mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-27 16:02:04 +08:00
Compare commits
12 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 royjr
|
7760793ab1 | ||
|
James Vecellio-Grant
|
dd074cb6ef | ||
|
Jason Wen
|
c1d3ae427b | ||
|
Jason Wen
|
2ab45b552d | ||
|
github-actions[bot]
|
8c1d59fecd | ||
|
DevTekVE
|
cde88fd8ed | ||
|
DevTekVE
|
4b5de0eddb | ||
|
royjr
|
4a613aa0e4 | ||
|
royjr
|
a95d91f77a | ||
|
royjr
|
8b210c9bdb | ||
|
royjr
|
ebc2cf1da7 | ||
|
royjr
|
0de4dfcafc |
@@ -2,6 +2,5 @@ Wen
|
||||
REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
indeces
|
||||
FOF
|
||||
NoO
|
||||
|
||||
@@ -74,7 +74,7 @@ jobs:
|
||||
env:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
|
||||
cd gitlab_docs
|
||||
git checkout main
|
||||
git sparse-checkout set --no-cone models/
|
||||
@@ -191,7 +191,7 @@ jobs:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
echo "Cloning GitLab"
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
|
||||
cd gitlab_docs
|
||||
echo "checkout models/${RECOMPILED_DIR}"
|
||||
git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
|
||||
|
||||
@@ -109,7 +109,7 @@ jobs:
|
||||
GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
|
||||
run: |
|
||||
echo "Cloning GitLab"
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
|
||||
git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
|
||||
cd gitlab_docs
|
||||
echo "checkout models/${RECOMPILED_DIR}"
|
||||
git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
|
||||
|
||||
@@ -156,6 +156,8 @@ jobs:
|
||||
with:
|
||||
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
|
||||
path: ${{ github.workspace }}/selfdrive/modeld/models
|
||||
- run: |
|
||||
rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
|
||||
|
||||
- name: Build Model
|
||||
run: |
|
||||
|
||||
@@ -109,3 +109,7 @@ Pipfile
|
||||
!.idea/customTargets.xml
|
||||
!.idea/tools/*
|
||||
!.run/*
|
||||
|
||||
### clippy ###
|
||||
clippy_stats.json
|
||||
clippy.log
|
||||
|
||||
Generated
-7
@@ -21,12 +21,5 @@
|
||||
</clean>
|
||||
</configuration>
|
||||
</target>
|
||||
<target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
|
||||
<configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
|
||||
<build type="TOOL">
|
||||
<tool actionId="Tool_External Tools_uv build tools replay" />
|
||||
</build>
|
||||
</configuration>
|
||||
</target>
|
||||
</component>
|
||||
</project>
|
||||
Generated
-7
@@ -20,11 +20,4 @@
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
<tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
|
||||
<exec>
|
||||
<option name="COMMAND" value="bash" />
|
||||
<option name="PARAMETERS" value="-c "source .venv/bin/activate && scons -u -j$(nproc) tools/replay/"" />
|
||||
<option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
|
||||
</exec>
|
||||
</tool>
|
||||
</toolSet>
|
||||
@@ -1,5 +1,5 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
|
||||
<configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
|
||||
<envs>
|
||||
<env name="QT_DBL_CLICK_DIST" value="150" />
|
||||
</envs>
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
|
||||
<module name="openpilot-special" />
|
||||
<option name="ENV_FILES" value="" />
|
||||
<option name="INTERPRETER_OPTIONS" value="" />
|
||||
<option name="PARENT_ENVS" value="true" />
|
||||
<envs>
|
||||
<env name="PYTHONUNBUFFERED" value="1" />
|
||||
<env name="FINGERPRINT" value="KIA_EV9" />
|
||||
<env name="SKIP_FW_QUERY" value="1" />
|
||||
</envs>
|
||||
<option name="SDK_HOME" value="" />
|
||||
<option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
|
||||
<option name="IS_MODULE_SDK" value="true" />
|
||||
<option name="ADD_CONTENT_ROOTS" value="true" />
|
||||
<option name="ADD_SOURCE_ROOTS" value="true" />
|
||||
<EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
|
||||
<option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
|
||||
<option name="PARAMETERS" value="" />
|
||||
<option name="SHOW_COMMAND_LINE" value="false" />
|
||||
<option name="EMULATE_TERMINAL" value="true" />
|
||||
<option name="MODULE_MODE" value="false" />
|
||||
<option name="REDIRECT_INPUT" value="false" />
|
||||
<option name="INPUT_FILE" value="" />
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,7 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
|
||||
<runConfiguration name="replay for controls" type="Native Application" />
|
||||
<runConfiguration name="Build Debug" type="Custom Build Application" />
|
||||
<method v="2" />
|
||||
</configuration>
|
||||
</component>
|
||||
@@ -1,7 +0,0 @@
|
||||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS=""$Prompt$" --block "sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton"" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
|
||||
<method v="2">
|
||||
<option name="CLION.COMPOUND.BUILD" enabled="true" />
|
||||
</method>
|
||||
</configuration>
|
||||
</component>
|
||||
+25
-1
@@ -1,6 +1,30 @@
|
||||
sunnypilot Version 2025.002.000 (2025-xx-xx)
|
||||
sunnypilot Version 2025.003.000 (20xx-xx-xx)
|
||||
========================
|
||||
|
||||
sunnypilot Version 2025.002.000 (2025-11-06)
|
||||
========================
|
||||
* What's Changed (sunnypilot/sunnypilot)
|
||||
* models: bump model json to v8 by @Discountchubbs
|
||||
* Bug: Model UI Crash Fix by @nayan8teen
|
||||
* controlsd: add `CP_SP` to `get_pid_accel_limits` by @THERoenPR
|
||||
* sunnylink: update uploader button logic to support novice tier and above by @devtekve
|
||||
* Tesla: Coop Steering by @AmyJeanes
|
||||
* ui: update discord references and add forum widget by @devtekve
|
||||
* ui: Fix spacing in sunnylink panel by @devtekve
|
||||
* docs: Update README installation branches and discord links by @mpurnell1 in
|
||||
* stats: sunnylink integration by @devtekve
|
||||
* bug: Fix initial registration for sunnylink by @devtekve
|
||||
* What's Changed (sunnypilot/opendbc)
|
||||
* Honda: add brake hold messages for Clarity by @mvl-boston
|
||||
* interface: add `CP_SP` to `get_pid_accel_limits` method signature by @roenthomas
|
||||
* Honda: use fixed accel min/max constants for Gas Interceptor by @roenthomas
|
||||
* Tesla: Coop Steering by @AmyJeanes
|
||||
* New Contributors (sunnypilot/sunnypilot)
|
||||
* @THERoenPR made their first contribution in "controlsd: add `CP_SP` to `get_pid_accel_limits`"
|
||||
* @AmyJeanes made their first contribution in "Tesla: Coop Steering"
|
||||
* @mpurnell1 made their first contribution in "docs: Update README installation branches and discord links"
|
||||
* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.001.000...v2025.002.000
|
||||
|
||||
sunnypilot Version 2025.001.000 (2025-10-25)
|
||||
========================
|
||||
* 🛠️ Major rewrite
|
||||
|
||||
@@ -260,11 +260,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
|
||||
{"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
|
||||
{"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
|
||||
|
||||
// Tuning keys
|
||||
{"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
|
||||
{"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
|
||||
{"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
|
||||
{"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
|
||||
{"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
|
||||
};
|
||||
|
||||
+1
-1
Submodule opendbc_repo updated: 98fbb88984...c32e79f3c6
@@ -73,6 +73,10 @@ dependencies = [
|
||||
|
||||
# ui
|
||||
"qrcode",
|
||||
|
||||
# clippy
|
||||
"discord-py",
|
||||
"flask",
|
||||
]
|
||||
|
||||
[project.optional-dependencies]
|
||||
|
||||
@@ -13,7 +13,7 @@ cd $ROOT
|
||||
|
||||
FAILED=0
|
||||
|
||||
IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
|
||||
IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
|
||||
IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
|
||||
|
||||
function run() {
|
||||
|
||||
@@ -118,7 +118,7 @@ void AnnotatedCameraWidget::paintGL() {
|
||||
} else if (v_ego > 15) {
|
||||
wide_cam_requested = false;
|
||||
}
|
||||
wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
|
||||
// wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
|
||||
}
|
||||
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
|
||||
CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
|
||||
|
||||
@@ -52,7 +52,6 @@ lateral_panel_qt_src = [
|
||||
"sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
|
||||
"sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",
|
||||
|
||||
@@ -1,87 +0,0 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
|
||||
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
|
||||
|
||||
AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
|
||||
QVBoxLayout *main_layout = new QVBoxLayout(this);
|
||||
main_layout->setContentsMargins(50, 20, 50, 20);
|
||||
main_layout->setSpacing(20);
|
||||
|
||||
// Back button
|
||||
PanelBackButton *back = new PanelBackButton();
|
||||
connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
|
||||
main_layout->addWidget(back, 0, Qt::AlignLeft);
|
||||
|
||||
auto *list = new ListWidgetSP(this, false);
|
||||
|
||||
main_layout->addWidget(new QWidget());
|
||||
|
||||
enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
|
||||
list->addItem(enableHkgAngleSmoothingFactor);
|
||||
|
||||
auto first_row = new QHBoxLayout();
|
||||
hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
|
||||
connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
|
||||
this->updateToggles(offroad);
|
||||
});
|
||||
first_row->addWidget(hkgTuningOverridingCycles);
|
||||
|
||||
hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
|
||||
connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
|
||||
this->updateToggles(offroad);
|
||||
});
|
||||
first_row->addWidget(hkgAngleMinTorque);
|
||||
list->addItem(first_row);
|
||||
|
||||
auto second_row = new QHBoxLayout();
|
||||
hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
|
||||
connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
|
||||
this->updateToggles(offroad);
|
||||
});
|
||||
second_row->addWidget(hkgAngleActiveTorque);
|
||||
|
||||
hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
|
||||
connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
|
||||
this->updateToggles(offroad);
|
||||
});
|
||||
second_row->addWidget(hkgAngleMaxTorque);
|
||||
list->addItem(second_row);
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
|
||||
|
||||
main_layout->addWidget(new ScrollViewSP(list, this));
|
||||
|
||||
auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
|
||||
warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
|
||||
main_layout->addWidget(warning, 0, Qt::AlignCenter);
|
||||
}
|
||||
|
||||
void AngleTunningSettings::showEvent(QShowEvent *event) {
|
||||
updateToggles(offroad);
|
||||
}
|
||||
|
||||
void AngleTunningSettings::updateToggles(bool _offroad) {
|
||||
auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
|
||||
enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
|
||||
|
||||
auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
|
||||
hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
|
||||
|
||||
auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
|
||||
hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
|
||||
|
||||
auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
|
||||
hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
|
||||
|
||||
auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
|
||||
hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
|
||||
|
||||
offroad = _offroad;
|
||||
}
|
||||
@@ -1,39 +0,0 @@
|
||||
/**
|
||||
* Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
*
|
||||
* This file is part of sunnypilot and is licensed under the MIT License.
|
||||
* See the LICENSE.md file in the root directory for more details.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "selfdrive/ui/qt/util.h"
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
|
||||
|
||||
