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openpilot v0.9.9 release (#35334)

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* openpilot v0.9.9 release

date: 2025-06-05T19:54:08
master commit: 8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5

* AGNOS 12.4 (#35558)

agnos12.4

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
This commit is contained in:
Adeeb Shihadeh
2025-06-17 16:32:08 -07:00
committed by GitHub
parent dd778596b7
commit 100f89a161
1240 changed files with 310104 additions and 30549 deletions
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tools/plotjuggler/juggle.py
+4 -2
View File
@@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
env["BASEDIR"] = BASEDIR
env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
if dbc:
if os.path.exists(dbc):
dbc = os.path.abspath(dbc)
env["DBC_NAME"] = dbc
extra_args = ""
if fn is not None:
extra_args += f" -d {fn}"
extra_args += f" -d {os.path.abspath(fn)}"
if layout is not None:
extra_args += f" -l {layout}"
extra_args += f" -l {os.path.abspath(layout)}"
if route_or_segment_name is not None:
extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
tools/plotjuggler/layouts/gps.xml
+62
View File
@@ -0,0 +1,62 @@
<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget parent="main_window" name="Main Window">
<Tab tab_name="tab1" containers="1">
<Container>
<DockSplitter orientation="-" sizes="0.24977;0.250689;0.24977;0.24977" count="4">
<DockArea name="...">
<plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
<range left="0.000000" right="1678.753571" bottom="-0.025000" top="1.025000"/>
<limitY/>
<curve name="/gpsLocationExternal/hasFix" color="#1f77b4"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
<range left="0.000000" right="1678.753571" bottom="-0.425000" top="17.425000"/>
<limitY/>
<curve name="/gpsLocationExternal/satelliteCount" color="#d62728"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
<range left="0.000000" right="1678.753571" bottom="0.000000" top="3.000000"/>
<limitY max="3" min="0"/>
<curve name="/gpsLocationExternal/horizontalAccuracy" color="#1ac938"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
<range left="0.000000" right="1678.753571" bottom="-17.262000" top="766.374004"/>
<limitY/>
<curve name="/gpsLocationExternal/horizontalAccuracy" color="#1ac938"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad CSV">
<default time_axis="" delimiter="0"/>
</plugin>
<plugin ID="DataLoad Rlog"/>
<plugin ID="DataLoad ULog"/>
<plugin ID="Cereal Subscriber"/>
<plugin ID="UDP Server"/>
<plugin ID="WebSocket Server"/>
<plugin ID="ZMQ Subscriber"/>
<plugin ID="Fast Fourier Transform"/>
<plugin ID="Quaternion to RPY"/>
<plugin ID="CSV Exporter"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<customMathEquations/>
<snippets/>
<!-- - - - - - - - - - - - - - - -->
</root>
tools/plotjuggler/layouts/torque-controller.xml
+8 -8
View File
@@ -150,44 +150,44 @@
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.1" value_offset="0"/>
</transform>
</curve>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.2" value_offset="0"/>
</transform>
</curve>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
<limitY/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
<options value_scale="1.0" time_offset="0.3" value_offset="0"/>
</transform>
</curve>
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
</plot>
</DockArea>
</DockSplitter>