mirror of
https://github.com/firestar5683/StarPilot.git
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openpilot v0.9.7 release
date: 2024-06-11T01:36:39 master commit: f8cb04e4a8b032b72a909f68b808a50936184bee
This commit is contained in:
James
@@ -0,0 +1,3 @@
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bin/
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bin
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*.rlog
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@@ -0,0 +1,74 @@
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# PlotJuggler
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[PlotJuggler](https://github.com/facontidavide/PlotJuggler) is a tool to quickly visualize time series data, and we've written plugins to parse openpilot logs. Check out our plugins: https://github.com/commaai/PlotJuggler.
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## Installation
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||||
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||||
Once you've [set up the openpilot environment](../README.md), this command will download PlotJuggler and install our plugins:
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||||
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||||
`cd tools/plotjuggler && ./juggle.py --install`
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## Usage
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||||
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```
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$ ./juggle.py -h
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usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
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[route_or_segment_name] [segment_count]
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||||
|
||||
A helper to run PlotJuggler on openpilot routes
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positional arguments:
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route_or_segment_name
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The route or segment name to plot (cabana share URL accepted) (default: None)
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segment_count The number of segments to plot (default: None)
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||||
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optional arguments:
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-h, --help show this help message and exit
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--demo Use the demo route instead of providing one (default: False)
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--can Parse CAN data (default: False)
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--stream Start PlotJuggler in streaming mode (default: False)
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--layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None)
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--install Install or update PlotJuggler + plugins (default: False)
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--dbc DBC Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically
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inferred from the logs. (default: None)
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```
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Examples using route name:
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`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
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Examples using segment range:
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`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
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`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
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## Streaming
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Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
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- Enable wifi tethering on your comma device
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- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./cereal/messaging/bridge`
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- On your laptop, connect to the device's wifi hotspot
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- Start PlotJuggler with `ZMQ=1 ./juggle.py --stream`, find the `Cereal Subscriber` plugin in the dropdown under Streaming, and click `Start`.
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If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py --stream` and start the cereal subscriber.
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## Demo
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For a quick demo, go through the installation step and run this command:
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`./juggle.py --demo --layout=layouts/demo.xml`
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## Layouts
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If you create a layout that's useful for others, consider upstreaming it.
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### Tuning
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Use this layout to improve your car's tuning and generate plots for tuning PRs. Also see the [tuning wiki](https://github.com/commaai/openpilot/wiki/Tuning) and tuning PR template.
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`--layout layouts/tuning.xml`
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#!/usr/bin/env python3
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import os
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import sys
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import platform
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import shutil
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import subprocess
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import tarfile
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import tempfile
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import requests
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import argparse
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from functools import partial
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from openpilot.common.basedir import BASEDIR
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from openpilot.selfdrive.car.fingerprints import MIGRATION
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from openpilot.tools.lib.helpers import save_log
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from openpilot.tools.lib.logreader import LogReader, ReadMode
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juggle_dir = os.path.dirname(os.path.realpath(__file__))
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DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
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RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
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INSTALL_DIR = os.path.join(juggle_dir, "bin")
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PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
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MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
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MAX_STREAMING_BUFFER_SIZE = 1000
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def install():
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m = f"{platform.system()}-{platform.machine()}"
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||||
supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
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||||
if m not in supported:
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||||
raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")
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||||
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||||
if os.path.exists(INSTALL_DIR):
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||||
shutil.rmtree(INSTALL_DIR)
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||||
os.mkdir(INSTALL_DIR)
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||||
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||||
url = os.path.join(RELEASES_URL, m + ".tar.gz")
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with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp:
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r.raise_for_status()
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||||
with open(tmp.name, 'wb') as tmpf:
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for chunk in r.iter_content(chunk_size=1024 * 1024):
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tmpf.write(chunk)
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||||
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||||
with tarfile.open(tmp.name) as tar:
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tar.extractall(path=INSTALL_DIR)
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def get_plotjuggler_version():
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out = subprocess.check_output([PLOTJUGGLER_BIN, "-v"], encoding="utf-8").strip()
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version = out.split(" ")[1]
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return tuple(map(int, version.split(".")))