class AngleTunningSettings : public QWidget {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit AngleTunningSettings(QWidget *parent = nullptr);
|
||||
|
||||
void showEvent(QShowEvent *event) override;
|
||||
|
||||
signals:
|
||||
void backPress();
|
||||
|
||||
public slots:
|
||||
void updateToggles(bool _offroad);
|
||||
|
||||
private:
|
||||
Params params;
|
||||
bool offroad;
|
||||
|
||||
ExpandableToggleRow* enableHkgAngleSmoothingFactor;
|
||||
OptionControlSP* hkgAngleMinTorque;
|
||||
OptionControlSP* hkgAngleActiveTorque;
|
||||
OptionControlSP* hkgAngleMaxTorque;
|
||||
OptionControlSP* hkgTuningOverridingCycles;
|
||||
};
|
||||
@@ -120,36 +120,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
|
||||
updateToggles(offroad);
|
||||
});
|
||||
|
||||
#pragma region hkg angle tuning
|
||||
list->addItem(vertical_space());
|
||||
list->addItem(horizontal_line());
|
||||
list->addItem(vertical_space());
|
||||
|
||||
// HKG Angle Tuning
|
||||
// angleTuningToggle = new ParamControl(
|
||||
// "AngleTuning",
|
||||
// tr("Modular Assistive Driving System (MADS)"),
|
||||
// tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
|
||||
// "");
|
||||
// angleTuningToggle->setConfirmation(true, false);
|
||||
// list->addItem(angleTuningToggle);
|
||||
|
||||
angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
|
||||
angleTuningSettingsButton->setObjectName("angle_btn");
|
||||
connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
|
||||
sunnypilotScroller->setLastScrollPosition();
|
||||
main_layout->setCurrentWidget(angleTuningWidget);
|
||||
});
|
||||
// QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
|
||||
|
||||
angleTuningWidget = new AngleTunningSettings(this);
|
||||
connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
|
||||
sunnypilotScroller->restoreScrollPosition();
|
||||
main_layout->setCurrentWidget(sunnypilotScreen);
|
||||
});
|
||||
list->addItem(angleTuningSettingsButton);
|
||||
#pragma endregion
|
||||
|
||||
QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
|
||||
|
||||
sunnypilotScroller = new ScrollViewSP(list, this);
|
||||
@@ -157,7 +127,6 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
|
||||
|
||||
main_layout->addWidget(sunnypilotScreen);
|
||||
main_layout->addWidget(madsWidget);
|
||||
main_layout->addWidget(angleTuningWidget);
|
||||
main_layout->addWidget(laneChangeWidget);
|
||||
main_layout->addWidget(torqueLateralControlWidget);
|
||||
|
||||
@@ -219,7 +188,6 @@ void LateralPanel::updateToggles(bool _offroad) {
|
||||
|
||||
madsToggle->setEnabled(_offroad);
|
||||
madsSettingsButton->setEnabled(madsToggle->isToggled());
|
||||
// angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());
|
||||
|
||||
torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
|
||||
torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());
|
||||
|
||||
@@ -13,7 +13,6 @@
|
||||
#include "selfdrive/ui/sunnypilot/ui.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
|
||||
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.h"
|
||||
@@ -40,11 +39,8 @@ private:
|
||||
bool offroad;
|
||||
|
||||
ParamControl *madsToggle;
|
||||
// ParamControl *angleTuningToggle;
|
||||
PushButtonSP *madsSettingsButton;
|
||||
PushButtonSP *angleTuningSettingsButton;
|
||||
MadsSettings *madsWidget = nullptr;
|
||||
AngleTunningSettings *angleTuningWidget = nullptr;
|
||||
PushButtonSP *laneChangeSettingsButton;
|
||||
LaneChangeSettings *laneChangeWidget = nullptr;
|
||||
NeuralNetworkLateralControl *nnlcToggle = nullptr;
|
||||
|
||||
@@ -188,6 +188,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
|
||||
customAccIncrement->setDescription(accEnabledDescription);
|
||||
}
|
||||
} else {
|
||||
customAccIncrement->toggleFlipped(false);
|
||||
customAccIncrement->setDescription(accNoLongDescription);
|
||||
customAccIncrement->showDescription();
|
||||
}
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define SUNNYPILOT_VERSION "2025.002.000"
|
||||
#define SUNNYPILOT_VERSION "2025.003.000"
|
||||
|
||||
@@ -15,6 +15,8 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_
|
||||
|
||||
import openpilot.system.sentry as sentry
|
||||
|
||||
from sunnypilot.sunnylink.statsd import STATSLOGSP
|
||||
|
||||
|
||||
def log_fingerprint(CP: structs.CarParams) -> None:
|
||||
if CP.carFingerprint == "MOCK":
|
||||
@@ -100,6 +102,9 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
|
||||
_initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
|
||||
_cleanup_unsupported_params(CP, CP_SP)
|
||||
|
||||
STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
|
||||
# STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
|
||||
|
||||
|
||||
def initialize_params(params) -> list[dict[str, Any]]:
|
||||
keys: list = []
|
||||
|
||||
@@ -34,9 +34,6 @@ SUNNYLINK_RECONNECT_TIMEOUT_S = 70 # FYI changing this will also would require
|
||||
DISALLOW_LOG_UPLOAD = threading.Event()
|
||||
|
||||
params = Params()
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId")
|
||||
sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
|
||||
|
||||
|
||||
def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
cloudlog.info("sunnylinkd.handle_long_poll started")
|
||||
@@ -52,7 +49,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
|
||||
threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
|
||||
threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
|
||||
# threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
|
||||
threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root()), name='stat_handler'),
|
||||
threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
|
||||
] + [
|
||||
threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
|
||||
for x in range(HANDLER_THREADS)
|
||||
@@ -133,6 +130,8 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
|
||||
|
||||
|
||||
def ws_queue(end_event: threading.Event) -> None:
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId")
|
||||
sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
|
||||
resume_requested = False
|
||||
tries = 0
|
||||
|
||||
@@ -234,6 +233,9 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
|
||||
|
||||
|
||||
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId")
|
||||
sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
|
||||
|
||||
cloudlog.debug("athena.startLocalProxy.starting")
|
||||
ws = create_connection(
|
||||
remote_ws_uri,
|
||||
@@ -255,6 +257,8 @@ def main(exit_event: threading.Event = None):
|
||||
cloudlog.info("Waiting for sunnylink registration to complete")
|
||||
time.sleep(10)
|
||||
|
||||
sunnylink_dongle_id = params.get("SunnylinkDongleId")
|
||||
sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
|
||||
UploadQueueCache.initialize(upload_queue)
|
||||
|
||||
ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
|
||||
|
||||
@@ -23,21 +23,26 @@ from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET,
|
||||
from openpilot.system.statsd import METRIC_TYPE, StatLogSP
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
|
||||
STATSLOGSP = StatLogSP(intercept=False)
|
||||
|
||||
def sp_stats(end_event):
|
||||
"""Collect sunnypilot-specific statistics and send as raw metrics."""
|
||||
rk = Ratekeeper(.1, print_delay_threshold=None)
|
||||
statlogsp = StatLogSP(intercept=False)
|
||||
statlogsp = STATSLOGSP
|
||||
params = Params()
|
||||
|
||||
def flatten_dict(d, parent_key='', sep='.'):
|
||||
items = {}
|
||||
for k, v in d.items():
|
||||
new_key = f"{parent_key}{sep}{k}" if parent_key else k
|
||||
if isinstance(v, dict):
|
||||
if isinstance(d, dict):
|
||||
for k, v in d.items():
|
||||
new_key = f"{parent_key}{sep}{k}" if parent_key else k
|
||||
items.update(flatten_dict(v, new_key, sep=sep))
|
||||
else:
|
||||
items[new_key] = v
|
||||
elif isinstance(d, (list, tuple)):
|
||||
for i, v in enumerate(d):
|
||||
new_key = f"{parent_key}[{i}]"
|
||||
items.update(flatten_dict(v, new_key, sep=sep))
|
||||
else:
|
||||
items[parent_key] = d
|
||||
return items
|
||||
|
||||
# Collect sunnypilot parameters
|
||||
@@ -48,6 +53,7 @@ def sp_stats(end_event):
|
||||
'AutoLaneChangeBsmDelay',
|
||||
'AutoLaneChangeTimer',
|
||||
'CarPlatformBundle',
|
||||
'CurrentRoute',
|
||||
'DevUIInfo',
|
||||
'EnableCopyparty',
|
||||
'IntelligentCruiseButtonManagement',
|
||||
@@ -58,6 +64,7 @@ def sp_stats(end_event):
|
||||
'MadsMainCruiseAllowed',
|
||||
'MadsSteeringMode',
|
||||
'MadsUnifiedEngagementMode',
|
||||
'ModelManager_ActiveBundle',
|
||||
'ModelManager_Favs',
|
||||
'EnableSunnylinkUploader',
|
||||
'SunnylinkEnabled',
|
||||
@@ -79,13 +86,13 @@ def sp_stats(end_event):
|
||||
if value is None:
|
||||
continue
|
||||
|
||||
if isinstance(value, dict):
|
||||
if isinstance(value, (dict, list, tuple)):
|
||||
stats_dict.update(flatten_dict(value, key))
|
||||
else:
|
||||
stats_dict[key] = value
|
||||
|
||||
if stats_dict:
|
||||
statlogsp.raw('sunnypilot_params', stats_dict)
|
||||
statlogsp.raw('sunnypilot.device_params', stats_dict)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Exception {e}")
|
||||
finally:
|
||||
@@ -111,14 +118,26 @@ def stats_main(end_event):
|
||||
res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
|
||||
return res
|
||||
|
||||
def get_influxdb_line_raw(measurement: str, value: dict[str, float], timestamp: datetime, tags: dict) -> str:
|
||||
def get_influxdb_line_raw(measurement: str, value: dict, timestamp: datetime, tags: dict) -> str:
|
||||
res = f"{measurement}"
|
||||
for k, v in tags.items():
|
||||
res += f",{k}={str(v)}"
|
||||
res += " "
|
||||
try:
|
||||
custom_tags = ""
|
||||
for k, v in tags.items():
|
||||
custom_tags += f",{k}={str(v)}"
|
||||
res += custom_tags
|
||||
|
||||
for k, v in value.items():
|
||||
res += f"{k}=\"{str(v)}\","
|
||||
fields = ""
|
||||
for k, v in value.items():
|
||||
# Skip complex types - only keep simple scalar values
|
||||
if isinstance(v, (dict, list, bytes, bytearray)):
|
||||
continue
|
||||
|
||||
fields += f"{k}={json.dumps(v)},"
|
||||
|
||||
res += f" {fields}"
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Unable to get influxdb line for: {value}")
|
||||
res += f",invalid=1 reason={e},"
|
||||
|
||||
res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
|
||||
return res
|
||||
|
||||
@@ -744,7 +744,7 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
|
||||
cloudlog.exception("athena.log_handler.exception")
|
||||
|
||||
|
||||
def stat_handler(end_event: threading.Event, stats_dir=None) -> None:
|
||||
def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False) -> None:
|
||||
stats_dir = stats_dir or Paths.stats_root()
|
||||
last_scan = 0.0
|
||||
|
||||
@@ -756,14 +756,28 @@ def stat_handler(end_event: threading.Event, stats_dir=None) -> None:
|
||||
if len(stat_filenames) > 0:
|
||||
stat_path = os.path.join(stats_dir, stat_filenames[0])
|
||||
with open(stat_path) as f:
|
||||
payload = f.read()
|
||||
is_compressed = False
|
||||
|
||||
# Log the current size of the file
|
||||
if is_sunnylink:
|
||||
# Compress and encode the data if it exceeds the maximum size
|
||||
compressed_data = gzip.compress(payload.encode())
|
||||
payload = base64.b64encode(compressed_data).decode()
|
||||
is_compressed = True
|
||||
|
||||
jsonrpc = {
|
||||
"method": "storeStats",
|
||||
"params": {
|
||||
"stats": f.read()
|
||||
"stats": payload
|
||||
},
|
||||
"jsonrpc": "2.0",
|
||||
"id": stat_filenames[0]
|
||||
}
|
||||
|
||||
if is_sunnylink and is_compressed:
|
||||
jsonrpc["params"]["compressed"] = is_compressed
|
||||
|
||||
low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
|
||||
os.remove(stat_path)
|
||||
last_scan = curr_scan
|
||||
|
||||
@@ -24,8 +24,6 @@ SP_BRANCH_MIGRATIONS = {
|
||||
("tizi", "staging-c3-new"): "staging",
|
||||
("tizi", "dev-c3-new"): "dev",
|
||||
("tizi", "master-dev-c3-new"): "master-dev",
|
||||
("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
|
||||
("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
