Annotate logs with device names.

python/fusion_engine_client/analysis/pose_compare.py

@@ -38,11 +38,6 @@
 
 SolutionTypeInfo = namedtuple('SolutionTypeInfo', ['name', 'style'])
 
-_LOG_NAMES = [
-    'Test',
-    'Reference',
-]
-
 _SOLUTION_TYPE_MAP = [{
     SolutionType.Invalid: SolutionTypeInfo(name='Invalid', style={'color': 'black'}),
     SolutionType.Integrate: SolutionTypeInfo(name='Integrated', style={'color': 'cyan'}),
@@ -122,7 +117,7 @@ def __init__(self,
                  file_test: Union[DataLoader, str], file_reference: Union[DataLoader, str], ignore_index: bool = False,
                  output_dir: str = None, prefix: str = '',
                  time_range: TimeRange = None, max_messages: int = None,
-                 time_axis: str = 'relative'):
+                 time_axis: str = 'relative', test_device_name=None, reference_device_name=None):
         """!
         @brief Create an analyzer for the comparing the pose from two p1log files.
 
@@ -139,6 +134,8 @@ def __init__(self,
         @param time_axis Specify the way in which time will be plotted:
                - `absolute`, `abs` - Absolute P1 or system timestamps
                - `relative`, `rel` - Elapsed time since the start of the log
+        @param test_device_name If set, label test data with this device name.
+        @param reference_device_name If set, label reference data with this device name.
         """
         self.params = {
             'time_range': time_range,
@@ -166,10 +163,22 @@ def __init__(self,
         if len(self.reference_pose.p1_time) == 0:
             raise ValueError('Reference log did not contain pose data.')
 
+        self.test_data_name = 'Test'
+        if test_device_name:
+            self.test_data_name += ' ' + test_device_name
+
+        self.reference_data_name = 'Reference'
+        if reference_device_name:
+            self.reference_data_name += ' ' + reference_device_name
+
+        self.data_names = [
+            self.test_data_name,
+            self.reference_data_name,
+        ]
+
         self.output_dir = output_dir
         self.prefix = prefix
 
-
         gps_time_test = self.test_pose.gps_time
         valid_gps_time = gps_time_test[np.isfinite(gps_time_test)]
         if len(valid_gps_time) == 0:
@@ -226,7 +235,7 @@ def plot_solution_type(self):
                                           ticktext=['%s (%d)' % (e.name, e.value) for e in SolutionType],
                                           tickvals=[e.value for e in SolutionType])
 
-        for name, pose_data in zip(_LOG_NAMES, (self.test_pose, self.reference_pose)):
+        for name, pose_data in zip(self.data_names, (self.test_pose, self.reference_pose)):
             time = pose_data.gps_time - float(self.t0)
 
             text = ["Time: %.3f sec (%.3f sec)" % (t, t + float(self.t0)) for t in time]
@@ -256,7 +265,7 @@ def plot_map(self, mapbox_token):
         map_data = []
 
         for i, pose_data in enumerate((self.test_pose, self.reference_pose)):
-            log_name = _LOG_NAMES[i]
+            log_name = self.data_names[i]
 
             # Remove invalid solutions.
             valid_idx = np.logical_and(~np.isnan(pose_data.p1_time), pose_data.solution_type != SolutionType.Invalid)
@@ -326,7 +335,8 @@ def _plot_pose_error(self, time, solution_type, error_enu_m, std_enu_m):
 
         time_figure = make_subplots(rows=4, cols=1, print_grid=False, shared_xaxes=True,
                                     subplot_titles=['3D', 'East', 'North', 'Up'])
-        time_figure['layout'].update(showlegend=True, modebar_add=['v1hovermode'])
+        time_figure['layout'].update(showlegend=True, modebar_add=['v1hovermode'],
+                                     title=f'{self.test_data_name} Vs. {self.reference_data_name}')
         for i in range(4):
             time_figure['layout']['xaxis%d' % (i + 1)].update(title=self.gps_time_label, showticklabels=True)
         time_figure['layout']['yaxis1'].update(title="Error (m)")
@@ -515,13 +525,13 @@ def _set_data_summary(self):
         log_b_end = log_b_p1_time[-1]
 
         data = [[], []]
-        data[0].append('Test Log Start')
+        data[0].append(self.test_data_name + ' Log Start')
         data[1].append(log_a_t0)
-        data[0].append('Reference Log Start')
+        data[0].append(self.reference_data_name + ' Log Start')
         data[1].append(log_b_t0)
-        data[0].append('Test Log Duration')
+        data[0].append(self.test_data_name + ' Log Duration')
         data[1].append(log_a_end - log_a_t0)
-        data[0].append('Reference Log Duration')
+        data[0].append(self.reference_data_name + ' Log Duration')
         data[1].append(log_b_end - log_b_t0)
         data[0].append('Matched GPS Epochs')
         data[1].append(len(matched_p1_time_a))
@@ -550,6 +560,8 @@ def get_stats(label, values):
         error_table = _data_to_table(columns, data, row_major=True, round_decimal_places=2)
 
         self.summary += f"""
+<h1>Comparison of {self.test_data_name} to {self.reference_data_name}</h1>
+
 {time_table}
 
