self.JERK_H_LB_P = 2
self.JERK_H_UB_N = -2
self.jerk_high_cnt = 0
# [1, 2) [-2, -1)
self.LAT_ACCEL_M_LB_P = 1
self.LAT_ACCEL_M_UB_P = 2
self.LAT_ACCEL_M_LB_N = -2
self.LAT_ACCEL_M_UB_N = -1
self.lat_accel_medium_cnt = 0
# [2, inf) [-inf,-2)
self.LAT_ACCEL_H_LB_P = 2
self.LAT_ACCEL_H_UB_N = -2
self.lat_accel_high_cnt = 0
# [0.5,1) [-1, -0.5)
self.LAT_JERK_M_LB_P = 0.5
self.LAT_JERK_M_UB_P = 1
self.LAT_JERK_M_LB_N = -1
self.LAT_JERK_M_UB_N = -0.5
self.lat_jerk_medium_cnt = 0
# [1, inf) [-inf,-1)
self.LAT_JERK_H_LB_P = 1
self.LAT_JERK_H_UB_N = -1
self.lat_jerk_high_cnt = 0
class PlannigAnalyzer:
"""planning analyzer"""
def __init__(self, is_simulation):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.hard_break_list = []
def put(self, adc_trajectory):
"""put"""
if not self.is_simulation:
latency = adc_trajectory.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(
adc_trajectory.header.status.error_code)
self.error_msg_analyzer.put(adc_trajectory.header.status.msg)
traj_type = planning_pb2.ADCTrajectory.TrajectoryType.Name(
adc_trajectory.trajectory_type)
self.trajectory_type_dist[traj_type] = \
self.trajectory_type_dist.get(traj_type, 0) + 1
if adc_trajectory.estop.is_estop:
self.estop_reason_dist[adc_trajectory.estop.reason] = \
self.estop_reason_dist.get(
adc_trajectory.estop.reason, 0) + 1
if self.is_simulation:
for point in adc_trajectory.trajectory_point:
if point.a <= -2.0:
self.hard_break_list.append(point.a)
if self.last_adc_trajectory is not None:
current_path, last_path = self.find_common_path(adc_trajectory,
self.last_adc_trajectory)
if len(current_path) == 0 or len(last_path) == 0:
dist = 0
else:
dist = frechet_distance(current_path, last_path)
self.frechet_distance_list.append(dist)
self.last_adc_trajectory = adc_trajectory
def find_common_path(self, current_adc_trajectory, last_adc_trajectory):
current_path_points = current_adc_trajectory.trajectory_point
last_path_points = last_adc_trajectory.trajectory_point
current_path = []
for point in current_path_points:
current_path.append([point.path_point.x, point.path_point.y])
last_path = []
for point in last_path_points:
last_path.append([point.path_point.x, point.path_point.y])
if len(current_path) == 0 or len(last_path) == 0:
return [], []
current_ls = LineString(current_path)
last_ls = LineString(last_path)
current_start_point = Point(current_path[0])
dist = last_ls.project(current_start_point)
cut_lines = self.cut(last_ls, dist)
if len(cut_lines) == 1:
return [], []
last_ls = cut_lines[1]
dist = current_ls.project(Point(last_path[-1]))
if dist <= current_ls.length:
current_ls = self.cut(current_ls, dist)[0]
else:
dist = last_ls.project(Point(current_path[-1]))
last_ls = self.cut(last_ls, dist)[0]
return current_ls.coords, last_ls.coords
def cut(self, line, distance):
if distance <= 0.0 or distance >= line.length:
return [LineString(line)]
coords = list(line.coords)
for i, p in enumerate(coords):
pd = line.project(Point(p))
if pd == distance:
return [
LineString(coords[:i+1]),
LineString(coords[i:])]
if pd > distance:
cp = line.interpolate(distance)
return [
LineString(coords[:i] + [(cp.x, cp.y)]),
LineString([(cp.x, cp.y)] + coords[i:])]
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Planning Latency (ms) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- Planning Trajectroy Type Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.trajectory_type_dist)
print PrintColors.HEADER + "--- Planning Estop Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.estop_reason_dist)
print PrintColors.HEADER + "--- Planning Error Code Distribution---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Trajectory Frechet Distance (m) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.frechet_distance_list)
def print_simulation_results(self):
results = {}
results['frechet_dist'] = sum(self.frechet_distance_list) /\
len(self.frechet_distance_list)
results['hard_brake_cycle_num'] = len(self.hard_break_list)
print str(results)
class PlannigAnalyzer:
"""planning analyzer"""
def __init__(self, is_simulation):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.hard_break_list = []
self.total_cycle_num = 0
def put(self, adc_trajectory):
self.total_cycle_num += 1
"""put"""
if not self.is_simulation:
latency = adc_trajectory.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(
adc_trajectory.header.status.error_code)
self.error_msg_analyzer.put(adc_trajectory.header.status.msg)
traj_type = planning_pb2.ADCTrajectory.TrajectoryType.Name(
adc_trajectory.trajectory_type)