|
||||
}
|
||||
|
||||
BUILD_METADATA_FILENAME = "build.json"
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
@@ -0,0 +1,676 @@
|
||||
import asyncio
|
||||
import hashlib
|
||||
import json
|
||||
import logging
|
||||
import os
|
||||
import re
|
||||
import shutil
|
||||
import sys
|
||||
import html
|
||||
from collections import deque
|
||||
from logging.handlers import RotatingFileHandler
|
||||
|
||||
import discord
|
||||
from discord import app_commands
|
||||
from discord.ext import commands
|
||||
|
||||
from openpilot.tools.lib.api import CommaApi, UnauthorizedError
|
||||
from openpilot.tools.lib.route import Route
|
||||
|
||||
import threading
|
||||
from flask import Flask, send_file, abort, make_response
|
||||
from pathlib import Path
|
||||
|
||||
if not (CLIPPY_TOKEN := os.getenv("CLIPPY_TOKEN")):
|
||||
sys.exit("❌ CLIPPY_TOKEN is missing – set it in the environment")
|
||||
|
||||
ALLOWED_GUILD_IDS = {880416502577266699, 1368811404689276958}
|
||||
|
||||
CLIPPY_BASE_URL = "https://clippy.royjr.com"
|
||||
|
||||
WORKING_DIR = os.path.expanduser("~/github/sunnypilot/tools/clip")
|
||||
CLIPS_DIR = os.path.join(WORKING_DIR, "clips")
|
||||
STATS_PATH = os.path.join(WORKING_DIR, "clippy_stats.json")
|
||||
LOG_PATH = os.path.join(WORKING_DIR, "clippy.log")
|
||||
os.makedirs(CLIPS_DIR, exist_ok=True)
|
||||
|
||||
MAX_TOTAL_JOBS = 20
|
||||
MAX_CONCURRENT_CLIPS = 3
|
||||
MAX_CONCURRENT_CLIPS_PER_USER = 3
|
||||
MAX_CLIP_DURATION = 60 * 5
|
||||
|
||||
CLIPPY_STATS_ALLOWED_ROLES = ["sunnypilot-dev"]
|
||||
CLIPPY_UNLIMITED_ALLOWED_ROLES = ["sunnypilot-dev"]
|
||||
|
||||
TAIL_LINES = 25
|
||||
tail_buffer = deque(maxlen=TAIL_LINES)
|
||||
|
||||
intents = discord.Intents.default()
|
||||
intents.message_content = True
|
||||
bot = commands.Bot(command_prefix=lambda bot, msg: [], intents=intents)
|
||||
|
||||
clip_queue = []
|
||||
clip_semaphore = asyncio.Semaphore(MAX_CONCURRENT_CLIPS)
|
||||
user_cooldowns = {}
|
||||
|
||||
|
||||
async def queue_monitor():
|
||||
while True:
|
||||
print("\033c", end="")
|
||||
w = shutil.get_terminal_size().columns
|
||||
bar = "-" * w
|
||||
print(f"{bar}\nTotal: {stats['total']} | ✅ {stats['success']} | ❌ {stats['fail']}\n{bar}")
|
||||
print("\n".join(f"{i+1:02d}. {j['status']} {j['user']}: {j['route']}" for i, j in enumerate(clip_queue)) or "No jobs in queue.")
|
||||
print(f"{bar}\n" + "\n".join(line[:w] for line in tail_buffer) + f"\n{bar}")
|
||||
await asyncio.sleep(1)
|
||||
|
||||
def start_clip_server():
|
||||
clip_dir_resolved = Path(CLIPS_DIR).resolve()
|
||||
app = Flask("clippy")
|
||||
|
||||
@app.route('/<path:filename>')
|
||||
def get_clip(filename):
|
||||
full_path = (clip_dir_resolved / filename).resolve()
|
||||
try:
|
||||
full_path.relative_to(clip_dir_resolved)
|
||||
except ValueError:
|
||||
abort(404)
|
||||
if not full_path.name.endswith(".mp4"):
|
||||
abort(404)
|
||||
try:
|
||||
if not full_path.is_file() or not full_path.samefile(full_path):
|
||||
abort(404)
|
||||
except Exception:
|
||||
abort(404)
|
||||
response = make_response(send_file(
|
||||
str(full_path),
|
||||
mimetype="video/mp4",
|
||||
as_attachment=False,
|
||||
conditional=True,
|
||||
))
|
||||
response.headers.update({
|
||||
"Cache-Control": "no-store",
|
||||
"Accept-Ranges": "bytes",
|
||||
"Content-Disposition": f'inline; filename="{filename}"',
|
||||
"X-Content-Type-Options": "nosniff",
|
||||
})
|
||||
return response
|
||||
|
||||
@app.errorhandler(404)
|
||||
def not_found(_):
|
||||
return "clip not found", 404
|
||||
|
||||
app.run(host="127.0.0.1", port=5000)
|
||||
|
||||
def has_any_role(user, role_list):
|
||||
if isinstance(user, discord.Member):
|
||||
return any(role.name in role_list for role in user.roles)
|
||||
return False
|
||||
|
||||
def user_tag(user: discord.User) -> str:
|
||||
return f"{user.display_name} ({user.name})"
|
||||
|
||||
def load_stats():
|
||||
if os.path.exists(STATS_PATH):
|
||||
with open(STATS_PATH, "r") as f:
|
||||
return json.load(f)
|
||||
return {"total": 0, "success": 0, "fail": 0}
|
||||
|
||||
def save_stats():
|
||||
with open(STATS_PATH, "w") as f:
|
||||
json.dump(stats, f)
|
||||
|
||||
stats = load_stats()
|
||||
|
||||
|
||||
class SanitizeFilter(logging.Filter):
|
||||
def filter(self, record: logging.LogRecord) -> bool:
|
||||
if isinstance(record.msg, str):
|
||||
record.msg = re.compile(r'[\x00-\x1f\x7f-\x9f]').sub('', record.msg)
|
||||
return True
|
||||
|
||||
|
||||
class DequeHandler(logging.Handler):
|
||||
def __init__(self, buf):
|
||||
super().__init__()
|
||||
self.buf = buf
|
||||
self.setFormatter(logging.Formatter("%(asctime)s [%(levelname)s] %(message)s"))
|
||||
|
||||
def emit(self, record):
|
||||
try:
|
||||
self.buf.append(self.format(record))
|
||||
except Exception:
|
||||
self.handleError(record)
|
||||
|
||||
log_handler = RotatingFileHandler(LOG_PATH, maxBytes=5*1024*1024, backupCount=3)
|
||||
log_handler.setFormatter(logging.Formatter("%(asctime)s [%(levelname)s] %(message)s"))
|
||||
|
||||
root = logging.getLogger()
|
||||
root.setLevel(logging.INFO)
|
||||
root.addHandler(log_handler)
|
||||
root.addHandler(DequeHandler(tail_buffer))
|
||||
root.addFilter(SanitizeFilter())
|
||||
|
||||
|
||||
class DeletePublishedView(discord.ui.View):
|
||||
def __init__(self, message: discord.Message, author_id: int, video_path):
|
||||
super().__init__(timeout=300)
|
||||
self.message = message
|
||||
self.author_id = author_id
|
||||
self.video_path = video_path
|
||||
|
||||
@discord.ui.button(label="Unpublish Clip", style=discord.ButtonStyle.primary)
|
||||
async def unpublish(self, interaction: discord.Interaction, _button: discord.ui.Button):
|
||||
if interaction.user.id != self.author_id:
|
||||
logging.error(f"🚫 {user_tag(interaction.user)} cant unpublish {self.message.id}")
|
||||
await interaction.response.send_message("🚫 You can't unpublish this clip.", ephemeral=True)
|
||||
return
|
||||
|
||||
try:
|
||||
await self.message.delete()
|
||||
logging.info(f"🗑️ {user_tag(interaction.user)} unpublished {self.message.id}")
|
||||
await interaction.response.edit_message(content="🗑️ Unpublished clip.", view=None)
|
||||
except Exception as e:
|
||||
logging.error(f"❌ Failed to unpublish clip {self.message.id}: {e}")
|
||||
await interaction.response.send_message(f"❌ Failed to unpublish clip.", ephemeral=True)
|
||||
|
||||
@discord.ui.button(label="Unpublish + Delete Clip", style=discord.ButtonStyle.danger)
|
||||
async def delete(self, interaction: discord.Interaction, _button: discord.ui.Button):
|
||||
if interaction.user.id != self.author_id:
|
||||
logging.error(f"🚫 {user_tag(interaction.user)} cant unpublish and delete {self.message.id}")
|
||||
await interaction.response.send_message("🚫 You can't unpublish and delete this clip.", ephemeral=True)
|
||||
return
|
||||
|
||||
try:
|
||||
if not os.path.realpath(self.video_path).startswith(os.path.realpath(CLIPS_DIR) + os.sep):
|
||||
logging.error(f"❌ Unsafe delete attempt: {self.video_path}")
|
||||
await interaction.response.send_message("❌ Unsafe delete attempt.", ephemeral=True)
|
||||
return
|
||||
os.remove(self.video_path)
|
||||
await self.message.delete()
|
||||
logging.info(f"🗑️ {user_tag(interaction.user)} unpublished {self.message.id}")
|
||||
await interaction.response.edit_message(content="🗑️ Unpublished and deleted clip.", view=None)
|
||||
except Exception as e:
|
||||
logging.error(f"❌ Failed to unpublish clip {self.message.id}: {e}")
|
||||
await interaction.response.send_message(f"❌ Failed to unpublish and delete clip.", ephemeral=True)
|
||||
|
||||
|
||||
class PublishView(discord.ui.View):
|
||||
def __init__(self, route_str, title, video_path, author_id, file_size, safe_name):
|
||||
super().__init__(timeout=300)
|
||||
self.route_str = route_str
|
||||
self.title = title
|
||||
self.video_path = video_path
|
||||
self.author_id = author_id
|
||||
self.file_size = file_size
|
||||
self.safe_name = safe_name
|
||||
|
||||
@discord.ui.button(label="Publish Clip", style=discord.ButtonStyle.success)
|
||||
async def publish(self, interaction: discord.Interaction, _button: discord.ui.Button):
|
||||
if interaction.user.id != self.author_id:
|
||||
await interaction.response.send_message("🚫 You can't publish this clip.", ephemeral=True)
|
||||
return
|
||||
|
||||
if not os.path.exists(self.video_path):
|
||||
logging.error(f"❌ {user_tag(interaction.user)} failed to publish {self.route_str} – file missing")
|
||||
await interaction.response.edit_message(
|
||||
content="❌ Clip could not be published. File missing.",
|
||||
attachments=[], view=None
|
||||
)
|
||||
self.stop()
|
||||
return
|
||||
|
||||
logging.info(f"✅ {user_tag(interaction.user)} published {self.route_str}")
|
||||
|
||||
if not (1 <= self.file_size <= 9):
|
||||
published_msg = await interaction.channel.send(
|
||||
f"{interaction.user.mention} shared a [clip]({CLIPPY_BASE_URL}/{self.safe_name}.mp4) from [{self.route_str}](https://connect.comma.ai/{self.route_str})\n{self.title}"
|
||||
)
|
||||
else:
|
||||
published_msg = await interaction.channel.send(
|
||||
f"{interaction.user.mention} shared a clip from [{self.route_str}](https://connect.comma.ai/{self.route_str})\n{self.title}",
|
||||
file=discord.File(self.video_path)
|
||||
)
|
||||
await interaction.response.edit_message(
|
||||
content="✅ Clip published to channel.", attachments=[], view=DeletePublishedView(published_msg, interaction.user.id, self.video_path),
|
||||
)
|
||||
self.stop()
|
||||
|
||||
@discord.ui.button(label="Delete Clip", style=discord.ButtonStyle.danger)
|
||||
async def delete(self, interaction: discord.Interaction, _button: discord.ui.Button):
|
||||
if interaction.user.id != self.author_id:
|
||||
logging.error(f"🚫 {user_tag(interaction.user)} cant delete {self.video_path}")
|
||||
await interaction.response.send_message("🚫 You can't delete this clip.", ephemeral=True)
|
||||
return
|
||||
|
||||
try:
|
||||
if not os.path.realpath(self.video_path).startswith(os.path.realpath(CLIPS_DIR) + os.sep):
|
||||
logging.error(f"❌ Unsafe delete attempt: {self.video_path}")
|
||||
await interaction.response.send_message("❌ Unsafe delete attempt.", ephemeral=True)
|
||||
return
|
||||
os.remove(self.video_path)
|
||||
logging.info(f"🗑️ {user_tag(interaction.user)} deleted {self.route_str}")
|
||||
await interaction.response.edit_message(content="🗑️ Clip deleted.", attachments=[], view=None)
|
||||
self.stop()
|
||||
except Exception as e:
|
||||
logging.error(f"❌ Failed to delete {self.route_str}")
|
||||
await interaction.response.edit_message(content=f"❌ Failed to delete clip.", view=None)
|
||||
|
||||
|
||||
@bot.tree.command(name="clippy", description="Generate a driving clip - make sure you upload logs first!")
|
||||
@app_commands.describe(
|
||||
input="connect link or dongle/route/starttime/endtime or dongle/route/startsegment-endsegment",
|
||||
title="Title (default: none)",
|
||||
quality="Video quality (default: high)",
|
||||
wide="Use wide view if uploaded (default: true)",
|
||||
speed="Playback speed (default: 1)",
|
||||
cache="Set to false to regenerate clip if its already cached (default: true)",
|
||||
private="If true, only you will see the preview (default: true)",
|
||||
bookmarks="Automatically clip bookmarks (default: false)",
|
||||
filesize="Max filesize (MB), set to 0 for unlimited (default: 9)",
|
||||
developer="Show the developer UI (default: Off)"
|
||||
)
|
||||
@app_commands.choices(
|
||||
quality=[
|
||||
app_commands.Choice(name="high", value="high"),
|
||||
app_commands.Choice(name="low", value="low"),
|
||||
],
|
||||
developer=[
|
||||
app_commands.Choice(name="Right", value="1"),
|
||||
app_commands.Choice(name="Right & Bottom", value="2"),
|
||||
]
|
||||
)
|
||||
async def clippy(
|
||||
interaction: discord.Interaction,
|
||||
input: str,
|
||||
title: str = None,
|
||||
quality: app_commands.Choice[str] | None = None,
