Get-DeepRacerHeatMap.py

import boto3
import datetime
import re
import math
import matplotlib.pyplot as plt
import matplotlib.path as mpath
import matplotlib.patches as mpatches
import argparse

# args
parser = argparse.ArgumentParser(description='Generate a Deepracer Heatmap')
parser.add_argument('--profile', required=True, help='aws credentials profile')
parser.add_argument('--logstreamname', required=True, help='e.g. sim-nd2x8c3ph1d3/2019-06-06T14-39-31.940Z_3f5ddea9-6555-44d0-b1c7-ceb4b054f884/SimulationApplicationLogs')

args = parser.parse_args()

# constants
starttimeepoch = int(datetime.datetime(2018, 1, 30, 18, 0, 0).timestamp()) * 1000
endtimeepoch =   int(datetime.datetime(2030, 1, 30, 18, 0, 0).timestamp()) * 1000
loggroupname = '/aws/robomaker/SimulationJobs'
logstreamname = args.logstreamname
profile=args.profile
region='us-east-1'

def get_heatmap_data(loggroupname,logstreamname,starttimeepoch,endtimeepoch):
    filterPattern = 'SIM_TRACE_LOG'

    nextToken = ''
    count = 0
    events = []
    while nextToken is not None:
        if nextToken == '':
            response = logs_client.filter_log_events(
                logGroupName=loggroupname,
                logStreamNames=[logstreamname],
                startTime=starttimeepoch,
                endTime=endtimeepoch,
                filterPattern=filterPattern,
                limit=5000
            )
        else:
            response = logs_client.filter_log_events(
                logGroupName=loggroupname,
                logStreamNames=[logstreamname],
                startTime=starttimeepoch,
                endTime=endtimeepoch,
                filterPattern=filterPattern,
                nextToken=nextToken,
                limit=5000
            )
        events += response['events']
        count += len(response['events'])
        print (count)
        
        ## while 
        if 'nextToken' not in response.keys():
            print ('Data Collected...')
            break
        else:
            nextToken=response['nextToken']
            #break # unhash out for testing
        #print (nextToken)

    # print (len(events))
    xs = []
    ys = []
    print('Parsing Data...')
    for event in events:
        split = event['message'].split(':')[1].split(',')
        x = float(split[2])
        y = float(split[3])
        xs.append(x)
        ys.append(y)
        #print("X: {}, Y: {}".format(x,y))

    #print(len(xs))
    #print(len(ys))
    return xs,ys

def get_string_path_data(loggroupname,logstreamname,starttimeepoch,endtimeepoch):
    filterPattern='Waypoint0'
    nextToken = ''
    count = 0
    events = []
    while nextToken is not None:
        if nextToken == '':
            response = logs_client.filter_log_events(
                logGroupName=loggroupname,
                logStreamNames=[logstreamname],
                startTime=starttimeepoch,
                endTime=endtimeepoch,
                filterPattern=filterPattern,
                limit=5000
            )
        else:
            response = logs_client.filter_log_events(
                logGroupName=loggroupname,
                logStreamNames=[logstreamname],
                startTime=starttimeepoch,
                endTime=endtimeepoch,
                filterPattern=filterPattern,
                nextToken=nextToken,
                limit=5000
            )
        events += response['events']
        count += len(response['events'])
        print (count)
        
        ## while 
        if 'nextToken' not in response.keys():
            print ('End')
            break
        else:
            nextToken=response['nextToken']
            #break # unhash out for testing
        #print (nextToken)

    print (len(events))
    coords = []
    print('Parsing Waypoint Data...')
    for event in events:
        commasplit = event['message'].split(',')
        waypoint=int(commasplit[0].split(':')[1].strip())
        x=float(commasplit[1].split(':')[1].strip())
        y=float(commasplit[2].split(':')[1].strip())
        heading=float(commasplit[3].split(':')[1].strip())
        trackwidth=float(commasplit[4].split(':')[1].strip())
        coord = {'waypoint': waypoint, 'x':x, 'y':y, 'heading':heading, 'trackwidth':trackwidth}
        coords.append(coord)
        #print("X: {}, Y: {}".format(x,y))

