mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-22 08:43:54 +08:00
James
111 lines
3.4 KiB
Plaintext
111 lines
3.4 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"# An example of searching through a database of segments for a specific condition, and plotting the results.\n",
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"\n",
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"segments = [\n",
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" \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n",
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"]\n",
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"platform = \"SUBARU_OUTBACK\""
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"import copy\n",
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"import matplotlib.pyplot as plt\n",
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"import numpy as np\n",
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"\n",
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"from opendbc.can.parser import CANParser\n",
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"\n",
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"from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n",
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"from openpilot.tools.lib.logreader import LogReader\n",
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"\n",
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"\"\"\"\n",
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"In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n",
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"has stopped responding to our messages. This analysis would allow you to find the cause of these\n",
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"steer warnings and potentially work around them.\n",
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"\"\"\"\n",
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"\n",
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"for segment in segments:\n",
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" lr = LogReader(segment)\n",
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"\n",
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" can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n",
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"\n",
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" messages = [\n",
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" (\"Steering_Torque\", 50)\n",
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" ]\n",
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"\n",
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" cp = CANParser(DBC[platform][\"pt\"], messages, CanBus.main)\n",
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"\n",
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" steering_torque_history = []\n",
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" examples = []\n",
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"\n",
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" for msg in can_msgs:\n",
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" cp.update_strings([msg.as_builder().to_bytes()])\n",
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" steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
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"\n",
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" steer_warning_last = False\n",
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" for i, steering_torque_msg in enumerate(steering_torque_history):\n",
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" steer_warning = steering_torque_msg[\"Steer_Warning\"]\n",
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"\n",
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" steer_angle = steering_torque_msg[\"Steering_Angle\"]\n",
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"\n",
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" if steer_warning and not steer_warning_last: # positive transition of \"Steer_Warning\"\n",
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" examples.append(i)\n",
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"\n",
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" steer_warning_last = steer_warning\n",
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"\n",
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" FRAME_DELTA = 100 # plot this many frames around the positive transition\n",
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"\n",
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" for example in examples:\n",
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" fig, axs = plt.subplots(2)\n",
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"\n",
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" min_frame = int(example-FRAME_DELTA/2)\n",
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" max_frame = int(example+FRAME_DELTA/2)\n",
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"\n",
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" steering_angle_history = [msg[\"Steering_Angle\"] for msg in steering_torque_history[min_frame:max_frame]]\n",
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" steering_warning_history = [msg[\"Steer_Warning\"] for msg in steering_torque_history[min_frame:max_frame]]\n",
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"\n",
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" xs = np.arange(-FRAME_DELTA/2, FRAME_DELTA/2)\n",
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"\n",
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" axs[0].plot(xs, steering_angle_history)\n",
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" axs[0].set_ylabel(\"Steering Angle (deg)\")\n",
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" axs[1].plot(xs, steering_warning_history)\n",
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" axs[1].set_ylabel(\"Steer Warning\")\n",
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"\n",
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" plt.show()\n"
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]
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}
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],
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