|
||||
wide: bool = True,
|
||||
speed: int = 1,
|
||||
cache: bool = True,
|
||||
private: bool = True,
|
||||
bookmarks: bool = False,
|
||||
filesize: int = 9,
|
||||
developer: app_commands.Choice[str] | None = None,
|
||||
):
|
||||
|
||||
if interaction.guild_id not in ALLOWED_GUILD_IDS:
|
||||
logging.error(f"❌ This bot is not available in this server {interaction.guild_id}")
|
||||
await interaction.response.send_message("❌ This bot is not available in this server.", ephemeral=True)
|
||||
return
|
||||
|
||||
if len(clip_queue) >= MAX_TOTAL_JOBS:
|
||||
await interaction.response.send_message(
|
||||
"🚫 Server busy – too many jobs in queue. Please try again later.",
|
||||
ephemeral=True
|
||||
)
|
||||
return
|
||||
|
||||
user_id = interaction.user.id
|
||||
if not has_any_role(interaction.user, CLIPPY_UNLIMITED_ALLOWED_ROLES):
|
||||
if user_cooldowns.get(user_id, 0) >= MAX_CONCURRENT_CLIPS_PER_USER:
|
||||
logging.error(f"🚫 {user_tag(interaction.user)} hit the cooldown limit")
|
||||
await interaction.response.send_message(
|
||||
"🚫 You already have a clip running. Wait for it to finish.",
|
||||
ephemeral=True
|
||||
)
|
||||
return
|
||||
|
||||
user_cooldowns[user_id] = user_cooldowns.get(user_id, 0) + 1
|
||||
|
||||
try:
|
||||
await interaction.response.defer(ephemeral=True)
|
||||
|
||||
quality_value = quality.value if quality else "high"
|
||||
title_cmd = title[:80] if title else ""
|
||||
title = f"> ### **{html.unescape(title[:80])}**" if title else ""
|
||||
stats["total"] += 1
|
||||
|
||||
# ── fast‑fail validation ────────────────────────────────────────────────────
|
||||
def fail(msg: str):
|
||||
stats["fail"] += 1
|
||||
save_stats()
|
||||
return interaction.followup.send(f"❌ {msg}", ephemeral=True)
|
||||
|
||||
input = input.removeprefix("https://connect.comma.ai/")
|
||||
|
||||
if bookmarks:
|
||||
match = re.match(r'^([a-z0-9]+)/([a-zA-Z0-9\-]+)$', input)
|
||||
if not match:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} entered bad input {input}")
|
||||
await fail("Use connect link, `dongle/route/starttime/endtime` or `dongle/route/startsegment-endsegment` (endsegment optional).\n```\n--- CONNECT ---\nhttps://connect.comma.ai/a2a0ccea32023010/2023-07-27--13-01-19/5/10\n\n--- EXAMPLES ---\na2a0ccea32023010/2023-07-27--13-01-19/0 segment 0\na2a0ccea32023010/2023-07-27--13-01-19/0-1 segments 0 through 1\na2a0ccea32023010/2023-07-27--13-01-19/5/10 from 5 to 10 seconds\na2a0ccea32023010/2023-07-27--13-01-19 when using bookmark option\n```")
|
||||
return
|
||||
else:
|
||||
dongle, route = match.groups()
|
||||
start = 0
|
||||
end = 0
|
||||
else:
|
||||
|
||||
match = re.match(r'^([a-z0-9]+)/([a-zA-Z0-9\-]+)/(\d+)/(\d+)$', input)
|
||||
if not match:
|
||||
match = re.match(r"^([a-z0-9]+)/([A-Za-z0-9\-]+)/(\d+)(?:-(\d+))?$", input)
|
||||
if not match:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} entered bad input {input}")
|
||||
await fail("Use connect link, `dongle/route/starttime/endtime` or `dongle/route/startsegment-endsegment` (endsegment optional).\n```\n--- CONNECT ---\nhttps://connect.comma.ai/a2a0ccea32023010/2023-07-27--13-01-19/5/10\n\n--- EXAMPLES ---\na2a0ccea32023010/2023-07-27--13-01-19/0 segment 0\na2a0ccea32023010/2023-07-27--13-01-19/0-1 segments 0 through 1\na2a0ccea32023010/2023-07-27--13-01-19/5/10 from 5 to 10 seconds\na2a0ccea32023010/2023-07-27--13-01-19 when using bookmark option\n```")
|
||||
return
|
||||
else:
|
||||
dongle, route, seg_start, seg_end = match.groups()
|
||||
|
||||
if int(seg_start) == 0:
|
||||
# in_start = 2 # fix for 2s
|
||||
in_start = 0
|
||||
else:
|
||||
in_start = int(seg_start) * 60
|
||||
|
||||
if seg_end is None:
|
||||
in_end = 60 if int(seg_start) == 0 else in_start + 60
|
||||
else:
|
||||
in_end = 60 if int(seg_end) == 0 else (int(seg_end) + 1) * 60
|
||||
else:
|
||||
dongle, route, in_start, in_end = match.groups()
|
||||
|
||||
start = int(in_start)
|
||||
end = int(in_end)
|
||||
|
||||
# fix for 2s
|
||||
# if start < 2 or end <= start:
|
||||
# await fail("Start must be at least 2 and end must be greater than start.")
|
||||
# return
|
||||
|
||||
if end <= start:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} entered bad times {input}")
|
||||
await fail("End must be greater than start time.")
|
||||
return
|
||||
duration = end - start
|
||||
if duration > MAX_CLIP_DURATION:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} hit the max duration limit {input}")
|
||||
await fail(f"Clips must be {int(MAX_CLIP_DURATION / 60)} minutes or less.")
|
||||
return
|
||||
|
||||
status_msg = await interaction.followup.send(
|
||||
"🕐 Waiting in queue..", ephemeral=private
|
||||
)
|
||||
|
||||
if speed == 0:
|
||||
speed = 1
|
||||
if speed > 1:
|
||||
end = start + int(duration / speed)
|
||||
elif speed < 1:
|
||||
end = start + int(duration / speed)
|
||||
if bookmarks:
|
||||
route_str = f"{dongle}/{route}"
|
||||
connect_route_str = f"{dongle}/{route}"
|
||||
base = f"{dongle}_{route}_bookmarks_{quality_value}"
|
||||
else:
|
||||
route_str = f"{dongle}/{route}/{start}/{end}"
|
||||
connect_start = 1 if start == 0 else start
|
||||
connect_route_str = f"{dongle}/{route}/{connect_start}/{end}"
|
||||
base = f"{dongle}_{route}_{start}_{end}_{quality_value}"
|
||||
if wide:
|
||||
base += "_wide"
|
||||
if speed:
|
||||
base += f"_{speed}"
|
||||
base += f"_s{filesize}"
|
||||
clean_base = re.sub(r'[^A-Za-z0-9_-]+', '_', base)
|
||||
if title_cmd:
|
||||
title_hash = hashlib.sha1(title_cmd.encode()).hexdigest()[:10]
|
||||
safe_name = f"{clean_base}_{title_hash}"
|
||||
else:
|
||||
safe_name = clean_base
|
||||
|
||||
safe_name = re.sub(r'[^a-zA-Z0-9_-]', '_', safe_name)
|
||||
|
||||
if any(job["route"] == safe_name for job in clip_queue):
|
||||
await status_msg.edit(content="❌ That clip is already in the queue or processing – wait for it to finish.")
|
||||
return
|
||||
|
||||
try:
|
||||
logs = CommaApi().get(f"/v1/route/{dongle}|{route}/files").get("logs")
|
||||
|
||||
segments = [
|
||||
re.search(r'/(\d+)/rlog\.(?:zst|bz2)', url).group(1)
|
||||
for url in logs
|
||||
if re.search(r'/(\d+)/rlog\.(?:zst|bz2)', url)
|
||||
]
|
||||
|
||||
startsegment = start // 60
|
||||
endsegment = (end - 1) // 60
|
||||
|
||||
segment_set = set(int(s) for s in segments)
|
||||
if bookmarks:
|
||||
missing = False
|
||||
else:
|
||||
missing = [i for i in range(startsegment, endsegment + 1) if i not in segment_set]
|
||||
|
||||
if missing:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} segments missing {missing}")
|
||||
await status_msg.edit(content=f"❌ You need to upload the missing logs for segments `{missing}` using [connect.comma.ai](https://connect.comma.ai/{connect_route_str})")
|
||||
return
|
||||
else:
|
||||
if bookmarks:
|
||||
logging.info(f"🕐 {user_tag(interaction.user)} getting bookmarks {route_str}")
|
||||
await status_msg.edit(content=f"🕐 Getting bookmarks")
|
||||
else:
|
||||
logging.info(f"☑️ {user_tag(interaction.user)} segments present {route_str}")
|
||||
await status_msg.edit(content=f"☑️ All required segments are present.")
|
||||
|
||||
except UnauthorizedError as e:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} unauthorized: {e}")
|
||||
await status_msg.edit(content=f"❌ You need to make the route public using [connect.comma.ai](https://connect.comma.ai/{route_str}). `/clippy-auth` is no longer supported.")
|
||||
return
|
||||
|
||||
except Exception as e:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} unexpected error: {e}")
|
||||
await status_msg.edit(content=f"❌ Error: unexpected error")
|
||||
return
|
||||
|
||||
if bookmarks:
|
||||
try:
|
||||
route = Route(route_str)
|
||||
user_flags_at_time = []
|
||||
|
||||
for segment in route.segments:
|
||||
for event in segment.events:
|
||||
if event['type'] == 'user_flag':
|
||||
user_flags_at_time.append(round(event['route_offset_millis'] / 1000))
|
||||
|
||||
except Exception as e:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} unauthorized: {e}")
|
||||
await status_msg.edit(content=f"❌ You need to make the route public using [connect.comma.ai](https://connect.comma.ai/{route_str}). `/clippy-auth` is no longer supported.")
|
||||
return
|
||||
|
||||
if len(user_flags_at_time) == 0:
|
||||
logging.error(f"❌ {user_tag(interaction.user)} no bookmarks found")
|
||||
await status_msg.edit(content=f"❌ No bookmarks found")
|
||||
return
|
||||
else:
|
||||
bookmarklinks = ''
|
||||
for user_flag_at_time in user_flags_at_time:
|
||||
bookmarklinks += f"```{connect_route_str}/{user_flag_at_time - 10}/{user_flag_at_time + 5}```"
|
||||
logging.info(f"✅ {user_tag(interaction.user)} {len(user_flags_at_time)} bookmarks found! - {user_flags_at_time}")
|
||||
await status_msg.edit(content=f"✅ {len(user_flags_at_time)} bookmarks found! - {user_flags_at_time}{bookmarklinks}")
|
||||
return
|
||||
|
||||
full_path = os.path.join(CLIPS_DIR, f"{safe_name}.mp4")
|
||||
|
||||
clip_queue.append({"user": interaction.user.display_name,
|
||||
"route": safe_name,
|
||||
"duration": duration,
|
||||
"status": "🕐"})
|
||||
save_stats()
|
||||
if private:
|
||||
logging.info(f"🕐 {user_tag(interaction.user)} queued (PRIVATE) {route_str}")
|
||||
else:
|
||||
logging.info(f"🕐 {user_tag(interaction.user)} queued {route_str}")
|
||||
|
||||
if os.path.exists(full_path) and cache:
|
||||
stats["success"] += 1
|
||||
save_stats()
|
||||
for j in clip_queue:
|
||||
if j["route"] == safe_name:
|
||||
j["status"] = "✅"
|
||||
|
||||
if private:
|
||||
logging.info(f"📁 {user_tag(interaction.user)} used cache (PRIVATE) {route_str}")
|
||||
await status_msg.edit(content="📁 Used cached clip.")
|
||||
if not (1 <= filesize <= 9):
|
||||
await interaction.followup.send(
|
||||
content=f"Preview for [`{route_str}`]({CLIPPY_BASE_URL}/{safe_name}.mp4)\n{title}",
|
||||
view=PublishView(route_str, title, full_path, interaction.user.id, filesize, safe_name),
|
||||
ephemeral=True
|
||||
)
|
||||
else:
|
||||
await interaction.followup.send(
|
||||
content=f"Preview for `{route_str}`\n{title}",
|
||||
file=discord.File(full_path),
|
||||
view=PublishView(route_str, title, full_path, interaction.user.id, filesize, safe_name),
|
||||
ephemeral=True
|
||||
)
|
||||
else:
|
||||
logging.info(f"📁 {user_tag(interaction.user)} used cache {route_str}")
|
||||
|
||||
if not (1 <= filesize <= 9):
|
||||
published_msg = await interaction.channel.send(
|
||||
f"{interaction.user.mention} shared a [clip]({CLIPPY_BASE_URL}/{safe_name}.mp4) from [{route_str}](https://connect.comma.ai/{route_str})\n{title}"
|
||||
)
|
||||
else:
|
||||
published_msg = await interaction.channel.send(
|
||||
f"{interaction.user.mention} shared a clip from [{route_str}](https://connect.comma.ai/{route_str})\n{title}",
|
||||
file=discord.File(full_path)
|
||||
)
|
||||
await status_msg.edit(
|
||||
content="📁 Used cached clip.", attachments=[], view=DeletePublishedView(published_msg, interaction.user.id, full_path),
|
||||
)
|
||||
|
||||
else:
|
||||
async with clip_semaphore:
|
||||
for j in clip_queue:
|
||||
if j["route"] == safe_name:
|
||||
j["status"] = "🔄"
|
||||
logging.info(f"🔄 {user_tag(interaction.user)} processing {route_str}")
|
||||
await status_msg.edit(content=f"🔄 Processing {j['duration']}s clip..")
|
||||
|
||||
cmd = ["python3", "run.py", route_str, "-q", quality_value, "-x", str(speed), "-o", full_path]
|
||||
if not (in_start and in_end):
|
||||
if in_start != 0: # fix for 2s
|
||||
cmd += ["-s", str(start), "-e", str(end)]
|
||||
|
||||
if title_cmd:
|
||||
cmd += ["-t", str(title_cmd)]
|
||||
|
||||
if wide:
|
||||
cmd += ["-w"]
|
||||
|
||||
if filesize:
|
||||
cmd += ["-f", str(filesize)]
|
||||
|
||||
if developer:
|
||||
dev_mode = int(developer.value)
|
||||
else:
|
||||
dev_mode = 0
|
||||
cmd += ["-z", str(dev_mode)]
|
||||
|
||||
proc = await asyncio.create_subprocess_exec(
|
||||
*cmd, cwd=WORKING_DIR,
|
||||