self.trajectory_type_dist[traj_type] = \
self.trajectory_type_dist.get(traj_type, 0) + 1
if adc_trajectory.estop.is_estop:
self.estop_reason_dist[adc_trajectory.estop.reason] = \
self.estop_reason_dist.get(
adc_trajectory.estop.reason, 0) + 1
if self.is_simulation:
for point in adc_trajectory.trajectory_point:
if point.a <= -2.0:
self.hard_break_list.append(point.a)
if self.last_adc_trajectory is not None:
current_path, last_path = self.find_common_path(adc_trajectory,
self.last_adc_trajectory)
if len(current_path) == 0 or len(last_path) == 0:
dist = 0
else:
dist = frechet_distance(current_path, last_path)
self.frechet_distance_list.append(dist)
self.last_adc_trajectory = adc_trajectory
def find_common_path(self, current_adc_trajectory, last_adc_trajectory):
current_path_points = current_adc_trajectory.trajectory_point
last_path_points = last_adc_trajectory.trajectory_point
current_path = []
for point in current_path_points:
current_path.append([point.path_point.x, point.path_point.y])
last_path = []
for point in last_path_points:
last_path.append([point.path_point.x, point.path_point.y])
if len(current_path) == 0 or len(last_path) == 0:
return [], []
current_ls = LineString(current_path)
last_ls = LineString(last_path)
current_start_point = Point(current_path[0])
dist = last_ls.project(current_start_point)
cut_lines = self.cut(last_ls, dist)
if len(cut_lines) == 1:
return [], []
last_ls = cut_lines[1]
dist = current_ls.project(Point(last_path[-1]))
if dist <= current_ls.length:
current_ls = self.cut(current_ls, dist)[0]
else:
dist = last_ls.project(Point(current_path[-1]))
last_ls = self.cut(last_ls, dist)[0]
return current_ls.coords, last_ls.coords
def cut(self, line, distance):
if distance <= 0.0 or distance >= line.length:
return [LineString(line)]
coords = list(line.coords)
for i, p in enumerate(coords):
pd = line.project(Point(p))
if pd == distance:
return [
LineString(coords[:i+1]),
LineString(coords[i:])]
if pd > distance:
cp = line.interpolate(distance)
return [
LineString(coords[:i] + [(cp.x, cp.y)]),
LineString([(cp.x, cp.y)] + coords[i:])]
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Planning Latency (ms) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- Planning Trajectroy Type Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.trajectory_type_dist)
print PrintColors.HEADER + "--- Planning Estop Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.estop_reason_dist)
print PrintColors.HEADER + "--- Planning Error Code Distribution---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Trajectory Frechet Distance (m) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.frechet_distance_list)
def print_simulation_results(self):
results = {}
results['frechet_dist'] = sum(self.frechet_distance_list) /\
len(self.frechet_distance_list)
results['hard_brake_cycle_num'] = len(self.hard_break_list)
results['overall_score'] = 1- results['hard_brake_cycle_num'] /\
float(self.total_cycle_num)
if results['frechet_dist'] > 10:
results['overall_score'] += 0.0
else:
results['overall_score'] += (1- results['frechet_dist'] / 10.0)
results['overall_score'] /= 2.0
print str(results)
class PlannigAnalyzer:
"""planning analyzer"""
def __init__(self, is_simulation, is_sim):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.is_sim = is_sim
self.hard_break_list = []
self.total_cycle_num = 0
self.init_point_curvature = []
self.init_point_dcurvature = []
self.init_point_accel = []
self.init_point_decel = []
self.last_init_point_t = None
self.last_init_point = None
self.centripetal_jerk_list = []
self.breaking_2_3_cnt = 0
self.breaking_3_5_cnt = 0
self.breaking_5_cnt = 0
self.throttle_2_3_cnt = 0
self.throttle_3_5_cnt = 0
self.throttle_5_cnt = 0
def put(self, adc_trajectory):
self.total_cycle_num += 1
if not self.is_simulation and not self.is_sim:
latency = adc_trajectory.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(
adc_trajectory.header.status.error_code)
self.error_msg_analyzer.put(adc_trajectory.header.status.msg)
traj_type = planning_pb2.ADCTrajectory.TrajectoryType.Name(
adc_trajectory.trajectory_type)
self.trajectory_type_dist[traj_type] = \
self.trajectory_type_dist.get(traj_type, 0) + 1
if adc_trajectory.estop.is_estop:
self.estop_reason_dist[adc_trajectory.estop.reason] = \
self.estop_reason_dist.get(
adc_trajectory.estop.reason, 0) + 1
if self.is_simulation or self.is_sim:
if adc_trajectory.debug.planning_data.HasField('init_point'):
init_point = adc_trajectory.debug.planning_data.init_point