    #print(len(coords))
    uniquewaypoints = list({v['waypoint']:v for v in coords}.values()) # get unique items in list of dicts
    print("Unique Waypoints:{}".format(len(uniquewaypoints)))
    uniquewaypoints = sorted(uniquewaypoints, key = lambda i: i['waypoint']) 

    center_string_path_data = []
    firstwaypoint=True
    for waypoint in uniquewaypoints:
        x = waypoint['x']
        y = waypoint['y']
        if firstwaypoint:
            center_string_path_data.append((mpath.Path.MOVETO, (x,y)))
        else:
            center_string_path_data.append((mpath.Path.LINETO, (x,y)))
        firstwaypoint=False
    center_string_path_data.append((mpath.Path.CLOSEPOLY, (0, 0))) # close polygon

    inside_string_path_data = []
    firstwaypoint=True
    for waypoint in uniquewaypoints:
        x = waypoint['x'] + (waypoint['trackwidth']/2) * math.cos(math.radians(waypoint['heading']+90))
        y = waypoint['y'] + (waypoint['trackwidth']/2) * math.sin(math.radians(waypoint['heading']+90))   
        if firstwaypoint:
            inside_string_path_data.append((mpath.Path.MOVETO, (x,y)))
        else:
            inside_string_path_data.append((mpath.Path.LINETO, (x,y)))
        firstwaypoint=False
    inside_string_path_data.append((mpath.Path.CLOSEPOLY, (0, 0))) # close polygon

    outside_string_path_data = []
    firstwaypoint=True
    for waypoint in uniquewaypoints:
        x = waypoint['x'] + (waypoint['trackwidth']/2) * math.cos(math.radians(waypoint['heading']-90))
        y = waypoint['y'] + (waypoint['trackwidth']/2) * math.sin(math.radians(waypoint['heading']-90))   
        if firstwaypoint:
            outside_string_path_data.append((mpath.Path.MOVETO, (x,y)))
        else:
            outside_string_path_data.append((mpath.Path.LINETO, (x,y)))
        firstwaypoint=False
    outside_string_path_data.append((mpath.Path.CLOSEPOLY, (0, 0))) # close polygon


    return center_string_path_data,inside_string_path_data,outside_string_path_data

## MAIN ##

session = boto3.Session(profile_name=profile,region_name=region)
logs_client = session.client('logs')

# collect heatmap data
heatmap_data = get_heatmap_data(loggroupname,logstreamname,starttimeepoch,endtimeepoch)
xs=heatmap_data[0]
ys=heatmap_data[1]

fig, ax = plt.subplots(figsize=(8, 6))

print('Loading Heatmap Data...')
hist = plt.hist2d(xs, ys, bins=(250,125), normed=False, cmap='hot') # cmap -> https://matplotlib.org/users/colormaps.html
plt.xlabel('x axis')
plt.ylabel('y axis')

# collect track limits data
string_path_data = get_string_path_data(loggroupname,logstreamname,starttimeepoch,endtimeepoch)

# center
codes, verts = zip(*string_path_data[0])
string_path = mpath.Path(verts, codes)
patch = mpatches.PathPatch(string_path, edgecolor='white', facecolor="none", lw=1, ls='--') # https://matplotlib.org/api/_as_gen/matplotlib.patches.Patch.html#matplotlib.patches.Patch.set_linestyle
ax.add_patch(patch)

# inside
codes, verts = zip(*string_path_data[1])
string_path = mpath.Path(verts, codes)
patch = mpatches.PathPatch(string_path, edgecolor='white', facecolor="none", lw=1)
ax.add_patch(patch)

# outside
codes, verts = zip(*string_path_data[2])
string_path = mpath.Path(verts, codes)
patch = mpatches.PathPatch(string_path, edgecolor='white', facecolor="none", lw=1)
ax.add_patch(patch)

print('Displaying Heatmap')
plt.show()
print('Finished')