stdout=asyncio.subprocess.PIPE,
|
||||
stderr=asyncio.subprocess.PIPE
|
||||
)
|
||||
stdout, stderr = await proc.communicate()
|
||||
clean_err = "\n".join(stderr.decode().splitlines()[3:]) if stderr else ""
|
||||
|
||||
if proc.returncode != 0 or not os.path.exists(full_path):
|
||||
for j in clip_queue:
|
||||
if j["route"] == safe_name:
|
||||
j["status"] = "❌"
|
||||
stats["fail"] += 1
|
||||
save_stats()
|
||||
logging.error(f"❌ {user_tag(interaction.user)} failed {route_str}\n{clean_err}")
|
||||
|
||||
if clean_err == "clip.py: error: failed to get route: Unauthorized. Authenticate with tools/lib/auth.py":
|
||||
await status_msg.edit(content=f"❌ You need to make the route public using [connect.comma.ai](https://connect.comma.ai/{route_str}). `/clippy-auth` is no longer supported.")
|
||||
elif clean_err == "clip.py: error: failed to get route: 404:The requested URL was not found on the server. If you entered the URL manually please check your spelling and try again.":
|
||||
await status_msg.edit(content="❌ This route does not exist, please try another.")
|
||||
else:
|
||||
await status_msg.edit(content="❌ Clip failed to generate.")
|
||||
else:
|
||||
for j in clip_queue:
|
||||
if j["route"] == safe_name:
|
||||
j["status"] = "✅"
|
||||
stats["success"] += 1
|
||||
save_stats()
|
||||
|
||||
if private:
|
||||
logging.info(f"✅ {user_tag(interaction.user)} success (PRIVATE) {route_str}")
|
||||
await status_msg.edit(content="✅ Clip ready.")
|
||||
|
||||
if not (1 <= filesize <= 9):
|
||||
await interaction.followup.send(
|
||||
content=f"Preview for [`{route_str}`]({CLIPPY_BASE_URL}/{safe_name}.mp4)\n{title}",
|
||||
view=PublishView(route_str, title, full_path, interaction.user.id, filesize, safe_name),
|
||||
ephemeral=True
|
||||
)
|
||||
else:
|
||||
await interaction.followup.send(
|
||||
content=f"Preview for `{route_str}`\n{title}",
|
||||
file=discord.File(full_path),
|
||||
view=PublishView(route_str, title, full_path, interaction.user.id, filesize, safe_name),
|
||||
ephemeral=True
|
||||
)
|
||||
else:
|
||||
logging.info(f"✅ {user_tag(interaction.user)} success {route_str}")
|
||||
|
||||
if not (1 <= filesize <= 9):
|
||||
published_msg = await interaction.channel.send(
|
||||
f"{interaction.user.mention} shared a [clip]({CLIPPY_BASE_URL}/{safe_name}.mp4) from [{route_str}](https://connect.comma.ai/{route_str})\n{title}"
|
||||
)
|
||||
else:
|
||||
published_msg = await interaction.channel.send(
|
||||
f"{interaction.user.mention} shared a clip from [{route_str}](https://connect.comma.ai/{route_str})\n{title}",
|
||||
file=discord.File(full_path)
|
||||
)
|
||||
await status_msg.edit(
|
||||
content="✅ Clip ready.", attachments=[], view=DeletePublishedView(published_msg, interaction.user.id, full_path),
|
||||
)
|
||||
|
||||
await asyncio.sleep(1)
|
||||
clip_queue[:] = [j for j in clip_queue if j["route"] != safe_name]
|
||||
|
||||
finally:
|
||||
if user_id in user_cooldowns:
|
||||
user_cooldowns[user_id] = max(0, user_cooldowns[user_id] - 1)
|
||||
clip_queue[:] = [j for j in clip_queue if j["route"] != safe_name]
|
||||
|
||||
|
||||
@bot.tree.command(name="clippy-stats", description="View clippy stats")
|
||||
async def clippy_stats(interaction: discord.Interaction):
|
||||
|
||||
if interaction.guild_id not in ALLOWED_GUILD_IDS:
|
||||
logging.error(f"❌ This bot is not available in this server {interaction.guild_id}")
|
||||
await interaction.response.send_message("❌ This bot is not available in this server.", ephemeral=True)
|
||||
return
|
||||
|
||||
if not has_any_role(interaction.user, CLIPPY_STATS_ALLOWED_ROLES):
|
||||
logging.error(f"🚫 {user_tag(interaction.user)} not allowed to use /clippy-stats")
|
||||
await interaction.response.send_message("🚫 You don't have permission.", ephemeral=True)
|
||||
return
|
||||
|
||||
stat = f"Total: {stats['total']} | ✅ {stats['success']} | ❌ {stats['fail']}"
|
||||
queue = "\n".join(f"{j['status']} {j['user']}: {j['route']}" for j in clip_queue) or "No active jobs."
|
||||
tail = "\n".join(list(tail_buffer)[-5:][::-1]) or "[no log records yet]"
|
||||
|
||||
content = f"```{stat}``````{queue}``````{tail}"
|
||||
await interaction.response.send_message(content[:1997] + "```", ephemeral=True)
|
||||
logging.info(f"✅ {user_tag(interaction.user)} used /clippy-stats")
|
||||
|
||||
|
||||
@bot.event
|
||||
async def on_ready():
|
||||
await bot.tree.sync()
|
||||
for guild in bot.guilds:
|
||||
logging.info(f"Connected to guild: {guild.name} ({guild.id})")
|
||||
await bot.change_presence(activity=discord.Game(name="your clips"))
|
||||
asyncio.create_task(queue_monitor())
|
||||
print(f"Logged in as {bot.user}")
|
||||
|
||||
threading.Thread(target=start_clip_server, daemon=True).start()
|
||||
bot.run(CLIPPY_TOKEN)
|
||||
+33
-17
@@ -28,7 +28,7 @@ DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19'
|
||||
FRAMERATE = 20
|
||||
PIXEL_DEPTH = '24'
|
||||
RESOLUTION = '2160x1080'
|
||||
SECONDS_TO_WARM = 2
|
||||
SECONDS_TO_WARM = 0.5 # fix for 2s
|
||||
PROC_WAIT_SECONDS = 30*10
|
||||
|
||||
OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve())
|
||||
@@ -104,8 +104,9 @@ def parse_args(parser: ArgumentParser):
|
||||
args.end = int(parts[3])
|
||||
if args.end <= args.start:
|
||||
parser.error(f'end ({args.end}) must be greater than start ({args.start})')
|
||||
if args.start < SECONDS_TO_WARM:
|
||||
parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
|
||||
# fix for 2s
|
||||
# if args.start < SECONDS_TO_WARM:
|
||||
# parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
|
||||
|
||||
try:
|
||||
args.route = Route(args.route, data_dir=args.data_dir)
|
||||
@@ -113,16 +114,16 @@ def parse_args(parser: ArgumentParser):
|
||||
parser.error(f'failed to get route: {e}')
|
||||
|
||||
# FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data
|
||||
length = round(args.route.max_seg_number * 60)
|
||||
if args.start >= length:
|
||||
parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
|
||||
if args.end > length:
|
||||
parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)')
|
||||
# length = round(args.route.max_seg_number * 60)
|
||||
# if args.start >= length:
|
||||
# parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
|
||||
# if args.end > length:
|
||||
# parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)')
|
||||
|
||||
return args
|
||||
|
||||
|
||||
def populate_car_params(lr: LogReader):
|
||||
def populate_car_params(lr: LogReader, developer: int):
|
||||
init_data = lr.first('initData')
|
||||
assert init_data is not None
|
||||
|
||||
@@ -131,10 +132,14 @@ def populate_car_params(lr: LogReader):
|
||||
for cp in entries:
|
||||
key, value = cp.key, cp.value
|
||||
try:
|
||||
if key == "OSMDownloadProgress":
|
||||
continue
|
||||
params.put(key, params.cpp2python(key, value))
|
||||
except UnknownKeyName:
|
||||
# forks of openpilot may have other Params keys configured. ignore these
|
||||
logger.warning(f"unknown Params key '{key}', skipping")
|
||||
pass
|
||||
if developer is not None:
|
||||
params.put("DevUIInfo", developer)
|
||||
logger.debug('persisted CarParams')
|
||||
|
||||
|
||||
@@ -179,6 +184,7 @@ def wait_for_frames(procs: list[Popen]):
|
||||
def clip(
|
||||
data_dir: str | None,
|
||||
quality: Literal['low', 'high'],
|
||||
wide: bool,
|
||||
prefix: str,
|
||||
route: Route,
|
||||
out: str,
|
||||
@@ -187,8 +193,9 @@ def clip(
|
||||
speed: int,
|
||||
target_mb: int,
|
||||
title: str | None,
|
||||
developer: int,
|
||||
):
|
||||
logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB')
|
||||
logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} wide={wide} target_filesize={target_mb}MB')
|
||||
lr = get_logreader(route)
|
||||
|
||||
begin_at = max(start - SECONDS_TO_WARM, 0)
|
||||
@@ -224,8 +231,6 @@ def clip(
|
||||
'-draw_mouse', '0',
|
||||
'-i', display,
|
||||
'-c:v', 'libx264',
|
||||
'-maxrate', f'{bit_rate_kbps}k',
|
||||
'-bufsize', f'{bit_rate_kbps*2}k',
|
||||
'-crf', '23',
|
||||
'-filter:v', ','.join(overlays),
|
||||
'-preset', 'ultrafast',
|
||||
@@ -234,12 +239,19 @@ def clip(
|
||||
'-movflags', '+faststart',
|
||||
'-f', 'mp4',
|
||||
'-t', str(duration),
|
||||
out,
|
||||
]
|
||||
|
||||
replay_cmd = [REPLAY, '--ecam', '-c', '1', '-s', str(begin_at), '--prefix', prefix]
|
||||
if target_mb > 0:
|
||||
ffmpeg_cmd += ['-maxrate', f'{bit_rate_kbps}k']
|
||||
ffmpeg_cmd += ['-bufsize', f'{bit_rate_kbps*2}k']
|
||||
|
||||
ffmpeg_cmd.append(out)
|
||||
|
||||
replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix]
|
||||
if data_dir:
|
||||
replay_cmd.extend(['--data_dir', data_dir])
|
||||
if wide:
|
||||
replay_cmd.append('--ecam')
|
||||
if quality == 'low':
|
||||
replay_cmd.append('--qcam')
|
||||
replay_cmd.append(route.name.canonical_name)
|
||||
@@ -248,7 +260,7 @@ def clip(
|
||||
xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}']
|
||||
|
||||
with OpenpilotPrefix(prefix, shared_download_cache=True):
|
||||
populate_car_params(lr)
|
||||
populate_car_params(lr, developer)
|
||||
env = os.environ.copy()
|
||||
env['DISPLAY'] = display
|
||||
|
||||
@@ -262,7 +274,7 @@ def clip(
|
||||
with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc:
|
||||
procs.append(ffmpeg_proc)
|
||||
logger.info(f'recording in progress ({duration}s)...')
|
||||
ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
|
||||
ffmpeg_proc.wait((duration * 2) + PROC_WAIT_SECONDS)
|
||||
check_for_failure(procs)
|
||||
logger.info(f'recording complete: {Path(out).resolve()}')
|
||||
|
||||
@@ -279,15 +291,18 @@ def main():
|
||||
p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT)
|
||||
p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
|
||||
p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
|
||||
p.add_argument('-w', '--wide', help='enable wide view if uploaded', action='store_true',)
|
||||
p.add_argument('-x', '--speed', help='record the clip at this speed multiple', type=int, default=1)
|
||||
p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
|
||||
p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title)
|
||||
p.add_argument('-z', '--developer', help='developer', type=int, default=0)
|
||||
args = parse_args(p)
|
||||
exit_code = 1
|
||||
try:
|
||||
clip(
|
||||
data_dir=args.data_dir,
|
||||
quality=args.quality,
|
||||
wide=args.wide,
|
||||
prefix=args.prefix,
|
||||
route=args.route,
|
||||
out=args.output,
|
||||
@@ -296,6 +311,7 @@ def main():
|
||||
speed=args.speed,
|
||||
target_mb=args.file_size,
|
||||
title=args.title,
|
||||
developer=args.developer,
|
||||
)
|
||||
exit_code = 0
|
||||
except KeyboardInterrupt as e:
|
||||
|
||||
@@ -1,183 +0,0 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget parent="main_window" name="Main Window">
|
||||
<Tab containers="1" tab_name="actuator data">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
|
||||
<DockArea name="...">
|
||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
|
||||
<range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
|
||||
<limitY/>
|
||||
<curve name="/carControl/actuators/torque" color="#17becf"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
|
||||
<range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
|
||||
<limitY/>
|
||||
<curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
|
||||
<range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
|
||||
<limitY/>
|
||||
<curve name="/carState/vEgoRaw" color="#ff7f0e"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
|
||||
<range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
|
||||
<limitY/>
|
||||
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 new_series: a series previously created with ScatterXY.new(name)
 prefix: prefix of the timeseries, before the index of the array
 suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.
 suffix_Y: suffix to complete the name of the series containing the Y value
 timestamp: usually the tracker_time variable
 