self.init_point_curvature.append(
abs(init_point.path_point.kappa))
self.init_point_dcurvature.append(
abs(init_point.path_point.dkappa))
t = adc_trajectory.header.timestamp_sec + init_point.relative_time
if self.last_init_point is not None:
duration = t - self.last_init_point_t
if duration <= 0:
accel = 0
else:
accel = (init_point.v -
self.last_init_point.v) / duration
if accel > 0:
self.init_point_accel.append(accel)
if accel < 0:
self.init_point_decel.append(abs(accel))
if -3 < accel <= -2:
self.breaking_2_3_cnt += 1
if -5 < accel <= -3:
self.breaking_3_5_cnt += 1
if accel <= -5:
self.breaking_5_cnt += 1
if 2 <= accel < 3:
self.throttle_2_3_cnt += 1
if 3 <= accel < 5:
self.throttle_3_5_cnt += 1
if 5 <= accel:
self.throttle_5_cnt += 1
centripetal_jerk = 2 * init_point.v * init_point.a \
* init_point.path_point.kappa + init_point.v \
* init_point.v * init_point.path_point.dkappa
self.centripetal_jerk_list.append(centripetal_jerk)
self.last_init_point_t = t
self.last_init_point = init_point
# TODO(yifei) temporarily disable frechet distance
#if self.last_adc_trajectory is not None and self.is_simulation:
# current_path, last_path = self.find_common_path(adc_trajectory,
# self.last_adc_trajectory)
# if len(current_path) == 0 or len(last_path) == 0:
# dist = 0
# else:
# dist = frechet_distance(current_path, last_path)
# if dist is not None:
# self.frechet_distance_list.append(dist)
self.last_adc_trajectory = adc_trajectory
def find_common_path(self, current_adc_trajectory, last_adc_trajectory):
current_path_points = current_adc_trajectory.trajectory_point
last_path_points = last_adc_trajectory.trajectory_point
current_path = []
for point in current_path_points:
current_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
last_path = []
for point in last_path_points:
last_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
if len(current_path) == 0 or len(last_path) == 0:
return [], []
current_ls = LineString(current_path)
last_ls = LineString(last_path)
current_start_point = Point(current_path[0])
dist = last_ls.project(current_start_point)
cut_lines = self.cut(last_ls, dist)
if len(cut_lines) == 1:
return [], []
last_ls = cut_lines[1]
dist = current_ls.project(Point(last_path[-1]))
if dist <= current_ls.length:
current_ls = self.cut(current_ls, dist)[0]
else:
dist = last_ls.project(Point(current_path[-1]))
last_ls = self.cut(last_ls, dist)[0]
return current_ls.coords, last_ls.coords
def cut(self, line, distance):
if distance <= 0.0 or distance >= line.length:
return [LineString(line)]
coords = list(line.coords)
for i, p in enumerate(coords):
pd = line.project(Point(p))
if pd == distance:
return [LineString(coords[:i + 1]), LineString(coords[i:])]
if pd > distance:
cp = line.interpolate(distance)
return [
LineString(coords[:i] + [(cp.x, cp.y)]),
LineString([(cp.x, cp.y)] + coords[i:])
]
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Planning Latency (ms) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- Planning Trajectroy Type Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.trajectory_type_dist)
print PrintColors.HEADER + "--- Planning Estop Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.estop_reason_dist)
print PrintColors.HEADER + "--- Planning Error Code Distribution---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Trajectory Frechet Distance (m) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(
self.frechet_distance_list)
def print_simulation_results(self):
results = {}
results['decel_2_3'] = self.breaking_2_3_cnt
results['decel_3_5'] = self.breaking_3_5_cnt
results['decel_5_'] = self.breaking_5_cnt
results['accel_2_3'] = self.throttle_2_3_cnt
results['accel_3_5'] = self.throttle_3_5_cnt
results['accel_5_'] = self.throttle_5_cnt
if len(self.init_point_curvature) > 0:
results['curvature_max'] = max(self.init_point_curvature, key=abs)
curvature_avg = np.average(np.absolute(self.init_point_curvature))
results['curvature_avg'] = curvature_avg
else:
results['curvature_max'] = None
results['curvature_avg'] = None
if len(self.init_point_dcurvature) > 0:
results['dcurvature_max'] = max(self.init_point_dcurvature,
key=abs)
dcurvature_avg = np.average(np.absolute(
self.init_point_dcurvature))
results['dcurvature_avg'] = dcurvature_avg
else:
results['dcurvature_max'] = None
results['dcurvature_avg'] = None
if len(self.init_point_accel) > 0:
results["accel_max"] = max(self.init_point_accel)
results["accel_avg"] = np.average(self.init_point_accel)
else:
results["accel_max"] = 0.0
results["accel_avg"] = 0.0