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||||
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||||
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def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None):
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env = os.environ.copy()
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env["BASEDIR"] = BASEDIR
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env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
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if dbc:
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env["DBC_NAME"] = dbc
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extra_args = ""
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||||
if fn is not None:
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extra_args += f" -d {fn}"
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if layout is not None:
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extra_args += f" -l {layout}"
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if route_or_segment_name is not None:
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extra_args += f" --window_title \"{route_or_segment_name}\""
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cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
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subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
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||||
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||||
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||||
def process(can, lr):
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||||
return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
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||||
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||||
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||||
def juggle_route(route_or_segment_name, can, layout, dbc=None):
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sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
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||||
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||||
all_data = sr.run_across_segments(24, partial(process, can))
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||||
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||||
# Infer DBC name from logs
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if dbc is None:
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||||
for cp in [m for m in all_data if m.which() == 'carParams']:
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||||
try:
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||||
DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
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||||
fingerprint = cp.carParams.carFingerprint
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||||
dbc = DBC[MIGRATION.get(fingerprint, fingerprint)]['pt']
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||||
except Exception:
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||||
pass
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||||
break
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||||
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||||
with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
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save_log(tmp.name, all_data, compress=False)
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del all_data
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start_juggler(tmp.name, dbc, layout, route_or_segment_name)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="A helper to run PlotJuggler on openpilot routes",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
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parser.add_argument("--can", action="store_true", help="Parse CAN data")
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parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
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parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
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||||
parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins")
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parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.")
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||||
parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
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if len(sys.argv) == 1:
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parser.print_help()
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sys.exit()
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args = parser.parse_args()
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if args.install:
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install()
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sys.exit()
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if not os.path.exists(PLOTJUGGLER_BIN):
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print("PlotJuggler is missing. Downloading...")
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install()
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if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
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print("PlotJuggler is out of date. Installing update...")
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install()
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||||
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if args.stream:
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start_juggler(layout=args.layout)
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else:
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||||
route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
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||||
juggle_route(route_or_segment_name, args.can, args.layout, args.dbc)
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@@ -0,0 +1,86 @@
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||||
<?xml version='1.0' encoding='UTF-8'?>
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||||
<root>
|
||||
<tabbed_widget name="Main Window" parent="main_window">
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||||
<Tab containers="1" tab_name="tab1">
|
||||
<Container>
|
