Small improvements to sai-cli diagnose html report (#73)

Author: kaatrasa

python/cli/diagnose/diagnose.py

@@ -47,7 +47,7 @@ def generateReport(args):
         'gyroscope': {"v": [], "t": [], "td": []},
         'magnetometer': {"v": [], "t": [], "td": []},
         'barometer': {"v": [], "t": [], "td": []},
-        'gps': {"v": [], "t": [], "td": []},
+        'gnss': {"v": [], "t": [], "td": []},
         'cpu': {"v": [], "t": []},
         'cameras': {}
     }
@@ -76,7 +76,7 @@ def addMeasurement(type, t, v):
             time = measurement.get("time")
             sensor = measurement.get("sensor")
             barometer = measurement.get("barometer")
-            gps = measurement.get("gps")
+            gnss = measurement.get("gps")
             frames = measurement.get("frames")
             metrics = measurement.get("systemMetrics")
             if frames is None and 'frame' in measurement:
@@ -89,7 +89,7 @@ def addMeasurement(type, t, v):
                 and frames is None
                 and metrics is None
                 and barometer is None
-                and gps is None): continue
+                and gnss is None): continue
 
             if startTime is None:
                 startTime = time
@@ -109,9 +109,9 @@ def addMeasurement(type, t, v):
                     addMeasurement(measurementType, t, v)
             elif barometer is not None:
                 addMeasurement("barometer", t, barometer["pressureHectopascals"])
-            elif gps is not None:
-                enu = gnssConverter.enu(gps["latitude"], gps["longitude"], gps["altitude"])
-                addMeasurement("gps", t, [enu["x"], enu["y"], gps["altitude"]])
+            elif gnss is not None:
+                enu = gnssConverter.enu(gnss["latitude"], gnss["longitude"], gnss["altitude"])
+                addMeasurement("gnss", t, [enu["x"], enu["y"], gnss["altitude"]])
             elif frames is not None:
                 for f in frames:
                     if f.get("missingBitmap", False): continue
@@ -135,7 +135,7 @@ def addMeasurement(type, t, v):
     diagnoseGyroscope(data, output)
     diagnoseMagnetometer(data, output)
     diagnoseBarometer(data, output)
-    diagnoseGps(data, output)
+    diagnoseGNSS(data, output)
     diagnoseCpu(data, output)
 
     if args.output_json:

python/cli/diagnose/html.py

@@ -162,17 +162,17 @@ def generateHtml(output, outputHtml):
         for camera in output["cameras"]:
             kvPairs.append((
                 'Camera #{}'.format(camera["ind"]),
-                '{:.1f}Hz {} frames'.format(
+                '{:.1f} Hz<span style="color: gray">, {} frames</span>'.format(
                     camera["frequency"],
                     camera["count"])))
 
-    SENSOR_NAMES = ["accelerometer", "gyroscope", "magnetometer", "barometer", "gps"]
+    SENSOR_NAMES = ["accelerometer", "gyroscope", "magnetometer", "barometer", "GNSS"]
     for sensor in SENSOR_NAMES:
         if sensor not in output: continue
         kvPairs.append((
-            sensor.capitalize(),
+            sensor.capitalize() if sensor.islower() else sensor,
             'No data' if output[sensor]["count"] == 0 else
-            '{:.1f}Hz {} samples'.format(
+            '{:.1f} Hz<span style="color: gray">, {} samples</span>'.format(
                 output[sensor]["frequency"],
                 output[sensor]["count"]
             )))
@@ -194,7 +194,8 @@ def generateHtml(output, outputHtml):
 
     for sensor in SENSOR_NAMES:
         if sensor not in output: continue
-        s += generateSensor(output[sensor], sensor.capitalize())
+        name = sensor.capitalize() if sensor.islower() else sensor
+        s += generateSensor(output[sensor], name)
 
     s += TAIL
 

python/cli/diagnose/sensors.py

@@ -652,11 +652,11 @@ def diagnoseBarometer(data, output):
     if status.diagnosis == DiagnosisLevel.ERROR:
         output["passed"] = False
 
-def diagnoseGps(data, output):
-    GPS_MIN_FREQUENCY_HZ = None
-    GPS_MAX_FREQUENCY_HZ = 100.0
+def diagnoseGNSS(data, output):
+    GNSS_MIN_FREQUENCY_HZ = None
+    GNSS_MAX_FREQUENCY_HZ = 100.0
 
-    sensor = data["gps"]
+    sensor = data["gnss"]
     timestamps = np.array(sensor["t"])
     deltaTimes = np.array(sensor["td"])
     signal = np.array(sensor['v'])
@@ -668,16 +668,16 @@ def diagnoseGps(data, output):
         timestamps,
         deltaTimes,
         getImuTimestamps(data),
-        GPS_MIN_FREQUENCY_HZ,
-        GPS_MAX_FREQUENCY_HZ,
+        GNSS_MIN_FREQUENCY_HZ,
+        GNSS_MAX_FREQUENCY_HZ,
         plotArgs={
-            "title": "GPS time diff"
+            "title": "GNSS time diff"
         },
         allowDataGaps=True,
         isOptionalSensor=True)
     status.analyzeSignalDuplicateValues(signal)
 
-    output["gps"] = {
+    output["GNSS"] = {
         "diagnosis": status.diagnosis.toString(),
         "issues": status.serializeIssues(),
         "frequency": computeSamplingRate(deltaTimes),
@@ -686,7 +686,7 @@ def diagnoseGps(data, output):
             plotFrame(
                 signal[:, 0],
                 signal[:, 1],
-                "GPS position",
+                "GNSS position",
                 xLabel="ENU x (m)",
                 yLabel="ENU y (m)",
                 style='-' if len(timestamps) > 1 else '.',
@@ -696,7 +696,7 @@ def diagnoseGps(data, output):
             plotFrame(
                 timestamps,
                 signal[:, 2],
-                "GPS altitude (WGS-84)",
+                "GNSS altitude (WGS-84)",
                 xLabel="Time (s)",
                 yLabel="Altitude (m)",
                 style='-' if len(timestamps) > 1 else '.')