if len(self.init_point_decel) > 0:
results["decel_max"] = max(self.init_point_decel)
results["decel_avg"] = np.average(self.init_point_decel)
else:
results["decel_max"] = 0.0
results["decel_avg"] = 0.0
if len(self.centripetal_jerk_list) > 0:
results["centripetal_jerk_max"] = max(self.centripetal_jerk_list,
key=abs)
else:
results["centripetal_jerk_max"] = 0
print json.dumps(results)
def print_sim_results(self):
"""
dreamland metrics for planning v2
"""
v2_results = {}
# acceleration
v2_results["accel"] = {}
if len(self.init_point_accel) > 0:
v2_results["accel"]["max"] = max(self.init_point_accel)
v2_results["accel"]["avg"] = np.average(self.init_point_accel)
else:
v2_results["accel"]["max"] = 0.0
v2_results["accel"]["avg"] = 0.0
v2_results["accel"]['2 to 3 cnt'] = self.throttle_2_3_cnt
v2_results["accel"]['3 to 5 cnt'] = self.throttle_3_5_cnt
v2_results["accel"]['5 and up cnt'] = self.throttle_5_cnt
# deceleration
v2_results["decel"] = {}
if len(self.init_point_decel) > 0:
v2_results["decel"]["max"] = max(self.init_point_decel)
v2_results["decel"]["avg"] = np.average(self.init_point_decel)
else:
v2_results["decel"]["max"] = 0.0
v2_results["decel"]["avg"] = 0.0
v2_results["decel"]['2 to 3 cnt'] = self.breaking_2_3_cnt
v2_results["decel"]['3 to 5 cnt'] = self.breaking_3_5_cnt
v2_results["decel"]['5 and up cnt'] = self.breaking_5_cnt
# centripetal_jerk
v2_results["centripetal_jerk"] = {}
if len(self.centripetal_jerk_list) > 0:
v2_results["centripetal_jerk"]["max"] = max(
self.centripetal_jerk_list, key=abs)
jerk_avg = np.average(np.absolute(self.centripetal_jerk_list))
v2_results["centripetal_jerk"]["avg"] = jerk_avg
else:
v2_results["centripetal_jerk"]["max"] = 0
v2_results["centripetal_jerk"]["avg"] = 0
print json.dumps(v2_results)
def plot_path(self, plt, adc_trajectory):
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
x = []
y = []
for point in path_coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'r-', alpha=0.5)
def plot_refpath(self, plt, adc_trajectory):
for path in adc_trajectory.debug.planning_data.path:
if path.name != 'planning_reference_line':
continue
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
ref_path_coord = []
for point in path.path_point:
ref_path_coord.append([point.x, point.y])
ref_path = LineString(ref_path_coord)
start_point = Point(path_coords[0])
dist = ref_path.project(start_point)
ref_path = self.cut(ref_path, dist)[1]
end_point = Point(path_coords[-1])
dist = ref_path.project(end_point)
ref_path = self.cut(ref_path, dist)[0]
x = []
y = []
for point in ref_path.coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'b--', alpha=0.5)
def trim_path_by_distance(self, adc_trajectory, s):
path_coords = []
path_points = adc_trajectory.trajectory_point
for point in path_points:
if point.path_point.s <= s:
path_coords.append([point.path_point.x, point.path_point.y])
return path_coords
def __init__(self, arguments):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_sim = arguments.simulation
self.hard_break_list = []
self.total_cycle_num = 0
self.init_point_curvature = []
self.init_point_dcurvature = []
self.init_point_accel = []
self.init_point_decel = []
self.last_init_point_t = None
self.last_init_point_a = None
self.last_init_point = None
self.centripetal_jerk_list = []
self.centripetal_accel_list = []
self.jerk_list = []
self.latency_list = []
# [2, 4) unit m/s^2
self.ACCEL_M_LB = 2
self.ACCEL_M_UB = 4
self.accel_medium_cnt = 0
# [4, ) unit m/s^2
self.ACCEL_H_LB = 4
self.accel_high_cnt = 0
# [-4, -2)
self.DECEL_M_LB = -4
self.DECEL_M_UB = -2
self.decel_medium_cnt = 0
# [-4, )
self.DECEL_H_UB = -4
self.decel_high_cnt = 0
# [1,2) (-2, -1]
self.JERK_M_LB_P = 1
self.JERK_M_UB_P = 2
self.JERK_M_LB_N = -2
self.JERK_M_UB_N = -1
self.jerk_medium_cnt = 0
# [2, inf) (-inf, -2]
self.JERK_H_LB_P = 2
self.JERK_H_UB_N = -2
self.jerk_high_cnt = 0
# [1, 2) [-2, -1)
self.LAT_ACCEL_M_LB_P = 1
self.LAT_ACCEL_M_UB_P = 2
self.LAT_ACCEL_M_LB_N = -2
self.LAT_ACCEL_M_UB_N = -1
self.lat_accel_medium_cnt = 0
# [2, inf) [-inf,-2)
self.LAT_ACCEL_H_LB_P = 2
self.LAT_ACCEL_H_UB_N = -2
self.lat_accel_high_cnt = 0
# [0.5,1) [-1, -0.5)
self.LAT_JERK_M_LB_P = 0.5
self.LAT_JERK_M_UB_P = 1
self.LAT_JERK_M_LB_N = -1
self.LAT_JERK_M_UB_N = -0.5
self.lat_jerk_medium_cnt = 0
# [1, inf) [-inf,-1)
self.LAT_JERK_H_LB_P = 1
self.LAT_JERK_H_UB_N = -1
self.lat_jerk_high_cnt = 0
self.bag_start_time_t = None
self.print_acc = arguments.showacc
self.rl_is_offroad_cnt = 0
self.rl_minimum_boundary = sys.float_info.max
self.rl_avg_kappa_list = []
self.rl_avg_dkappa_list = []
class PlannigAnalyzer:
"""planning analyzer"""
def __init__(self, is_simulation, is_sim):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.is_sim = is_sim
self.hard_break_list = []
self.total_cycle_num = 0
self.init_point_curvature = []
self.init_point_dcurvature = []
self.init_point_accel = []
self.init_point_decel = []
self.last_init_point_t = None
self.last_init_point_a = None
self.last_init_point = None
self.centripetal_jerk_list = []
self.centripetal_accel_list = []
self.jerk_list = []
# [2, 4) unit m/s^2
self.ACCEL_M_LB = 2
self.ACCEL_M_UB = 4
self.accel_medium_cnt = 0
# [4, ) unit m/s^2
self.ACCEL_H_LB = 4
self.accel_high_cnt = 0
# [-4, -2)
self.DECEL_M_LB = -4
self.DECEL_M_UB = -2
self.decel_medium_cnt = 0
# [-4, )
self.DECEL_H_UB = -4
self.decel_high_cnt = 0
# [1,2) (-2, -1]
self.JERK_M_LB_P = 1
self.JERK_M_UB_P = 2
self.JERK_M_LB_N = -2
self.JERK_M_UB_N = -1
self.jerk_medium_cnt = 0
# [2, inf) (-inf, -2]
self.JERK_H_LB_P = 2
self.JERK_H_UB_N = -2
self.jerk_high_cnt = 0
# [1, 2) [-2, -1)
self.LAT_ACCEL_M_LB_P = 1
self.LAT_ACCEL_M_UB_P = 2
self.LAT_ACCEL_M_LB_N = -2
self.LAT_ACCEL_M_UB_N = -1
self.lat_accel_medium_cnt = 0
# [2, inf) [-inf,-2)
self.LAT_ACCEL_H_LB_P = 2
self.LAT_ACCEL_H_UB_N = -2
self.lat_accel_high_cnt = 0
# [0.5,1) [-1, -0.5)
self.LAT_JERK_M_LB_P = 0.5
self.LAT_JERK_M_UB_P = 1
self.LAT_JERK_M_LB_N = -1
self.LAT_JERK_M_UB_N = -0.5
self.lat_jerk_medium_cnt = 0
# [1, inf) [-inf,-1)
self.LAT_JERK_H_LB_P = 1
self.LAT_JERK_H_UB_N = -1
self.lat_jerk_high_cnt = 0
def put(self, adc_trajectory):
self.total_cycle_num += 1
if not self.is_simulation and not self.is_sim:
latency = adc_trajectory.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(
adc_trajectory.header.status.error_code)
self.error_msg_analyzer.put(adc_trajectory.header.status.msg)
traj_type = planning_pb2.ADCTrajectory.TrajectoryType.Name(
adc_trajectory.trajectory_type)
self.trajectory_type_dist[traj_type] = \
self.trajectory_type_dist.get(traj_type, 0) + 1
if adc_trajectory.estop.is_estop:
self.estop_reason_dist[adc_trajectory.estop.reason] = \
self.estop_reason_dist.get(
adc_trajectory.estop.reason, 0) + 1
if self.is_simulation or self.is_sim:
if not adc_trajectory.debug.planning_data.HasField('init_point'):
return
init_point = adc_trajectory.debug.planning_data.init_point
self.init_point_curvature.append(abs(init_point.path_point.kappa))
self.init_point_dcurvature.append(abs(
init_point.path_point.dkappa))
t = adc_trajectory.header.timestamp_sec + init_point.relative_time
accel = None
jerk = None
if self.last_init_point is not None:
duration = t - self.last_init_point_t
if duration <= 0:
accel = 0
else:
accel = (init_point.v - self.last_init_point.v) / duration
if accel > 0:
self.init_point_accel.append(accel)
elif accel < 0:
self.init_point_decel.append(abs(accel))
if self.DECEL_M_LB < accel <= self.DECEL_M_UB:
self.decel_medium_cnt += 1
if accel <= self.DECEL_H_UB:
self.decel_high_cnt += 1
if self.ACCEL_M_LB <= accel < self.ACCEL_M_UB:
self.accel_medium_cnt += 1
if self.ACCEL_H_LB <= accel:
self.accel_high_cnt += 1
if self.last_init_point_a is not None:
if duration <= 0:
jerk = 0
else:
jerk = (accel - self.last_init_point_a) / duration
self.jerk_list.append(abs(jerk))
if self.JERK_M_LB_P <= jerk < self.JERK_M_UB_P or \
self.JERK_M_LB_N < jerk <= self.JERK_M_UB_N:
self.jerk_medium_cnt += 1
if jerk >= self.JERK_H_LB_P or jerk <= self.JERK_H_UB_N:
self.jerk_high_cnt += 1
# centripetal_jerk
centripetal_jerk = 2 * init_point.v * init_point.a \
* init_point.path_point.kappa + init_point.v \
* init_point.v * init_point.path_point.dkappa
self.centripetal_jerk_list.append(abs(centripetal_jerk))
if self.LAT_JERK_M_LB_P <= centripetal_jerk < self.LAT_JERK_M_UB_P \
or self.LAT_JERK_M_LB_N < centripetal_jerk <= self.LAT_JERK_M_UB_N:
self.lat_jerk_medium_cnt += 1
if centripetal_jerk >= self.LAT_JERK_H_LB_P \
or centripetal_jerk <= self.LAT_JERK_H_UB_N:
self.lat_jerk_high_cnt += 1
# centripetal_accel
centripetal_accel = init_point.v * init_point.v \
* init_point.path_point.kappa
self.centripetal_accel_list.append(abs(centripetal_accel))
if self.LAT_ACCEL_M_LB_P <= centripetal_accel < self.LAT_ACCEL_M_UB_P \
or self.LAT_ACCEL_M_LB_N < centripetal_accel <= self.LAT_ACCEL_M_UB_N:
self.lat_accel_medium_cnt += 1
if centripetal_accel >= self.LAT_ACCEL_H_LB_P \
or centripetal_accel <= self.LAT_ACCEL_H_UB_N:
self.lat_accel_high_cnt += 1
self.last_init_point_t = t
self.last_init_point = init_point
self.last_init_point_a = accel
# TODO(yifei) temporarily disable frechet distance
#if self.last_adc_trajectory is not None and self.is_simulation:
# current_path, last_path = self.find_common_path(adc_trajectory,
# self.last_adc_trajectory)
# if len(current_path) == 0 or len(last_path) == 0:
# dist = 0
# else:
# dist = frechet_distance(current_path, last_path)
# if dist is not None:
# self.frechet_distance_list.append(dist)
self.last_adc_trajectory = adc_trajectory
def find_common_path(self, current_adc_trajectory, last_adc_trajectory):
current_path_points = current_adc_trajectory.trajectory_point
last_path_points = last_adc_trajectory.trajectory_point
current_path = []
for point in current_path_points:
current_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
last_path = []
for point in last_path_points:
last_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
if len(current_path) == 0 or len(last_path) == 0:
return [], []
current_ls = LineString(current_path)
last_ls = LineString(last_path)
current_start_point = Point(current_path[0])
dist = last_ls.project(current_start_point)
cut_lines = self.cut(last_ls, dist)
if len(cut_lines) == 1:
return [], []
last_ls = cut_lines[1]
dist = current_ls.project(Point(last_path[-1]))
if dist <= current_ls.length:
current_ls = self.cut(current_ls, dist)[0]
else:
dist = last_ls.project(Point(current_path[-1]))
last_ls = self.cut(last_ls, dist)[0]
return current_ls.coords, last_ls.coords
def cut(self, line, distance):
if distance <= 0.0 or distance >= line.length:
return [LineString(line)]
coords = list(line.coords)
for i, p in enumerate(coords):
pd = line.project(Point(p))
if pd == distance:
return [LineString(coords[:i + 1]), LineString(coords[i:])]
if pd > distance:
cp = line.interpolate(distance)
return [
LineString(coords[:i] + [(cp.x, cp.y)]),
LineString([(cp.x, cp.y)] + coords[i:])
]
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Planning Latency (ms) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- Planning Trajectroy Type Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.trajectory_type_dist)
print PrintColors.HEADER + "--- Planning Estop Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.estop_reason_dist)
print PrintColors.HEADER + "--- Planning Error Code Distribution---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Trajectory Frechet Distance (m) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(
self.frechet_distance_list)
def print_simulation_results(self):
results = {}
if len(self.init_point_accel) > 0:
results["accel_max"] = max(self.init_point_accel)
results["accel_avg"] = np.average(self.init_point_accel)
else:
results["accel_max"] = 0.0
results["accel_avg"] = 0.0
results['accel_medium_cnt'] = self.accel_medium_cnt
results['accel_high_cnt'] = self.accel_high_cnt
if len(self.init_point_decel) > 0:
results["decel_max"] = max(self.init_point_decel)
results["decel_avg"] = np.average(self.init_point_decel)
else:
results["decel_max"] = 0.0
results["decel_avg"] = 0.0
results['decel_medium_cnt'] = self.decel_medium_cnt
results['decel_high_cnt'] = self.decel_high_cnt
if len(self.jerk_list) > 0:
results["jerk_max"] = max(self.jerk_list, key=abs)
jerk_avg = np.average(np.absolute(self.jerk_list))
results["jerk_avg"] = jerk_avg
else:
results["jerk_max"] = 0
results["jerk_avg"] = 0
results['jerk_medium_cnt'] = self.jerk_medium_cnt
results['jerk_high_cnt'] = self.jerk_high_cnt
if len(self.centripetal_jerk_list) > 0:
results["lat_jerk_max"] = max(self.centripetal_jerk_list, key=abs)
jerk_avg = np.average(np.absolute(self.centripetal_jerk_list))
results["lat_jerk_avg"] = jerk_avg
else:
results["lat_jerk_max"] = 0
results["lat_jerk_avg"] = 0
results['lat_jerk_medium_cnt'] = self.lat_jerk_medium_cnt
results['lat_jerk_high_cnt'] = self.lat_jerk_high_cnt
if len(self.centripetal_accel_list) > 0:
results["lat_accel_max"] = max(self.centripetal_accel_list,
key=abs)
accel_avg = np.average(np.absolute(self.centripetal_accel_list))
results["lat_accel_avg"] = accel_avg
else:
results["lat_accel_max"] = 0
results["lat_accel_avg"] = 0
results['lat_accel_medium_cnt'] = self.lat_accel_medium_cnt
results['lat_accel_high_cnt'] = self.lat_accel_high_cnt
print json.dumps(results)
def print_sim_results(self):
"""
dreamland metrics for planning v2
"""
v2_results = {}
# acceleration
v2_results["accel"] = {}
if len(self.init_point_accel) > 0:
v2_results["accel"]["max"] = max(self.init_point_accel)
v2_results["accel"]["avg"] = np.average(self.init_point_accel)
else:
v2_results["accel"]["max"] = 0.0
v2_results["accel"]["avg"] = 0.0
v2_results["accel"]["medium_cnt"] = self.accel_medium_cnt
v2_results["accel"]["high_cnt"] = self.accel_high_cnt
# deceleration
v2_results["decel"] = {}
if len(self.init_point_decel) > 0:
v2_results["decel"]["max"] = max(self.init_point_decel)
v2_results["decel"]["avg"] = np.average(self.init_point_decel)
else:
v2_results["decel"]["max"] = 0.0
v2_results["decel"]["avg"] = 0.0
v2_results["decel"]["medium_cnt"] = self.decel_medium_cnt
v2_results["decel"]["high_cnt"] = self.decel_high_cnt
# jerk
v2_results["jerk"] = {}
if len(self.jerk_list) > 0:
v2_results["jerk"]["max"] = max(self.jerk_list, key=abs)
jerk_avg = np.average(np.absolute(self.jerk_list))
v2_results["jerk"]["avg"] = jerk_avg
else:
v2_results["jerk"]["max"] = 0
v2_results["jerk"]["avg"] = 0
v2_results["jerk"]["medium_cnt"] = self.jerk_medium_cnt
v2_results["jerk"]["high_cnt"] = self.jerk_high_cnt
# centripetal_jerk
v2_results["lat_jerk"] = {}
if len(self.centripetal_jerk_list) > 0:
v2_results["lat_jerk"]["max"] = max(self.centripetal_jerk_list,
key=abs)
jerk_avg = np.average(np.absolute(self.centripetal_jerk_list))
v2_results["lat_jerk"]["avg"] = jerk_avg
else:
v2_results["lat_jerk"]["max"] = 0
v2_results["lat_jerk"]["avg"] = 0
v2_results["lat_jerk"]["medium_cnt"] = self.lat_jerk_medium_cnt
v2_results["lat_jerk"]["high_cnt"] = self.lat_jerk_high_cnt
# centripetal_accel
v2_results["lat_accel"] = {}
if len(self.centripetal_accel_list) > 0:
v2_results["lat_accel"]["max"] = max(self.centripetal_accel_list,
key=abs)
accel_avg = np.average(np.absolute(self.centripetal_accel_list))
v2_results["lat_accel"]["avg"] = accel_avg
else:
v2_results["lat_accel"]["max"] = 0
v2_results["lat_accel"]["avg"] = 0
v2_results["lat_accel"]["medium_cnt"] = self.lat_accel_medium_cnt
v2_results["lat_accel"]["high_cnt"] = self.lat_accel_high_cnt
print json.dumps(v2_results)
def plot_path(self, plt, adc_trajectory):
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
x = []
y = []
for point in path_coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'r-', alpha=0.5)
def plot_refpath(self, plt, adc_trajectory):
for path in adc_trajectory.debug.planning_data.path:
if path.name != 'planning_reference_line':
continue
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
ref_path_coord = []
for point in path.path_point:
ref_path_coord.append([point.x, point.y])
ref_path = LineString(ref_path_coord)
start_point = Point(path_coords[0])
dist = ref_path.project(start_point)
ref_path = self.cut(ref_path, dist)[1]
end_point = Point(path_coords[-1])
dist = ref_path.project(end_point)
ref_path = self.cut(ref_path, dist)[0]
x = []
y = []
for point in ref_path.coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'b--', alpha=0.5)
def trim_path_by_distance(self, adc_trajectory, s):
path_coords = []
path_points = adc_trajectory.trajectory_point
for point in path_points:
if point.path_point.s <= s:
path_coords.append([point.path_point.x, point.path_point.y])
return path_coords
class PlannigAnalyzer:
"""planning analyzer"""
def __init__(self, is_simulation):
"""init"""
self.module_latency = []
self.trajectory_type_dist = {}
self.estop_reason_dist = {}
self.error_code_analyzer = ErrorCodeAnalyzer()
self.error_msg_analyzer = ErrorMsgAnalyzer()
self.last_adc_trajectory = None
self.frechet_distance_list = []
self.is_simulation = is_simulation
self.hard_break_list = []
self.total_cycle_num = 0
self.init_point_curvature = []
self.init_point_dcurvature = []
def put(self, adc_trajectory):
self.total_cycle_num += 1
"""put"""
if not self.is_simulation:
latency = adc_trajectory.latency_stats.total_time_ms
self.module_latency.append(latency)
self.error_code_analyzer.put(
adc_trajectory.header.status.error_code)
self.error_msg_analyzer.put(adc_trajectory.header.status.msg)
traj_type = planning_pb2.ADCTrajectory.TrajectoryType.Name(
adc_trajectory.trajectory_type)
self.trajectory_type_dist[traj_type] = \
self.trajectory_type_dist.get(traj_type, 0) + 1
if adc_trajectory.estop.is_estop:
self.estop_reason_dist[adc_trajectory.estop.reason] = \
self.estop_reason_dist.get(
adc_trajectory.estop.reason, 0) + 1
if self.is_simulation:
for point in adc_trajectory.trajectory_point:
if point.a <= -2.0:
self.hard_break_list.append(point.a)
if adc_trajectory.debug.planning_data.HasField('init_point'):
self.init_point_curvature.append(
abs(adc_trajectory.debug.planning_data.init_point.
path_point.kappa))
self.init_point_dcurvature.append(
abs(adc_trajectory.debug.planning_data.init_point.