||||
<DockSplitter sizes="0.33362;0.33276;0.33362" count="3" orientation="-">
|
||||
<DockArea name="CAN RX">
|
||||
<plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
|
||||
<range top="1101.875000" left="0.000000" bottom="-26.875000" right="60.526742"/>
|
||||
<limitY/>
|
||||
<curve name="/pandaStates/0/canState0/totalRxCnt" color="#f14cc1">
|
||||
<transform alias="/pandaStates/0/canState0/totalRxCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve name="/pandaStates/0/canState1/totalRxCnt" color="#9467bd">
|
||||
<transform alias="/pandaStates/0/canState1/totalRxCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve name="/pandaStates/0/canState2/totalRxCnt" color="#ff7f0e">
|
||||
<transform alias="/pandaStates/0/canState2/totalRxCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="CAN TX">
|
||||
<plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
|
||||
<range top="455.100000" left="0.000000" bottom="-11.100000" right="60.526742"/>
|
||||
<limitY/>
|
||||
<curve name="/pandaStates/0/canState0/totalTxCnt" color="#17becf">
|
||||
<transform alias="/pandaStates/0/canState0/totalTxCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve name="/pandaStates/0/canState1/totalTxCnt" color="#bcbd22">
|
||||
<transform alias="/pandaStates/0/canState1/totalTxCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve name="/pandaStates/0/canState2/totalTxCnt" color="#1f77b4">
|
||||
<transform alias="/pandaStates/0/canState2/totalTxCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="CAN errors">
|
||||
<plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
|
||||
<range top="2515.350000" left="0.000000" bottom="-61.350000" right="60.526742"/>
|
||||
<limitY/>
|
||||
<curve name="/pandaStates/0/canState0/totalErrorCnt" color="#1f77b4">
|
||||
<transform alias="/pandaStates/0/canState0/totalErrorCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve name="/pandaStates/0/canState1/totalErrorCnt" color="#d62728">
|
||||
<transform alias="/pandaStates/0/canState1/totalErrorCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve name="/pandaStates/0/canState2/totalErrorCnt" color="#1ac938">
|
||||
<transform alias="/pandaStates/0/canState2/totalErrorCnt[Derivative]" name="Derivative">
|
||||
<options radioChecked="radioCustom" lineEdit="1.0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<currentTabIndex index="0"/>
|
||||
</tabbed_widget>
|
||||
<use_relative_time_offset enabled="1"/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<Plugins>
|
||||
<plugin ID="DataLoad Rlog"/>
|
||||
<plugin ID="Cereal Subscriber"/>
|
||||
</Plugins>
|
||||
<customMathEquations/>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -0,0 +1,148 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget name="Main Window" parent="main_window">
|
||||
<Tab tab_name="SOF / EOF (encodeIdx)" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="0.500885;0.499115" count="2">
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
|
||||
<range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
|
||||
<limitY max="6.5e+07" min="3.5e+07"/>
|
||||
<curve color="#1f77b4" name="/driverEncodeIdx/timestampSof">
|
||||
<transform name="Derivative" alias="/driverEncodeIdx/timestampSof[Derivative]">
|
||||
<options lineEdit="1.0" radioChecked="radioCustom"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#d62728" name="/roadEncodeIdx/timestampSof">
|
||||
<transform name="Derivative" alias="/roadEncodeIdx/timestampSof[Derivative]">
|
||||
<options lineEdit="1.0" radioChecked="radioCustom"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#1ac938" name="/wideRoadEncodeIdx/timestampSof">
|
||||
<transform name="Derivative" alias="/wideRoadEncodeIdx/timestampSof[Derivative]">
|
||||
<options lineEdit="1.0" radioChecked="radioCustom"/>
|
||||
</transform>
|
||||
</curve>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
|
||||
<range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
|
||||
<limitY max="6.5e+07" min="3.5e+07"/>
|
||||
<curve color="#f14cc1" name="/driverEncodeIdx/timestampEof">
|
||||
<transform name="Derivative" alias="/driverEncodeIdx/timestampEof[Derivative]">
|
||||
<options lineEdit="1.0" radioChecked="radioCustom"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#9467bd" name="/roadEncodeIdx/timestampEof">
|
||||
<transform name="Derivative" alias="/roadEncodeIdx/timestampEof[Derivative]">
|
||||
<options lineEdit="1.0" radioChecked="radioCustom"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#17becf" name="/wideRoadEncodeIdx/timestampEof">
|
||||
<transform name="Derivative" alias="/wideRoadEncodeIdx/timestampEof[Derivative]">
|
||||
<options lineEdit="1.0" radioChecked="radioCustom"/>
|
||||
</transform>
|
||||
</curve>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab tab_name="model timings" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="0.5;0.5" count="2">
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
|
||||
<range bottom="0.015143" left="0.000000" top="0.016865" right="630.006367"/>
|
||||
<limitY/>
|
||||
<curve color="#ff7f0e" name="/modelV2/modelExecutionTime"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
|
||||
<range bottom="-0.100000" left="0.000000" top="0.100000" right="630.006367"/>
|
||||
<limitY/>
|
||||
<curve color="#f14cc1" name="/modelV2/frameDropPerc"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab tab_name="sensor info" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="1" count="1">
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
|
||||
<range bottom="-0.100000" left="0.000000" top="0.100000" right="630.006367"/>
|
||||
<limitY/>
|
||||
<curve color="#bcbd22" name="/driverCameraState/sensor"/>
|
||||
<curve color="#1f77b4" name="/roadCameraState/sensor"/>
|
||||
<curve color="#d62728" name="/wideRoadCameraState/sensor"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab tab_name="SOF / EOF (cameraState)" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="0.500885;0.499115" count="2">
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
|
||||
<range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
|
||||
<limitY max="6.5e+07" min="3.5e+07"/>
|
||||
<curve color="#1f77b4" name="/driverCameraState/timestampSof">
|
||||
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<curve color="#1ac938" name="/pandaStates/0/canState2/totalRxCnt"/>
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<curve color="#9467bd" name="/pandaStates/0/canState2/totalTxCnt"/>
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<curve color="#9467bd" name="/pandaStates/0/canState2/totalRxLostCnt"/>
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<curve color="#17becf" name="/pandaStates/0/canState0/totalTxLostCnt"/>
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<curve color="#bcbd22" name="/pandaStates/0/canState1/totalTxLostCnt"/>
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<curve color="#1f77b4" name="/pandaStates/0/canState2/totalTxLostCnt"/>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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</root>
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||||
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|
||||
<?xml version='1.0' encoding='UTF-8'?>
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||||
<root>
|
||||
<tabbed_widget parent="main_window" name="Main Window">
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<Tab tab_name="tab1" containers="1">
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<limitY/>
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||||
<curve color="#1f77b4" name="/controlsState/enabled"/>
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||||
<curve color="#d62728" name="/pandaStates/0/controlsAllowed"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<curve color="#9467bd" name="/controlsState/cumLagMs"/>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<limitY/>
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<curve color="#e801ce" name="/pandaStates/0/safetyRxChecksInvalid"/>
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<limitY/>
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<curve color="#d62728" name="/pandaStates/0/safetyTxBlocked"/>
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</plot>
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<plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
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<range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
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<limitY/>
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<curve color="#1ac938" name="/carState/gasPressed"/>
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||||
<curve color="#ff7f0e" name="/carState/brakePressed"/>
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</plot>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<Plugins>
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<plugin ID="Cereal Subscriber"/>
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<snippets/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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||||
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<curve color="#17becf" name="/carState/brake"/>
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<curve color="#f14cc1" name="/model/meta/engagedProb"/>
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<curve color="#9467bd" name="/model/meta/steerOverrideProb"/>
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</DockSplitter>
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<!-- - - - - - - - - - - - - - - -->
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<plugin ID="DataLoad CSV">
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||||
<default time_axis=""/>
|
||||
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||||
<plugin ID="DataLoad ROS bags">
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||||
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|
||||
<use_renaming_rules value="true"/>
|
||||
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|
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||||
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||||
<plugin ID="DataLoad ULog"/>
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||||
<plugin ID="LSL Subscriber"/>
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||||
<plugin ID="MQTT Subscriber"/>
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||||
<plugin ID="ROS Topic Subscriber">
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||||
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|
||||
<use_renaming_rules value="true"/>
|
||||
<discard_large_arrays value="true"/>
|
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<max_array_size value="100"/>
|
||||
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||||
<plugin ID="UDP Server"/>
|
||||
<plugin ID="WebSocket Server"/>
|
||||
<plugin ID="ZMQ Subscriber"/>
|
||||
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|
||||
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||||
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|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="dv/dt">
|
||||
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|
||||
prevY = 0
|
||||
is_first = true</global>
|
||||
<function>if (is_first) then
|
||||
is_first = false
|
||||
prevX = time
|
||||
prevY = value
|
||||
end
|
||||
|
||||
dx = time - prevX
|
||||
dy = value - prevY
|
||||
prevX = time
|
||||
prevY = value
|
||||
|
||||
return dy/dx</function>
|
||||
<linkedSource>/carState/vEgo</linkedSource>
|
||||
</snippet>
|
||||
</customMathEquations>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
<curve name="/gpsLocationExternal/speed" color="#bcbd22"/>
|
||||
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||||
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|
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<curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/>
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||||
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<curve name="/gpsLocationExternal/verticalAccuracy" color="#f14cc1"/>
|
||||
<curve name="/gpsLocationExternal/speedAccuracy" color="#9467bd"/>
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||||
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<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<Plugins>
|
||||
<plugin ID="DataLoad Rlog"/>
|
||||
<plugin ID="Cereal Subscriber"/>
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||||
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|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="haversine distance [m]">
|
||||
<global>R = 6378.137 -- Radius of earth in KM</global>
|
||||
<function>-- Compute the Haversine distance between
|
||||
-- two points defined by latitude and longitude.
|
||||
-- Return the distance in meters
|
||||
lat1, lon1 = value, v1
|
||||
lat2, lon2 = v2, v3
|
||||
dLat = (lat2 - lat1) * math.pi / 180
|
||||
dLon = (lon2 - lon1) * math.pi / 180
|
||||
a = math.sin(dLat/2) * math.sin(dLat/2) +
|
||||
math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) *
|
||||
math.sin(dLon/2) * math.sin(dLon/2)
|
||||
c = 2 * math.atan(math.sqrt(a), math.sqrt(1-a))
|
||||
d = R * c
|
||||
distance = d * 1000 -- meters
|
||||
return distance</function>
|
||||
<linked_source>/gpsLocationExternal/latitude</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/gpsLocationExternal/longitude</v1>
|
||||
<v2>/liveLocationKalman/positionGeodetic/value/0</v2>
|
||||
<v3>/liveLocationKalman/positionGeodetic/value/1</v3>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
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|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
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@@ -0,0 +1,59 @@
|
||||
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|
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|
||||
<curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
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<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="carState.vEgo kmh">
|
||||
<global></global>
|
||||
<function>return value * 3.6</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
</snippet>
|
||||
<snippet name="carState.vEgo mph">
|
||||
<global></global>
|
||||
<function>return value * 2.23694</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
</snippet>
|
||||
<snippet name="Desired lateral accel (roll compensated)">
|
||||
<global></global>
|
||||
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
|
||||
<linked_source>/controlsState/desiredCurvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
<v2>/liveParameters/roll</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="Actual lateral accel (roll compensated)">
|
||||
<global></global>
|
||||
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
|
||||
<linked_source>/controlsState/curvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
<v2>/liveParameters/roll</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
</customMathEquations>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -0,0 +1,291 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root version="2.3.8">
|
||||
<tabbed_widget parent="main_window" name="Main Window">
|
||||
<Tab tab_name="Lateral" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" count="5" sizes="0.200458;0.199313;0.200458;0.199313;0.200458">
|
||||
<DockArea name="Velocity [m/s]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253354" top="29.954036" bottom="-0.841715" right="631.055584"/>
|
||||
<limitY/>
|
||||
<curve color="#0072b2" name="/carState/vEgo"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="0.000000" top="0.006648" bottom="-0.003150" right="631.055209"/>
|
||||
<limitY/>
|
||||
<curve color="#009e73" name="engaged curvature plan"/>
|
||||
<curve color="#785ef0" name="engaged curvature vehicle model"/>
|
||||
<curve color="#0072b2" name="engaged curvature yaw"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Roll [rad]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
|
||||
<limitY/>
|
||||
<curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Engaged [green] Steering Pressed [blue]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
|
||||
<limitY/>
|
||||
<curve color="#009e73" name="/controlsState/enabled"/>
|
||||
<curve color="#0072b2" name="/carState/steeringPressed"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
|
||||
<limitY/>
|
||||
<curve name="/carState/steeringRateLimited" color="#ffb000"/>
|
||||
<curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab tab_name="Longitudinal" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" count="5" sizes="0.1875;0.1875;0.1875;0.1875;0.25">
|
||||
<DockArea name="Velocity [m/s] True [blue] Plan [green] Cruise [magenta]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="0.000000" top="42.713492" bottom="-1.041792" right="631.055584"/>
|
||||
<limitY/>
|
||||
<curve color="#dc267f" name="/carState/cruiseState/speed"/>
|
||||
<curve color="#009e73" name="/longitudinalPlan/speeds/0"/>
|
||||
<curve color="#0072b2" name="/carState/vEgo"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253354" top="0.808303" bottom="-1.213305" right="631.055759"/>
|
||||
<limitY/>
|
||||
<curve color="#009e73" name="engaged_accel_plan"/>
|
||||
<curve color="#785ef0" name="engaged_accel_actuator"/>
|
||||
<curve color="#0072b2" name="engaged_accel_actual"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Pitch [rad]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="0.000000" top="0.158854" bottom="-0.594843" right="631.038276"/>
|
||||
<limitY/>
|
||||
<curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
|
||||
<limitY/>
|
||||
<curve color="#009e73" name="/carControl/enabled"/>
|
||||
<curve color="#ffb000" name="/carState/gasPressed"/>
|
||||
<curve color="#dc267f" name="/carState/brakePressed"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253620" top="5.125000" bottom="-0.125000" right="631.055759"/>
|
||||
<limitY/>
|
||||
<curve color="#0072b2" name="/carControl/actuators/longControlState"/>
|
||||
<curve color="#009e73" name="/longitudinalPlan/longitudinalPlanSource"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab tab_name="Lateral Debug" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" count="4" sizes="0.25;0.25;0.25;0.25">
|
||||
<DockArea name="Controller F [magenta] P [purple] I [blue]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/controlsState/lateralControlState/pidState/f" color="#f14cc1"/>
|
||||
<curve name="/controlsState/lateralControlState/pidState/p" color="#9467bd"/>
|
||||
<curve name="/controlsState/lateralControlState/pidState/i" color="#17becf"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Driver Torque [blue] EPS Torque [green]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253354" top="2690.999030" bottom="-3450.198981" right="631.055584"/>
|
||||
<limitY/>
|
||||
<curve color="#009e73" name="/carState/steeringTorqueEps"/>
|
||||
<curve color="#0072b2" name="/carState/steeringTorque"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Engaged [green] Steering Pressed [blue]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
|
||||
<limitY/>
|
||||
<curve color="#009e73" name="/carControl/enabled"/>
|
||||
<curve color="#0072b2" name="/carState/steeringPressed"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
|
||||
<plot style="Lines" mode="TimeSeries">
|
||||
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
|
||||
<limitY/>
|
||||
<curve name="/carState/steeringRateLimited" color="#ffb000"/>
|
||||
<curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<currentTabIndex index="0"/>
|
||||
</tabbed_widget>
|
||||
<use_relative_time_offset enabled="1"/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<Plugins>
|
||||
<plugin ID="DataLoad Rlog"/>
|
||||
<plugin ID="Cereal Subscriber"/>
|
||||
</Plugins>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="engaged curvature yaw">
|
||||
<global>engage_delay = 5
|
||||
last_bad_time = -engage_delay</global>
|
||||
<function>curvature = value / v3
|
||||
pressed = v1
|
||||
enabled = v2
|
||||
|
||||
if (pressed == 1 or enabled == 0) then
|
||||
last_bad_time = time
|
||||
end
|
||||
|
||||
if (time > last_bad_time + engage_delay) then
|
||||
return curvature
|
||||
else
|
||||
return 0
|
||||
end</function>
|
||||
<linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/enabled</v2>
|
||||
<v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="engaged curvature vehicle model">
|
||||
<global>engage_delay = 5
|
||||
last_bad_time = -engage_delay</global>
|
||||
<function>curvature = value
|
||||
pressed = v1
|
||||
enabled = v2
|
||||
|
||||
if (pressed == 1 or enabled == 0) then
|
||||
last_bad_time = time
|
||||
end
|
||||
|
||||
if (time > last_bad_time + engage_delay) then
|
||||
return value
|
||||
else
|
||||
return 0
|
||||
end</function>
|
||||
<linked_source>/controlsState/curvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/enabled</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="engaged curvature plan">
|
||||
<global>engage_delay = 5
|
||||
last_bad_time = -engage_delay</global>
|
||||
<function>curvature = value
|
||||
pressed = v1
|
||||
enabled = v2
|
||||
|
||||
if (pressed == 1 or enabled == 0) then
|
||||
last_bad_time = time
|
||||
end
|
||||
|
||||
if (time > last_bad_time + engage_delay) then
|
||||
return value
|
||||
else
|
||||
return 0
|
||||
end</function>
|
||||
<linked_source>/lateralPlan/curvatures/0</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/enabled</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="engaged_accel_actual">
|
||||
<global>engage_delay = 5
|
||||
last_bad_time = -engage_delay</global>
|
||||
<function>accel = value
|
||||
brake = v1
|
||||
gas = v2
|
||||
enabled = v3
|
||||
|
||||
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
|
||||
last_bad_time = time
|
||||
end
|
||||
|
||||
if (time > last_bad_time + engage_delay) then
|
||||
return value
|
||||
else
|
||||
return 0
|
||||
end</function>
|
||||
<linked_source>/carState/aEgo</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/brakePressed</v1>
|
||||
<v2>/carState/gasPressed</v2>
|
||||
<v3>/carControl/enabled</v3>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="engaged_accel_plan">
|
||||
<global>engage_delay = 5
|
||||
last_bad_time = -engage_delay</global>
|
||||
<function>accel = value
|
||||
brake = v1
|
||||
gas = v2
|
||||
enabled = v3
|
||||
|
||||
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
|
||||
last_bad_time = time
|
||||
end
|
||||
|
||||
if (time > last_bad_time + engage_delay) then
|
||||
return value
|
||||
else
|
||||
return 0
|
||||
end</function>
|
||||
<linked_source>/longitudinalPlan/accels/0</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/brakePressed</v1>
|
||||
<v2>/carState/gasPressed</v2>
|
||||
<v3>/carControl/enabled</v3>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="engaged_accel_actuator">
|
||||
<global>engage_delay = 5
|
||||
last_bad_time = -engage_delay</global>
|
||||
<function>accel = value
|
||||
brake = v1
|
||||
gas = v2
|
||||
enabled = v3
|
||||
|
||||
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
|
||||
last_bad_time = time
|
||||
end
|
||||
|
||||
if (time > last_bad_time + engage_delay) then
|
||||
return value
|
||||
else
|
||||
return 0
|
||||
end</function>
|
||||
<linked_source>/carControl/actuators/accel</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/brakePressed</v1>
|
||||
<v2>/carState/gasPressed</v2>
|
||||
<v3>/carControl/enabled</v3>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
</customMathEquations>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -0,0 +1,44 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget name="Main Window" parent="main_window">
|
||||
<Tab containers="1" tab_name="tab1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="0.333333;0.333333;0.333333" count="3">
|
||||
<DockArea name="...">
|
||||
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
|
||||
<range right="134.825489" top="4402341.574525" bottom="-107369.555525" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/gpsLocationExternal/horizontalAccuracy" color="#1f77b4"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
|
||||
<range right="134.825489" top="1.025000" bottom="-0.025000" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/gpsLocationExternal/flags" color="#d62728"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
|
||||
<range right="134.825489" top="6.150000" bottom="-0.150000" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/ubloxGnss/measurementReport/numMeas" color="#1ac938"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<currentTabIndex index="0"/>
|
||||
</tabbed_widget>
|
||||
<use_relative_time_offset enabled="1"/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<Plugins>
|
||||
<plugin ID="DataLoad Rlog"/>
|
||||
<plugin ID="Cereal Subscriber"/>
|
||||
</Plugins>
|
||||
<customMathEquations/>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -0,0 +1,48 @@
|
||||
import os
|
||||
import glob
|
||||
import signal
|
||||
import subprocess
|
||||
import time
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.timeout import Timeout
|
||||
from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
|
||||
|
||||
PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
|
||||
|
||||
class TestPlotJuggler:
|
||||
|
||||
def test_demo(self):
|
||||
install()
|
||||
|
||||
pj = os.path.join(PJ_DIR, "juggle.py")
|
||||
with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} "{DEMO_ROUTE}/:2"',
|
||||
stderr=subprocess.PIPE, shell=True, start_new_session=True) as p:
|
||||
# Wait for "Done reading Rlog data" signal from the plugin
|
||||
output = "\n"
|
||||
with Timeout(180, error_msg=output):
|
||||
while output.splitlines()[-1] != "Done reading Rlog data":
|
||||
output += p.stderr.readline().decode("utf-8")
|
||||
|
||||
# ensure plotjuggler didn't crash after exiting the plugin
|
||||
time.sleep(2)
|
||||
assert p.poll() is None
|
||||
os.killpg(os.getpgid(p.pid), signal.SIGTERM)
|
||||
|
||||
assert "Raw file read failed" not in output
|
||||
|
||||
# TODO: also test that layouts successfully load
|
||||
def test_layouts(self, subtests):
|
||||
bad_strings = (
|
||||
# if a previously loaded file is defined,
|
||||
# PJ will throw a warning when loading the layout
|
||||
"fileInfo",
|
||||
"previouslyLoaded_Datafiles",
|
||||
)
|
||||
for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")):
|
||||
name = os.path.basename(fn)
|
||||
with subtests.test(layout=name):
|
||||
with open(fn) as f:
|
||||
layout = f.read()
|
||||
violations = [s for s in bad_strings if s in layout]
|
||||
assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}"
|
||||
Reference in New Issue
Block a user