 Example:
 
 Assuming we have multiple series in the form:
 
 /trajectory/node.{X}/position/x
 /trajectory/node.{X}/position/y
 
 where {N} is the index of the array (integer). We can create a reactive series from the array with:
 
 new_series = ScatterXY.new("my_trajectory") 
 CreateSeriesFromArray( new_series, "/trajectory/node", "position/x", "position/y", tracker_time );
--]]

function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )
 
 --- clear previous values
 new_series:clear()
 
 --- Append points to new_series
 index = 0
 while(true) do

 x = index;
 -- if not nil, get the X coordinate from a series
 if suffix_X ~= nil then 
 series_x = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_X) )
 if series_x == nil then break end
 x = series_x:atTime(timestamp)	 
 end
 
 series_y = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_Y) )
 if series_y == nil then break end 
 y = series_y:atTime(timestamp)
 
 new_series:push_back(x,y)
 index = index+1
 end
end

--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]

function GetSeriesNamesByPrefix(prefix)
 -- GetSeriesNames(9 is a built-in function
 all_names = GetSeriesNames()
 filtered_names = {}
 for i, name in ipairs(all_names) do
 -- check the prefix
 if name:find(prefix, 1, #prefix) then
 table.insert(filtered_names, name);
 end
 end
 return filtered_names
end

--[[ Modify an existing series, applying offsets to all their X and Y values

 series: an existing timeseries, obtained with TimeseriesView.find(name)
 delta_x: offset to apply to each x value
 delta_y: offset to apply to each y value 
 
--]]

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end
"/>
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<library code="--[[ Helper function to create a series from arrays

 new_series: a series previously created with ScatterXY.new(name)
 prefix: prefix of the timeseries, before the index of the array
 suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.
 suffix_Y: suffix to complete the name of the series containing the Y value
 timestamp: usually the tracker_time variable
 
 Example:
 
 Assuming we have multiple series in the form:
 
 /trajectory/node.{X}/position/x
 /trajectory/node.{X}/position/y
 
 where {N} is the index of the array (integer). We can create a reactive series from the array with:
 
 new_series = ScatterXY.new("my_trajectory") 
 CreateSeriesFromArray( new_series, "/trajectory/node", "position/x", "position/y", tracker_time );
--]]

function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )
 
 --- clear previous values
 new_series:clear()
 
 --- Append points to new_series
 index = 0
 while(true) do

 x = index;
 -- if not nil, get the X coordinate from a series
 if suffix_X ~= nil then 
 series_x = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_X) )
 if series_x == nil then break end
 x = series_x:atTime(timestamp)	 
 end
 
 series_y = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_Y) )
 if series_y == nil then break end 
 y = series_y:atTime(timestamp)
 
 new_series:push_back(x,y)
 index = index+1
 end
end

--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]

function GetSeriesNamesByPrefix(prefix)
 -- GetSeriesNames(9 is a built-in function
 all_names = GetSeriesNames()
 filtered_names = {}
 for i, name in ipairs(all_names) do
 -- check the prefix
 if name:find(prefix, 1, #prefix) then
 table.insert(filtered_names, name);
 end
 end
 return filtered_names
end

--[[ Modify an existing series, applying offsets to all their X and Y values

 series: an existing timeseries, obtained with TimeseriesView.find(name)
 delta_x: offset to apply to each x value
 delta_y: offset to apply to each y value 
 
--]]

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end
"/>
|
||||
<scripts/>
|
||||
</plugin>
|
||||
<plugin ID="CSV Exporter"/>
|
||||
</Plugins>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<previouslyLoaded_Datafiles>
|
||||
<fileInfo filename="../tmpgh9xhmjb.rlog" prefix="">
|
||||
<selected_datasources value=""/>
|
||||
</fileInfo>
|
||||
</previouslyLoaded_Datafiles>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="Angle Staturation">
|
||||
<global></global>
|
||||
<function>if value > .3 then
|
||||
return 1
|
||||
end
|
||||
|
||||
return 0</function>
|
||||
<linked_source>Angle Error</linked_source>
|
||||
</snippet>
|
||||
<snippet name="ang_cmd rate">
|
||||
<global>firstX = 0
|
||||
firstY = 0
|
||||
is_first = true
|
||||
secondX = 0
|
||||
secondY = 0
|
||||
is_second = false</global>
|
||||
<function>-- Wait for initial values
|
||||
if (is_first) then
|
||||
is_first = false
|
||||
is_second = true
|
||||
firstX = time
|
||||
firstY = value
|
||||
end
|
||||
|
||||
if (is_second) then
|
||||
is_second = false
|
||||
secondX = time
|
||||
secondY = value
|
||||
end
|
||||
|
||||
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
|
||||
dx = time - firstX
|
||||
dy = value - firstY
|
||||
-- Increment
|
||||
firstX = secondX
|
||||
firstY = secondY
|
||||
secondX = time
|
||||
secondY = value
|
||||
|
||||
return dy/dx</function>
|
||||
<linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
|
||||
</snippet>
|
||||
<snippet name="max torque lj adj">
|
||||
<global>min=0
|
||||
max=250
|
||||
max_from_speed=96
|
||||
|
||||
k1=200
|
||||
k2=30
|
||||
k3=1
|
||||
k4=1
|
||||
k5=10
|
||||
|
||||
function sign(number)
|
||||
return number > 0 and 1 or (number == 0 and 0 or -1)
|
||||
end</global>
|
||||
<function>return 250 - value * 20</function>
|
||||
<linked_source>desired lateral jark</linked_source>
|
||||
</snippet>
|
||||
<snippet name="max torque(calc)">
|
||||
<global>min=0
|
||||
max=250
|
||||
max_from_speed=96
|
||||
|
||||
rate_lim = 500
|
||||
|
||||
la_deadzone = 0.38
|
||||
|
||||
k1=200
|
||||
k2=20
|
||||
k3=1.0
|
||||
k4=1
|
||||
k5=10
|
||||
|
||||
old = 0
|
||||
|
||||
function sign(number)
|
||||
return number > 0 and 1 or (number == 0 and 0 or -1)
|
||||
end
|
||||
|
||||
function apply_rate_limit(old, new, limit)
|
||||
return math.min(math.max(new, old - limit), old + limit)
|
||||
end
|
||||
|
||||
function apply_deadzone(val, deadzone)
|
||||
if math.abs(val) <= deadzone then
|
||||
return 0.0
|
||||
elseif val < 0.0 then
|
||||
return val + deadzone
|
||||
else
|
||||
return val - deadzone
|
||||
end
|
||||
end</global>
|
||||
<function>la = apply_deadzone(v2, la_deadzone)
|
||||
lj = v3
|
||||
|
||||
if la == 0.0 then
|
||||
lj = 0.0
|
||||
end
|
||||
|
||||
fla = math.min(math.abs(k1 * la)^k3, max)
|
||||
flj = math.min(math.abs(k2 * lj)^k4, max)
|
||||
|
||||
out = fla
|
||||
|
||||
flv = math.min(max_from_speed, k5 * v4)
|
||||
|
||||
out = out + flv
|
||||
|
||||
out = math.max(math.min(out, max), min)
|
||||
|
||||
if sign(la) == sign(lj) then
|
||||
out = out - flj
|
||||
else
|
||||
out = out + flj
|
||||
end
|
||||
|
||||
|
||||
if v5 == 1.0 then
|
||||
out = 0.0
|
||||
end
|
||||
|
||||
out = math.max(math.min(out, max), min)
|
||||
out = apply_rate_limit(old, out, rate_lim)
|
||||
old = out
|
||||
|
||||
return out</function>
|
||||
<linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
|
||||
<additional_sources>
|
||||
<v1>ang_cmd rate</v1>
|
||||
<v2>desired lat accel</v2>
|
||||
<v3>desired lateral jark</v3>
|
||||
<v4>/carState/vEgo</v4>
|
||||
<v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="carState.vEgo mph">
|
||||
<global></global>
|
||||
<function>return value * 2.23694</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
</snippet>
|
||||
<snippet name="abs(des la accel)">
|
||||
<global></global>
|
||||
<function>return math.abs(value)</function>
|
||||
<linked_source>desired lat accel</linked_source>
|
||||
</snippet>
|
||||
<snippet name="roll compensated lateral acceleration">
|
||||
<global></global>
|
||||
<function>if (v3 == 0 and v4 == 1) then
|
||||
return (value * v1 ^ 2) - (v2 * 9.81)
|
||||
end
|
||||
return 0</function>
|
||||
<linked_source>/controlsState/curvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
<v2>/liveParameters/roll</v2>
|
||||
<v3>/carState/steeringPressed</v3>
|
||||
<v4>/carControl/latActive</v4>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="Zero">
|
||||
<global></global>
|
||||
<function>return (0)</function>
|
||||
<linked_source>/carState/canValid</linked_source>
|
||||
</snippet>
|
||||
<snippet name="IMU_LatAccelVal_ms^2">
|
||||
<global></global>
|
||||
<function>return value * -9.8</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="desired lat accel">
|
||||
<global></global>
|
||||
<function>return value * v1^2</function>
|
||||
<linked_source>/controlsState/desiredCurvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
</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>
|
||||
<snippet name="Angle Error">
|
||||
<global>last_angle_requested = 0</global>
|
||||
<function>angle_error = last_angle_requested - v1
|
||||
|
||||
|
||||
last_angle_requested = value
|
||||
return angle_error</function>
|
||||
<linked_source>/carControl/actuators/steeringAngleDeg</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringAngleDeg</v1>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="carState.vEgo kmh">
|
||||
<global></global>
|
||||
<function>return value * 3.6</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
</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_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="desired lateral jark">
|
||||
<global>firstX = 0
|
||||
firstY = 0
|
||||
is_first = true
|
||||
secondX = 0
|
||||
secondY = 0
|
||||
is_second = false</global>
|
||||
<function>-- Wait for initial values
|
||||
if (is_first) then
|
||||
is_first = false
|
||||
is_second = true
|
||||
firstX = time
|
||||
firstY = value
|
||||
end
|
||||
|
||||
if (is_second) then
|
||||
is_second = false
|
||||
secondX = time
|
||||
secondY = value
|
||||
end
|
||||
|
||||
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
|
||||
dx = time - firstX
|
||||
dy = value - firstY
|
||||
-- Increment
|
||||
firstX = secondX
|
||||
firstY = secondY
|
||||
secondX = time
|
||||
secondY = value
|
||||
|
||||
return dy/dx</function>
|
||||
<linked_source>desired lat accel</linked_source>
|
||||
</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="abs(ang_cmd)">
|
||||
<global></global>
|
||||
<function>return math.abs(value)</function>
|
||||
<linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
|
||||
</snippet>
|
||||
<snippet name="zero">
|
||||
<global>min=0
|
||||
max=250
|
||||
max_from_speed=96
|
||||
|
||||
rate_lim = 500
|
||||
|
||||
la_deadzone = 0.38
|
||||
|
||||
k1=200
|
||||
k2=20
|
||||
k3=1.0
|
||||
k4=1
|
||||
k5=10
|
||||
|
||||
old = 0
|
||||
|
||||
function sign(number)
|
||||
return number > 0 and 1 or (number == 0 and 0 or -1)
|
||||
end
|
||||
|
||||
function apply_rate_limit(old, new, limit)
|
||||
return math.min(math.max(new, old - limit), old + limit)
|
||||
end
|
||||
|
||||
function apply_deadzone(val, deadzone)
|
||||
if math.abs(val) <= deadzone then
|
||||
return 0.0
|
||||
elseif val < 0.0 then
|
||||
return val + deadzone
|
||||
else
|
||||
return val - deadzone
|
||||
end
|
||||
end</global>
|
||||
<function>return 0</function>
|
||||
<linked_source>/carState/aEgo</linked_source>
|
||||
</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="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>
|
||||
<snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
|
||||
<global></global>
|
||||
<function>if (v1 == 0 and v2 == 1) then
|
||||
return (value * -9.8) - (v3 * 9.81)
|
||||
end
|
||||
--return 0
|
||||
return (value * -9.8) - (v3 * 9.81)</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
<v3>/liveParameters/roll</v3>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="IMU_LatAccelVal_Ms^2">
|
||||
<global></global>
|
||||
<function>if (v1 == 0 and v2 == 1) then
|
||||
return value * -9.8
|
||||
end
|
||||
return 0</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<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="IMU_LatAccelVal_Ms^3">
|
||||
<global></global>
|
||||
<function>return value * -9.8</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
</additional_sources>
|
||||
</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>
|
||||
</customMathEquations>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -1,281 +0,0 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget name="Main Window" parent="main_window">
|
||||
<Tab containers="1" tab_name="tab1">
|
||||
<Container>
|
||||
<DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
|
||||
<range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
|
||||
<limitY/>
|
||||
<curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
|
||||
<curve color="#17becf" name="max torque(calc)">
|
||||
<transform name="Moving Average" alias="max torque(calc)[Moving Average]">
|
||||
<options compensate_offset="true" value="10"/>
|
||||
</transform>
|
||||
</curve>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
|
||||
<range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
|
||||
<limitY/>
|
||||
<curve color="#f14cc1" name="desired lat accel"/>
|
||||
<curve color="#888888" name="zero"/>
|
||||
</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 MCAP"/>
|
||||
<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="Reactive Script Editor">
|
||||
<library code="--[[ Helper function to create a series from arrays

