Add main page acceleration plots

unmannedlab · Sep 28, 2024 · a8ef1c3 · a8ef1c3
1 parent b57786b
commit a8ef1c3
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Showing 10 changed files with 234 additions and 22 deletions.
diff --git a/.gitignore b/.gitignore
@@ -3,7 +3,9 @@
 */__pycache__/
 
 # Generated Docs
-docs/doxygen/html
+docs/doxygen/html/*
+!docs/doxygen/html/images
+!docs/doxygen/html/includes
 docs/doxygen/latex
 docs/software/cloc.md
 

diff --git a/README.md b/README.md
@@ -73,8 +73,10 @@ To run and plot in sequence, utilize [evaluate.py](eval/evaluate.py)
 python3 eval/evaluate.py config/example.yaml
 ```
 
-This will generate and run the requested number of simulation runs for the specified run time and 
-produce plots of the Monte Carlo data. 
+This will generate and run the requested number of simulation runs for the specified run time and produce plots of the Monte Carlo data. For example, the report generates plots of the body acceleration estimates and the true error in those acceleration estimates.
+
+![acceleration](docs/doxygen/html/images/acceleration.png)
+![acceleration-error](docs/doxygen/html/images/acceleration-error.png)
 
 ### Launch ROS2 Node
 

diff --git a/docs/doxygen/html/images/acceleration-error.png b/docs/doxygen/html/images/acceleration-error.png
diff --git a/docs/doxygen/html/images/acceleration.png b/docs/doxygen/html/images/acceleration.png
diff --git a/docs/doxygen/html/includes/Body_Acceleration.html b/docs/doxygen/html/includes/Body_Acceleration.html
diff --git a/docs/doxygen/html/includes/Body_Acceleration_Error.html b/docs/doxygen/html/includes/Body_Acceleration_Error.html
diff --git a/docs/main.md b/docs/main.md
@@ -73,8 +73,12 @@ To run and plot in sequence, utilize [evaluate.py](../../../eval/evaluate.py)
 python3 eval/evaluate.py config/example.yaml
 ```
 
-This will generate and run the requested number of simulation runs for the specified run time and 
-produce plots of the Monte Carlo data. 
+This will generate and run the requested number of simulation runs for the specified run time and produce plots of the Monte Carlo data. For example, the report generates plots of the body acceleration estimates and the true error in those acceleration estimates.
+
+\htmlonly
+<embed type="text/html" src="includes/Body_Acceleration.html" width="100%" height="320pt">
+<embed type="text/html" src="includes/Body_Acceleration_Error.html" width="100%" height="320pt">
+\endhtmlonly
 
 ### Launch ROS2 Node
 

diff --git a/eval/report.py b/eval/report.py
@@ -32,9 +32,10 @@
 import os
 
 from bokeh.embed import components
-from bokeh.models import BoxZoomTool, FullscreenTool, PanTool, ResetTool, \
+from bokeh.models import BoxZoomTool, FullscreenTool, PanTool, Paragraph, ResetTool, \
     SaveTool, Spacer, Tabs, WheelZoomTool
 from bokeh.plotting import curdoc, figure, save
+from bokeh.themes import Theme
 from input_parser import InputParser
 from tab_body import tab_body
 from tab_fiducial import tab_fiducial
@@ -112,6 +113,25 @@ def plot_sim_results(config_sets, args):
                         ]
                         if (fig.legend):
                             fig.legend.click_policy = 'hide'
+        if not args.light:
+            theme = Theme(os.path.join(os.path.dirname(
+                os.path.abspath(__file__)), 'theme-dark.yaml'))
+            template = """
+            {% block preamble %}
+            <style>
+            body {
+                background: #1C1D1F;
+                color: #fff;
+            }
+            </style>
+            {% endblock %}
+            """
+        else:
+            theme = Theme(os.path.join(os.path.dirname(
+                os.path.abspath(__file__)), 'theme-light.yaml'))
+            template = """"""
+
+        curdoc().theme = theme
 
         if (args.embed):
             if not os.path.exists(os.path.join(plot_dir, 'js')):
@@ -121,30 +141,16 @@ def plot_sim_results(config_sets, args):
             for tab in tabs:
                 for row in tab.child.children:
                     for fig in row.children:
-                        if isinstance(fig, Spacer):
+                        if isinstance(fig, Spacer) or isinstance(fig, Paragraph):
                             continue
                         title = fig.title.text.replace(' ', '_')
-                        script, div = components(fig, wrap_script=False)
+                        script, div = components(fig, wrap_script=False, theme=theme)
                         with open(os.path.join(plot_dir, 'js', f'{title}.js'), 'w') as f:
                             f.write(script)
 
                         with open(os.path.join(plot_dir, 'html', f'{title}.html'), 'w') as f:
                             f.write(div)
         else:
-            if not args.light:
-                curdoc().theme = 'dark_minimal'
-
-            template = """
-            {% block preamble %}
-            <style>
-            body {
-                background: #15191c;
-                color: #fff;
-            }
-            </style>
-            {% endblock %}
-            """
-
             save(
                 obj=Tabs(tabs=tabs, sizing_mode='stretch_width'),
                 filename=os.path.join(plot_dir, f'{config_name}-report.html'),

diff --git a/eval/theme-dark.yaml b/eval/theme-dark.yaml
@@ -0,0 +1,51 @@
+attrs:
+    Plot:
+        background_fill_color: '#20262B'
+        # border_fill_color: '#15191C'
+        border_fill_color: '#1C1D1F'
+        outline_line_color: '#E0E0E0'
+        outline_line_alpha: 0.25
+    Grid:
+        grid_line_color: '#E0E0E0'
+        grid_line_alpha: 0.25
+    Axis:
+        major_tick_line_alpha: 0
+        major_tick_line_color: '#E0E0E0'
+        minor_tick_line_alpha: 0
+        minor_tick_line_color: '#E0E0E0'
+        axis_line_alpha: 0
+        axis_line_color: '#E0E0E0'
+        major_label_text_color: '#E0E0E0'
+        major_label_text_font: 'Helvetica'
+        major_label_text_font_size: '1.025em'
+        axis_label_standoff: 10
+        axis_label_text_color: '#E0E0E0'
+        axis_label_text_font: 'Helvetica'
+        axis_label_text_font_size: '1.25em'
+        axis_label_text_font_style: 'normal'
+    Legend:
+        spacing: 8
+        glyph_width: 15
+        label_standoff: 8
+        label_text_color: '#E0E0E0'
+        label_text_font: 'Helvetica'
+        label_text_font_size: '1.025em'
+        border_line_alpha: 0
+        background_fill_alpha: 0.25
+        background_fill_color: '#20262B'
+    BaseColorBar:
+        title_text_color: '#E0E0E0'
+        title_text_font: 'Helvetica'
+        title_text_font_size: '1.025em'
+        title_text_font_style: 'normal'
+        major_label_text_color: '#E0E0E0'
+        major_label_text_font: 'Helvetica'
+        major_label_text_font_size: '1.025em'
+        # background_fill_color: '#15191C'
+        background_fill_color: '#15191C'
+        major_tick_line_alpha: 0
+        bar_line_alpha: 0
+    Title:
+        text_color: '#E0E0E0'
+        text_font: 'Helvetica'
+        text_font_size: '1.15em'
diff --git a/eval/theme-light.yaml b/eval/theme-light.yaml
@@ -0,0 +1,49 @@
+attrs:
+    Axis:
+        major_tick_line_alpha: 0
+        major_tick_line_color: '#5B5B5B'
+        minor_tick_line_alpha: 0
+        minor_tick_line_color: '#5B5B5B'
+        axis_line_alpha: 0
+        axis_line_color: '#5B5B5B'
+        major_label_text_color: '#5B5B5B'
+        major_label_text_font: 'Helvetica'
+        major_label_text_font_size: '1.025em'
+        axis_label_standoff: 10
+        axis_label_text_color: '#5B5B5B'
+        axis_label_text_font: 'Helvetica'
+        axis_label_text_font_size: '1.25em'
+        axis_label_text_font_style: 'normal'
+    Legend:
+        spacing: 8
+        glyph_width: 15
+        label_standoff: 8
+        label_text_color: '#5B5B5B'
+        label_text_font: 'Helvetica'
+        label_text_font_size: '1.025em'
+        border_line_alpha: 0
+        background_fill_alpha: 0.25
+        # background_fill_color: '#20262B'
+    BaseColorBar:
+        title_text_color: '#5B5B5B'
+        title_text_font: 'Helvetica'
+        title_text_font_size: '1.025em'
+        title_text_font_style: 'normal'
+        major_label_text_color: '#5B5B5B'
+        major_label_text_font: 'Helvetica'
+        major_label_text_font_size: '1.025em'
+        # background_fill_color: '#15191C'
+        major_tick_line_alpha: 0
+        bar_line_alpha: 0
+    Title:
+        text_color: '#5B5B5B'
+        text_font: 'Helvetica'
+        text_font_size: '1.15em'
+    # Plot:
+    #     background_fill_color: '#20262B'
+    #     border_fill_color: '#15191C'
+    #     outline_line_color: '#E0E0E0'
+    #     outline_line_alpha: 0.25
+    # Grid:
+    #     grid_line_color: '#E0E0E0'
+    #     grid_line_alpha: 0.25