path_point.dkappa))
# TODO(yifei) temporarily disable frechet distance
#if self.last_adc_trajectory is not None and self.is_simulation:
# current_path, last_path = self.find_common_path(adc_trajectory,
# self.last_adc_trajectory)
# if len(current_path) == 0 or len(last_path) == 0:
# dist = 0
# else:
# dist = frechet_distance(current_path, last_path)
# if dist is not None:
# self.frechet_distance_list.append(dist)
self.last_adc_trajectory = adc_trajectory
def find_common_path(self, current_adc_trajectory, last_adc_trajectory):
current_path_points = current_adc_trajectory.trajectory_point
last_path_points = last_adc_trajectory.trajectory_point
current_path = []
for point in current_path_points:
current_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
last_path = []
for point in last_path_points:
last_path.append([point.path_point.x, point.path_point.y])
if point.path_point.s > 5.0:
break
if len(current_path) == 0 or len(last_path) == 0:
return [], []
current_ls = LineString(current_path)
last_ls = LineString(last_path)
current_start_point = Point(current_path[0])
dist = last_ls.project(current_start_point)
cut_lines = self.cut(last_ls, dist)
if len(cut_lines) == 1:
return [], []
last_ls = cut_lines[1]
dist = current_ls.project(Point(last_path[-1]))
if dist <= current_ls.length:
current_ls = self.cut(current_ls, dist)[0]
else:
dist = last_ls.project(Point(current_path[-1]))
last_ls = self.cut(last_ls, dist)[0]
return current_ls.coords, last_ls.coords
def cut(self, line, distance):
if distance <= 0.0 or distance >= line.length:
return [LineString(line)]
coords = list(line.coords)
for i, p in enumerate(coords):
pd = line.project(Point(p))
if pd == distance:
return [LineString(coords[:i + 1]), LineString(coords[i:])]
if pd > distance:
cp = line.interpolate(distance)
return [
LineString(coords[:i] + [(cp.x, cp.y)]),
LineString([(cp.x, cp.y)] + coords[i:])
]
def print_latency_statistics(self):
"""print_latency_statistics"""
print "\n\n"
print PrintColors.HEADER + "--- Planning Latency (ms) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(self.module_latency)
print PrintColors.HEADER + "--- Planning Trajectroy Type Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.trajectory_type_dist)
print PrintColors.HEADER + "--- Planning Estop Distribution" \
" ---" + PrintColors.ENDC
DistributionAnalyzer().print_distribution_results(
self.estop_reason_dist)
print PrintColors.HEADER + "--- Planning Error Code Distribution---" + \
PrintColors.ENDC
self.error_code_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Error Msg Distribution ---" + \
PrintColors.ENDC
self.error_msg_analyzer.print_results()
print PrintColors.HEADER + "--- Planning Trajectory Frechet Distance (m) ---" + \
PrintColors.ENDC
StatisticalAnalyzer().print_statistical_results(
self.frechet_distance_list)
def print_simulation_results(self):
results = {}
# TODO(yifei) temporarily disable frechet distance
# results['frechet_dist'] = sum(self.frechet_distance_list) /\
# len(self.frechet_distance_list)
results['hard_brake_cycle_num'] = len(self.hard_break_list)
curvature_99pctl = np.percentile(self.init_point_curvature, 99)
results['curvature_99pctl'] = curvature_99pctl
curvature_avg = np.average(self.init_point_curvature)
results['curvature_avg'] = curvature_avg
dcurvature_99pctl = np.percentile(self.init_point_dcurvature, 99)
results['dcurvature_99pctl'] = dcurvature_99pctl
dcurvature_avg = np.average(self.init_point_dcurvature)
results['dcurvature_avg'] = dcurvature_avg
results['overall_score'] = 1 - results['hard_brake_cycle_num'] /\
float(self.total_cycle_num)
# TODO(yifei) temporarily disable frechet distance
#if results['frechet_dist'] > 10:
# results['overall_score'] += 0.0
#else:
# results['overall_score'] += (1 - results['frechet_dist'] / 10.0)
#results['overall_score'] /= 2.0
print json.dumps(results)
def plot_path(self, plt, adc_trajectory):
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
x = []
y = []
for point in path_coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'r-', alpha=0.5)
def plot_refpath(self, plt, adc_trajectory):
for path in adc_trajectory.debug.planning_data.path:
if path.name != 'planning_reference_line':
continue
path_coords = self.trim_path_by_distance(adc_trajectory, 5.0)
ref_path_coord = []
for point in path.path_point:
ref_path_coord.append([point.x, point.y])
ref_path = LineString(ref_path_coord)
start_point = Point(path_coords[0])
dist = ref_path.project(start_point)
ref_path = self.cut(ref_path, dist)[1]
end_point = Point(path_coords[-1])
dist = ref_path.project(end_point)
ref_path = self.cut(ref_path, dist)[0]
x = []
y = []
for point in ref_path.coords:
x.append(point[0])
y.append(point[1])
plt.plot(x, y, 'b--', alpha=0.5)
def trim_path_by_distance(self, adc_trajectory, s):
path_coords = []
path_points = adc_trajectory.trajectory_point
for point in path_points:
if point.path_point.s <= s:
path_coords.append([point.path_point.x, point.path_point.y])
return path_coords