 new_series: a series previously created with ScatterXY.new(name)
 prefix: prefix of the timeseries, before the index of the array
 suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.
 suffix_Y: suffix to complete the name of the series containing the Y value
 timestamp: usually the tracker_time variable
 
 Example:
 
 Assuming we have multiple series in the form:
 
 /trajectory/node.{X}/position/x
 /trajectory/node.{X}/position/y
 
 where {N} is the index of the array (integer). We can create a reactive series from the array with:
 
 new_series = ScatterXY.new("my_trajectory") 
 CreateSeriesFromArray( new_series, "/trajectory/node", "position/x", "position/y", tracker_time );
--]]

function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )
 
 --- clear previous values
 new_series:clear()
 
 --- Append points to new_series
 index = 0
 while(true) do

 x = index;
 -- if not nil, get the X coordinate from a series
 if suffix_X ~= nil then 
 series_x = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_X) )
 if series_x == nil then break end
 x = series_x:atTime(timestamp)	 
 end
 
 series_y = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_Y) )
 if series_y == nil then break end 
 y = series_y:atTime(timestamp)
 
 new_series:push_back(x,y)
 index = index+1
 end
end

--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]

function GetSeriesNamesByPrefix(prefix)
 -- GetSeriesNames(9 is a built-in function
 all_names = GetSeriesNames()
 filtered_names = {}
 for i, name in ipairs(all_names) do
 -- check the prefix
 if name:find(prefix, 1, #prefix) then
 table.insert(filtered_names, name);
 end
 end
 return filtered_names
end

--[[ Modify an existing series, applying offsets to all their X and Y values

 series: an existing timeseries, obtained with TimeseriesView.find(name)
 delta_x: offset to apply to each x value
 delta_y: offset to apply to each y value 
 
--]]

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end
"/>
|
||||
<scripts/>
|
||||
</plugin>
|
||||
<plugin ID="CSV Exporter"/>
|
||||
</Plugins>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<previouslyLoaded_Datafiles>
|
||||
<fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
|
||||
<selected_datasources value=""/>
|
||||
</fileInfo>
|
||||
</previouslyLoaded_Datafiles>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="zero">
|
||||
<global>min=0
|
||||
max=250
|
||||
max_from_speed=96
|
||||
|
||||
rate_lim = 500
|
||||
|
||||
la_deadzone = 0.38
|
||||
|
||||
k1=200
|
||||
k2=20
|
||||
k3=1.0
|
||||
k4=1
|
||||
k5=10
|
||||
|
||||
old = 0
|
||||
|
||||
function sign(number)
|
||||
return number > 0 and 1 or (number == 0 and 0 or -1)
|
||||
end
|
||||
|
||||
function apply_rate_limit(old, new, limit)
|
||||
return math.min(math.max(new, old - limit), old + limit)
|
||||
end
|
||||
|
||||
function apply_deadzone(val, deadzone)
|
||||
if math.abs(val) <= deadzone then
|
||||
return 0.0
|
||||
elseif val < 0.0 then
|
||||
return val + deadzone
|
||||
else
|
||||
return val - deadzone
|
||||
end
|
||||
end</global>
|
||||
<function>return 0</function>
|
||||
<linked_source>/carState/aEgo</linked_source>
|
||||
</snippet>
|
||||
<snippet name="max torque lj adj">
|
||||
<global>min=0
|
||||
max=250
|
||||
max_from_speed=96
|
||||
|
||||
k1=200
|
||||
k2=30
|
||||
k3=1
|
||||
k4=1
|
||||
k5=10
|
||||
|
||||
function sign(number)
|
||||
return number > 0 and 1 or (number == 0 and 0 or -1)
|
||||
end</global>
|
||||
<function>return 250 - value * 20</function>
|
||||
<linked_source>desired lateral jark</linked_source>
|
||||
</snippet>
|
||||
<snippet name="ang_cmd rate">
|
||||
<global>firstX = 0
|
||||
firstY = 0
|
||||
is_first = true
|
||||
secondX = 0
|
||||
secondY = 0
|
||||
is_second = false</global>
|
||||
<function>-- Wait for initial values
|
||||
if (is_first) then
|
||||
is_first = false
|
||||
is_second = true
|
||||
firstX = time
|
||||
firstY = value
|
||||
end
|
||||
|
||||
if (is_second) then
|
||||
is_second = false
|
||||
secondX = time
|
||||
secondY = value
|
||||
end
|
||||
|
||||
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
|
||||
dx = time - firstX
|
||||
dy = value - firstY
|
||||
-- Increment
|
||||
firstX = secondX
|
||||
firstY = secondY
|
||||
secondX = time
|
||||
secondY = value
|
||||
|
||||
return dy/dx</function>
|
||||
<linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
|
||||
</snippet>
|
||||
<snippet name="max torque(calc)">
|
||||
<global>min=0
|
||||
max=250
|
||||
max_from_speed=96
|
||||
|
||||
rate_lim = 500
|
||||
|
||||
la_deadzone = 0.38
|
||||
|
||||
k1=200
|
||||
k2=20
|
||||
k3=1.0
|
||||
k4=1
|
||||
k5=10
|
||||
|
||||
old = 0
|
||||
|
||||
function sign(number)
|
||||
return number > 0 and 1 or (number == 0 and 0 or -1)
|
||||
end
|
||||
|
||||
function apply_rate_limit(old, new, limit)
|
||||
return math.min(math.max(new, old - limit), old + limit)
|
||||
end
|
||||
|
||||
function apply_deadzone(val, deadzone)
|
||||
if math.abs(val) <= deadzone then
|
||||
return 0.0
|
||||
elseif val < 0.0 then
|
||||
return val + deadzone
|
||||
else
|
||||
return val - deadzone
|
||||
end
|
||||
end</global>
|
||||
<function>la = apply_deadzone(v2, la_deadzone)
|
||||
lj = v3
|
||||
|
||||
if la == 0.0 then
|
||||
lj = 0.0
|
||||
end
|
||||
|
||||
fla = math.min(math.abs(k1 * la)^k3, max)
|
||||
flj = math.min(math.abs(k2 * lj)^k4, max)
|
||||
|
||||
out = fla
|
||||
|
||||
flv = math.min(max_from_speed, k5 * v4)
|
||||
|
||||
out = out + flv
|
||||
|
||||
out = math.max(math.min(out, max), min)
|
||||
|
||||
if sign(la) == sign(lj) then
|
||||
out = out - flj
|
||||
else
|
||||
out = out + flj
|
||||
end
|
||||
|
||||
|
||||
if v5 == 1.0 then
|
||||
out = 0.0
|
||||
end
|
||||
|
||||
out = math.max(math.min(out, max), min)
|
||||
out = apply_rate_limit(old, out, rate_lim)
|
||||
old = out
|
||||
|
||||
return out</function>
|
||||
<linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
|
||||
<additional_sources>
|
||||
<v1>ang_cmd rate</v1>
|
||||
<v2>desired lat accel</v2>
|
||||
<v3>desired lateral jark</v3>
|
||||
<v4>/carState/vEgo</v4>
|
||||
<v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="desired lateral jark">
|
||||
<global>firstX = 0
|
||||
firstY = 0
|
||||
is_first = true
|
||||
secondX = 0
|
||||
secondY = 0
|
||||
is_second = false</global>
|
||||
<function>-- Wait for initial values
|
||||
if (is_first) then
|
||||
is_first = false
|
||||
is_second = true
|
||||
firstX = time
|
||||
firstY = value
|
||||
end
|
||||
|
||||
if (is_second) then
|
||||
is_second = false
|
||||
secondX = time
|
||||
secondY = value
|
||||
end
|
||||
|
||||
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
|
||||
dx = time - firstX
|
||||
dy = value - firstY
|
||||
-- Increment
|
||||
firstX = secondX
|
||||
firstY = secondY
|
||||
secondX = time
|
||||
secondY = value
|
||||
|
||||
return dy/dx</function>
|
||||
<linked_source>desired lat accel</linked_source>
|
||||
</snippet>
|
||||
<snippet name="abs(des la accel)">
|
||||
<global></global>
|
||||
<function>return math.abs(value)</function>
|
||||
<linked_source>desired lat accel</linked_source>
|
||||
</snippet>
|
||||
<snippet name="desired lat accel">
|
||||
<global></global>
|
||||
<function>return value * v1^2</function>
|
||||
<linked_source>/controlsState/desiredCurvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="abs(ang_cmd)">
|
||||
<global></global>
|
||||
<function>return math.abs(value)</function>
|
||||
<linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
|
||||
</snippet>
|
||||
</customMathEquations>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -1,175 +0,0 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget parent="main_window" name="Main Window">
|
||||
<Tab tab_name="tab1" containers="1">
|
||||
<Container>
|
||||
<DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
|
||||
<limitY/>
|
||||
<curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
|
||||
<curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
|
||||
<curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
|
||||
<limitY/>
|
||||
<curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
|
||||
<curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
|
||||
<curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
|
||||
<limitY/>
|
||||
<curve name="/carState/steeringPressed" color="#0097ff"/>
|
||||
<curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
|
||||
<limitY/>
|
||||
<curve name="/carState/vEgo" color="#f14cc1">
|
||||
<transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
|
||||
<options value_scale="2.23694" time_offset="0" value_offset="0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab tab_name="tab2" containers="1">
|
||||
<Container>
|
||||
<DockSplitter sizes="0.5;0.5" count="2" orientation="-">
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range bottom="30595.900000" right="1431.113121" top="34884.100000" left="5.322399"/>
|
||||
<limitY/>
|
||||
<curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
|
||||
<limitY/>
|
||||
<curve name="/liveParameters/roll" color="#bcbd22"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<currentTabIndex index="1"/>
|
||||
</tabbed_widget>
|
||||
<use_relative_time_offset enabled="1"/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<Plugins>
|
||||
<plugin ID="DataLoad CSV">
|
||||
<default time_axis="" delimiter="0"/>
|
||||
</plugin>
|
||||
<plugin ID="DataLoad MCAP"/>
|
||||
<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="Reactive Script Editor">
|
||||
<library code="--[[ Helper function to create a series from arrays

 new_series: a series previously created with ScatterXY.new(name)
 prefix: prefix of the timeseries, before the index of the array
 suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.
 suffix_Y: suffix to complete the name of the series containing the Y value
 timestamp: usually the tracker_time variable
 
 Example:
 
 Assuming we have multiple series in the form:
 
 /trajectory/node.{X}/position/x
 /trajectory/node.{X}/position/y
 
 where {N} is the index of the array (integer). We can create a reactive series from the array with:
 
 new_series = ScatterXY.new("my_trajectory") 
 CreateSeriesFromArray( new_series, "/trajectory/node", "position/x", "position/y", tracker_time );
--]]

function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )
 
 --- clear previous values
 new_series:clear()
 
 --- Append points to new_series
 index = 0
 while(true) do

 x = index;
 -- if not nil, get the X coordinate from a series
 if suffix_X ~= nil then 
 series_x = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_X) )
 if series_x == nil then break end
 x = series_x:atTime(timestamp)	 
 end
 
 series_y = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_Y) )
 if series_y == nil then break end 
 y = series_y:atTime(timestamp)
 
 new_series:push_back(x,y)
 index = index+1
 end
end

--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]

function GetSeriesNamesByPrefix(prefix)
 -- GetSeriesNames(9 is a built-in function
 all_names = GetSeriesNames()
 filtered_names = {}
 for i, name in ipairs(all_names) do
 -- check the prefix
 if name:find(prefix, 1, #prefix) then
 table.insert(filtered_names, name);
 end
 end
 return filtered_names
end

--[[ Modify an existing series, applying offsets to all their X and Y values

 series: an existing timeseries, obtained with TimeseriesView.find(name)
 delta_x: offset to apply to each x value
 delta_y: offset to apply to each y value 
 
--]]

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end
"/>
|
||||
<scripts/>
|
||||
</plugin>
|
||||
<plugin ID="CSV Exporter"/>
|
||||
</Plugins>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="IMU_LatAccelVal_ms^2">
|
||||
<global></global>
|
||||
<function>return value * -9.8</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="roll compensated lateral acceleration">
|
||||
<global></global>
|
||||
<function>if (v3 == 0 and v4 == 1) then
|
||||
return (value * v1 ^ 2) - (v2 * 9.81)
|
||||
end
|
||||
return 0</function>
|
||||
<linked_source>/controlsState/curvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
<v2>/liveParameters/roll</v2>
|
||||
<v3>/carState/steeringPressed</v3>
|
||||
<v4>/carControl/latActive</v4>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="IMU_LatAccelVal_Ms^2">
|
||||
<global></global>
|
||||
<function>if (v1 == 0 and v2 == 1) then
|
||||
return value * -9.8
|
||||
end
|
||||
return 0</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="IMU_LatAccelVal_Ms^3">
|
||||
<global></global>
|
||||
<function>return value * -9.8</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
|
||||
<global></global>
|
||||
<function>
|
||||
|
||||
if (v1 == 0 and v2 == 1) then
|
||||
return (value * -9.8) - (v3 * 9.81)
|
||||
end
|
||||
return 0</function>
|
||||
<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/steeringPressed</v1>
|
||||
<v2>/carControl/latActive</v2>
|
||||
<v3>/liveParameters/roll</v3>
|
||||
</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>
|
||||
<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>
|
||||
</customMathEquations>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -191,6 +191,7 @@ void Replay::startStream(const std::shared_ptr<Segment> segment) {
|
||||
auto bytes = words.asBytes();
|
||||
Params().put("CarParams", (const char *)bytes.begin(), bytes.size());
|
||||
Params().put("CarParamsPersistent", (const char *)bytes.begin(), bytes.size());
|
||||
publishMessage(&(*it));
|
||||
} else {
|
||||
rWarning("failed to read CarParams from current segment");
|
||||
}
|
||||
|
||||
@@ -195,6 +195,15 @@ wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/5b/64/63dbfdd83b31200ac58820a7951ddfdeed1fbee9285b0f3eae12d1357155/azure_storage_blob-12.26.0-py3-none-any.whl", hash = "sha256:8c5631b8b22b4f53ec5fff2f3bededf34cfef111e2af613ad42c9e6de00a77fe", size = 412907, upload-time = "2025-07-16T21:34:09.367Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "blinker"
|
||||
version = "1.9.0"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/21/28/9b3f50ce0e048515135495f198351908d99540d69bfdc8c1d15b73dc55ce/blinker-1.9.0.tar.gz", hash = "sha256:b4ce2265a7abece45e7cc896e98dbebe6cead56bcf805a3d23136d145f5445bf", size = 22460, upload-time = "2024-11-08T17:25:47.436Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/10/cb/f2ad4230dc2eb1a74edf38f1a38b9b52277f75bef262d8908e60d957e13c/blinker-1.9.0-py3-none-any.whl", hash = "sha256:ba0efaa9080b619ff2f3459d1d500c57bddea4a6b424b60a91141db6fd2f08bc", size = 8458, upload-time = "2024-11-08T17:25:46.184Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "casadi"
|
||||
version = "3.7.1"
|
||||
@@ -475,6 +484,18 @@ wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/47/ef/4cb333825d10317a36a1154341ba37e6e9c087bac99c1990ef07ffdb376f/dictdiffer-0.9.0-py2.py3-none-any.whl", hash = "sha256:442bfc693cfcadaf46674575d2eba1c53b42f5e404218ca2c2ff549f2df56595", size = 16754, upload-time = "2021-07-22T13:24:26.783Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "discord-py"
|
||||
version = "2.5.2"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "aiohttp" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/7f/dd/5817c7af5e614e45cdf38cbf6c3f4597590c442822a648121a34dee7fa0f/discord_py-2.5.2.tar.gz", hash = "sha256:01cd362023bfea1a4a1d43f5280b5ef00cad2c7eba80098909f98bf28e578524", size = 1054879, upload-time = "2025-03-05T01:15:29.798Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/57/a8/dc908a0fe4cd7e3950c9fa6906f7bf2e5d92d36b432f84897185e1b77138/discord_py-2.5.2-py3-none-any.whl", hash = "sha256:81f23a17c50509ffebe0668441cb80c139e74da5115305f70e27ce821361295a", size = 1155105, upload-time = "2025-03-05T01:15:27.323Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "dnspython"
|
||||
version = "2.7.0"
|
||||
@@ -523,6 +544,23 @@ wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/42/14/42b2651a2f46b022ccd948bca9f2d5af0fd8929c4eec235b8d6d844fbe67/filelock-3.19.1-py3-none-any.whl", hash = "sha256:d38e30481def20772f5baf097c122c3babc4fcdb7e14e57049eb9d88c6dc017d", size = 15988, upload-time = "2025-08-14T16:56:01.633Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "flask"
|
||||
version = "3.1.1"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "blinker" },
|
||||
{ name = "click" },
|
||||
{ name = "itsdangerous" },
|
||||
{ name = "jinja2" },
|
||||
{ name = "markupsafe" },
|
||||
{ name = "werkzeug" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/c0/de/e47735752347f4128bcf354e0da07ef311a78244eba9e3dc1d4a5ab21a98/flask-3.1.1.tar.gz", hash = "sha256:284c7b8f2f58cb737f0cf1c30fd7eaf0ccfcde196099d24ecede3fc2005aa59e", size = 753440, upload-time = "2025-05-13T15:01:17.447Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/3d/68/9d4508e893976286d2ead7f8f571314af6c2037af34853a30fd769c02e9d/flask-3.1.1-py3-none-any.whl", hash = "sha256:07aae2bb5eaf77993ef57e357491839f5fd9f4dc281593a81a9e4d79a24f295c", size = 103305, upload-time = "2025-05-13T15:01:15.591Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "fonttools"
|
||||
version = "4.59.2"
|
||||
@@ -705,6 +743,15 @@ wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/15/aa/0aca39a37d3c7eb941ba736ede56d689e7be91cab5d9ca846bde3999eba6/isodate-0.7.2-py3-none-any.whl", hash = "sha256:28009937d8031054830160fce6d409ed342816b543597cece116d966c6d99e15", size = 22320, upload-time = "2024-10-08T23:04:09.501Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "itsdangerous"
|
||||
version = "2.2.0"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/9c/cb/8ac0172223afbccb63986cc25049b154ecfb5e85932587206f42317be31d/itsdangerous-2.2.0.tar.gz", hash = "sha256:e0050c0b7da1eea53ffaf149c0cfbb5c6e2e2b69c4bef22c81fa6eb73e5f6173", size = 54410, upload-time = "2024-04-16T21:28:15.614Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/04/96/92447566d16df59b2a776c0fb82dbc4d9e07cd95062562af01e408583fc4/itsdangerous-2.2.0-py3-none-any.whl", hash = "sha256:c6242fc49e35958c8b15141343aa660db5fc54d4f13a1db01a3f5891b98700ef", size = 16234, upload-time = "2024-04-16T21:28:14.499Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "jeepney"
|
||||
version = "0.9.0"
|
||||
@@ -1261,6 +1308,8 @@ dependencies = [
|
||||
{ name = "cffi" },
|
||||
{ name = "crcmod" },
|
||||
{ name = "cython" },
|
||||
{ name = "discord-py" },
|
||||
{ name = "flask" },
|
||||
{ name = "dearpygui" },
|
||||
{ name = "future-fstrings" },
|
||||
{ name = "inputs" },
|
||||
@@ -1355,6 +1404,8 @@ requires-dist = [
|
||||
{ name = "dbus-next", marker = "extra == 'dev'" },
|
||||
{ name = "dearpygui", specifier = ">=2.1.0" },
|
||||
{ name = "dictdiffer", marker = "extra == 'dev'" },
|
||||
{ name = "discord-py" },
|
||||
{ name = "flask" },
|
||||
{ name = "future-fstrings" },
|
||||
{ name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
|
||||
{ name = "inputs" },
|
||||
@@ -4942,6 +4993,18 @@ wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/5a/84/44687a29792a70e111c5c477230a72c4b957d88d16141199bf9acb7537a3/websocket_client-1.8.0-py3-none-any.whl", hash = "sha256:17b44cc997f5c498e809b22cdf2d9c7a9e71c02c8cc2b6c56e7c2d1239bfa526", size = 58826, upload-time = "2024-04-23T22:16:14.422Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "werkzeug"
|
||||
version = "3.1.3"
|
||||
source = { registry = "https://pypi.org/simple" }
|
||||
dependencies = [
|
||||
{ name = "markupsafe" },
|
||||
]
|
||||
sdist = { url = "https://files.pythonhosted.org/packages/9f/69/83029f1f6300c5fb2471d621ab06f6ec6b3324685a2ce0f9777fd4a8b71e/werkzeug-3.1.3.tar.gz", hash = "sha256:60723ce945c19328679790e3282cc758aa4a6040e4bb330f53d30fa546d44746", size = 806925, upload-time = "2024-11-08T15:52:18.093Z" }
|
||||
wheels = [
|
||||
{ url = "https://files.pythonhosted.org/packages/52/24/ab44c871b0f07f491e5d2ad12c9bd7358e527510618cb1b803a88e986db1/werkzeug-3.1.3-py3-none-any.whl", hash = "sha256:54b78bf3716d19a65be4fceccc0d1d7b89e608834989dfae50ea87564639213e", size = 224498, upload-time = "2024-11-08T15:52:16.132Z" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "xattr"
|
||||
version = "1.2.0"
|
||||
|
||||
Reference in New Issue
Block a user