 <h1>Solution Type CDF</h1>
@@ -736,6 +748,8 @@ def main():
              "- The path to a FusionEngine log directory\n"
              "- A pattern matching a FusionEngine log directory under the specified base directory "
              "(see find_fusion_engine_log() and --log-base-dir)")
+    log_group.add_argument('--reference-device-name', default=None, help='Label to apply to reference data.')
+    log_group.add_argument('--test-device-name', default=None, help='Label to apply to test data.')
 
     output_group = parser.add_argument_group('Output Control')
     output_group.add_argument(
@@ -800,7 +814,7 @@ def main():
     # Read pose data from the file.
     analyzer = PoseCompare(file_test=input_path_test, file_reference=input_path_reference, output_dir=output_dir, ignore_index=options.ignore_index,
                            prefix=options.prefix + '.' if options.prefix is not None else '',
-                           time_range=time_range, time_axis=options.time_axis)
+                           time_range=time_range, time_axis=options.time_axis, test_device_name=options.test_device_name, reference_device_name=options.reference_device_name)
 
     if not options.skip_plots:
         analyzer.plot_solution_type()

python/fusion_engine_client/applications/p1_drive_analysis.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+import glob
 import io
 import sys
 import os
@@ -52,6 +53,10 @@ def find_logs(prefix, log_guids) -> Dict[str, str]:
     return resp
 
 
+def get_device_name_from_path(log_path: Path) -> str:
+    return '_'.join(log_path.name.split('_')[1:-1])
+
+
 def main():
     parser = ArgumentParser(description="""\
     Run p1_pose_compare for each device included in a drive test.
@@ -98,7 +103,8 @@ def main():
         meta_key = options.key_for_log_in_drive + '/' + META_FILE
         drive_meta_data = download_to_memory(options.key_for_log_in_drive + '/' + META_FILE)
     except:
-        _logger.error(f'Could not find "S3://{S3_DEFAULT_INGEST_BUCKET}/{meta_key}". Make sure this log was taken as part of a drive test collection.')
+        _logger.error(
+            f'Could not find "S3://{S3_DEFAULT_INGEST_BUCKET}/{meta_key}". Make sure this log was taken as part of a drive test collection.')
         exit(1)
 
     drive_meta = json.loads(drive_meta_data.decode('utf-8'))
@@ -112,11 +118,12 @@ def main():
     logs_to_download = []
     log_paths = {}
     for guid in [reference_guid] + test_guids:
-        log_paths[guid] = LOG_DIR / f'{guid}.p1log'
-        if not log_paths[guid].exists():
-            logs_to_download.append(guid)
-        else:
+        matches = glob.glob(str(LOG_DIR / f'*{guid}.p1log'))
+        if len(matches) > 0:
+            log_paths[guid] = Path(matches[0])
             _logger.info(f'Using cached: {log_paths[guid]}')
+        else:
+            logs_to_download.append(guid)
 
     if len(logs_to_download) > 0:
         log_prefixes = find_logs(prefix, logs_to_download)
@@ -131,6 +138,8 @@ def main():
                     exit(1)
 
         for guid, s3_prefix in log_prefixes.items():
+            file_name = s3_prefix.replace('/', '_') + '.p1log'
+            log_paths[guid] = LOG_DIR / file_name
             _logger.info(f'Downloading: {log_paths[guid]}')
             if reference_guid == guid:
                 reference_p1log_key = s3_prefix + '/' + REFERENCE_LOG_FILE
@@ -139,9 +148,12 @@ def main():
 
             s3_client.download_file(S3_DEFAULT_INGEST_BUCKET, reference_p1log_key, log_paths[guid])
 
+    reference_device = get_device_name_from_path(log_paths[reference_guid])
     for guid in test_guids:
-        _logger.info(f'Comparing log: {guid}')
-        sys.argv = ['pose_compare_main', str(log_paths[guid]),  str(log_paths[reference_guid]), '--time-axis=rel']
+        _logger.info(f'Comparing log: {log_paths[guid]}')
+        test_device = get_device_name_from_path(log_paths[guid])
+        sys.argv = ['pose_compare_main', str(log_paths[guid]),  str(
+            log_paths[reference_guid]), '--time-axis=rel', f'--test-device-name={test_device}', f'--reference-device-name={reference_device}']
         try:
             pose_compare_main()
         except Exception as e: