mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-01 21:39:43 +08:00
Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 James Vecellio
|
9e131b4a69 | ||
|
James Vecellio
|
f402487f9e | ||
|
James Vecellio
|
2c922afa12 | ||
|
discountchubbs
|
342abcd45a | ||
|
discountchubbs
|
6e8586e566 |
@@ -2,6 +2,5 @@ Wen
|
||||
REGIST
|
||||
PullRequest
|
||||
cancelled
|
||||
indeces
|
||||
FOF
|
||||
NoO
|
||||
|
||||
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>
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define DEFAULT_MODEL "Firehose (Default)"
|
||||
#define DEFAULT_MODEL "TCPv3 + gWMv9 (Default)"
|
||||
|
||||
@@ -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...c7126f8ba6
@@ -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() {
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:ebb38a934d6472c061cc6010f46d9720ca132d631a47e585a893bdd41ade2419
|
||||
size 12343535
|
||||
oid sha256:76e7beaa7822219b019a4352ab111d0898abf72bd4b0d9520bd8dc68174e8c31
|
||||
size 13926460
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:befac016a247b7ad5dc5b55d339d127774ed7bd2b848f1583f72aa4caee37781
|
||||
size 46271991
|
||||
oid sha256:8f16d548ea4eb5d01518a9e90d4527cd97c31a84bcaf6f695dead8f0015fecc4
|
||||
size 46271942
|
||||
|
||||
@@ -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 @@
|
||||
70406ab4dd66d0e384734a8a56632ae4a62bc9670c2e630a0f71588c4e212cd8
|
||||
5584d697233d147e0b6402e485b7cbf8fdddb70bde4b9e3b2f6919ed5f69475f
|
||||
@@ -16,9 +16,8 @@ from functools import partial
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import set_core_affinity
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
|
||||
recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler, stat_handler
|
||||
recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
|
||||
from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
|
||||
create_connection, WebSocketConnectionClosedException)
|
||||
|
||||
@@ -52,7 +51,7 @@ 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,), 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)
|
||||
|
||||
@@ -1,259 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import base64
|
||||
import json
|
||||
import os
|
||||
import threading
|
||||
import traceback
|
||||
|
||||
import zmq
|
||||
import time
|
||||
import uuid
|
||||
from pathlib import Path
|
||||
from collections import defaultdict
|
||||
from datetime import datetime, UTC
|
||||
|
||||
from openpilot.common.params import Params
|
||||
from cereal.messaging import SubMaster
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware import HARDWARE
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
from openpilot.system.version import get_build_metadata
|
||||
from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
|
||||
from openpilot.system.statsd import METRIC_TYPE, StatLogSP
|
||||
from openpilot.common.realtime import Ratekeeper
|
||||
|
||||
|
||||
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)
|
||||
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):
|
||||
items.update(flatten_dict(v, new_key, sep=sep))
|
||||
else:
|
||||
items[new_key] = v
|
||||
return items
|
||||
|
||||
# Collect sunnypilot parameters
|
||||
stats_dict = {}
|
||||
|
||||
param_keys = [
|
||||
'SunnylinkEnabled',
|
||||
'AutoLaneChangeBsmDelay',
|
||||
'AutoLaneChangeTimer',
|
||||
'CarPlatformBundle',
|
||||
'DevUIInfo',
|
||||
'EnableCopyparty',
|
||||
'IntelligentCruiseButtonManagement',
|
||||
'QuietMode',
|
||||
'RainbowMode',
|
||||
'ShowAdvancedControls',
|
||||
'Mads',
|
||||
'MadsMainCruiseAllowed',
|
||||
'MadsSteeringMode',
|
||||
'MadsUnifiedEngagementMode',
|
||||
'ModelManager_Favs',
|
||||
'EnableSunnylinkUploader',
|
||||
'SunnylinkEnabled',
|
||||
'InstallDate',
|
||||
'UptimeOffroad',
|
||||
'UptimeOnroad',
|
||||
]
|
||||
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
for key in param_keys:
|
||||
|
||||
try:
|
||||
value = params.get(key)
|
||||
except Exception as e:
|
||||
stats_dict[key] = e
|
||||
continue
|
||||
|
||||
if value is None:
|
||||
continue
|
||||
|
||||
if isinstance(value, dict):
|
||||
stats_dict.update(flatten_dict(value, key))
|
||||
else:
|
||||
stats_dict[key] = value
|
||||
|
||||
if stats_dict:
|
||||
statlogsp.raw('sunnypilot_params', stats_dict)
|
||||
except Exception as e:
|
||||
cloudlog.error(f"Exception {e}")
|
||||
finally:
|
||||
rk.keep_time()
|
||||
|
||||
|
||||
def stats_main(end_event):
|
||||
comma_dongle_id = Params().get("DongleId")
|
||||
sunnylink_dongle_id = Params().get("SunnylinkDongleId")
|
||||
|
||||
def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
|
||||
res = f"{measurement}"
|
||||
for k, v in tags.items():
|
||||
res += f",{k}={str(v)}"
|
||||
res += " "
|
||||
|
||||
if isinstance(value, float):
|
||||
value = {'value': value}
|
||||
|
||||
for k, v in value.items():
|
||||
res += f"{k}={str(v)},"
|
||||
|
||||
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:
|
||||
res = f"{measurement}"
|
||||
for k, v in tags.items():
|
||||
res += f",{k}={str(v)}"
|
||||
res += " "
|
||||
|
||||
for k, v in value.items():
|
||||
res += f"{k}=\"{str(v)}\","
|
||||
|
||||
res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
|
||||
return res
|
||||
|
||||
# open statistics socket
|
||||
ctx = zmq.Context.instance()
|
||||
sock = ctx.socket(zmq.PULL)
|
||||
sock.bind(f"{STATS_SOCKET}_sp")
|
||||
|
||||
STATS_DIR = Paths.stats_sp_root()
|
||||
|
||||
# initialize stats directory
|
||||
Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
|
||||
|
||||
build_metadata = get_build_metadata()
|
||||
|
||||
# initialize tags
|
||||
tags = {
|
||||
'started': False,
|
||||
'version': build_metadata.openpilot.version,
|
||||
'branch': build_metadata.channel,
|
||||
'dirty': build_metadata.openpilot.is_dirty,
|
||||
'origin': build_metadata.openpilot.git_normalized_origin,
|
||||
'deviceType': HARDWARE.get_device_type(),
|
||||
}
|
||||
|
||||
# subscribe to deviceState for started state
|
||||
sm = SubMaster(['deviceState'])
|
||||
|
||||
idx = 0
|
||||
boot_uid = str(uuid.uuid4())[:8]
|
||||
last_flush_time = time.monotonic()
|
||||
gauges = {}
|
||||
samples: dict[str, list[float]] = defaultdict(list)
|
||||
raws: dict = defaultdict()
|
||||
try:
|
||||
while not end_event.is_set():
|
||||
started_prev = sm['deviceState'].started
|
||||
sm.update()
|
||||
|
||||
# Update metrics
|
||||
while True:
|
||||
try:
|
||||
metric = sock.recv_string(zmq.NOBLOCK)
|
||||
try:
|
||||
metric_type = metric.split('|')[1]
|
||||
metric_name = metric.split(':')[0]
|
||||
metric_value_raw = metric.split('|')[0].split(':')[1]
|
||||
|
||||
if metric_type == METRIC_TYPE.GAUGE:
|
||||
metric_value = float(metric_value_raw)
|
||||
gauges[metric_name] = metric_value
|
||||
elif metric_type == METRIC_TYPE.SAMPLE:
|
||||
metric_value = float(metric_value_raw)
|
||||
samples[metric_name].append(metric_value)
|
||||
elif metric_type == METRIC_TYPE.RAW:
|
||||
raws[metric_name] = metric_value_raw
|
||||
else:
|
||||
cloudlog.event("unknown metric type", metric_type=metric_type)
|
||||
except Exception:
|
||||
print(traceback.format_exc())
|
||||
cloudlog.event("malformed metric", metric=metric)
|
||||
except zmq.error.Again:
|
||||
break
|
||||
|
||||
# flush when started state changes or after FLUSH_TIME_S
|
||||
if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
|
||||
result = ""
|
||||
current_time = datetime.now(UTC)
|
||||
tags['started'] = sm['deviceState'].started
|
||||
|
||||
for key, value in raws.items():
|
||||
decoded_value = json.loads(base64.b64decode(value).decode('utf-8'))
|
||||
result += get_influxdb_line_raw(key, decoded_value, current_time, tags)
|
||||
|
||||
for key, value in gauges.items():
|
||||
result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
|
||||
|
||||
for key, values in samples.items():
|
||||
values.sort()
|
||||
sample_count = len(values)
|
||||
sample_sum = sum(values)
|
||||
|
||||
stats = {
|
||||
'count': sample_count,
|
||||
'min': values[0],
|
||||
'max': values[-1],
|
||||
'mean': sample_sum / sample_count,
|
||||
}
|
||||
for percentile in [0.05, 0.5, 0.95]:
|
||||
value = values[int(round(percentile * (sample_count - 1)))]
|
||||
stats[f"p{int(percentile * 100)}"] = value
|
||||
|
||||
result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
|
||||
|
||||
# clear intermediate data
|
||||
gauges.clear()
|
||||
samples.clear()
|
||||
last_flush_time = time.monotonic()
|
||||
|
||||
# check that we aren't filling up the drive
|
||||
if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
|
||||
if len(result) > 0:
|
||||
stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
|
||||
with atomic_write_in_dir(stats_path) as f:
|
||||
f.write(result)
|
||||
idx += 1
|
||||
else:
|
||||
cloudlog.error("stats dir full")
|
||||
finally:
|
||||
sock.close()
|
||||
ctx.term()
|
||||
|
||||
|
||||
def main():
|
||||
rk = Ratekeeper(1, print_delay_threshold=None)
|
||||
end_event = threading.Event()
|
||||
|
||||
threads = [
|
||||
threading.Thread(target=stats_main, args=(end_event,)),
|
||||
threading.Thread(target=sp_stats, args=(end_event,)),
|
||||
]
|
||||
|
||||
for t in threads:
|
||||
t.start()
|
||||
|
||||
try:
|
||||
while all(t.is_alive() for t in threads):
|
||||
rk.keep_time()
|
||||
finally:
|
||||
end_event.set()
|
||||
|
||||
for t in threads:
|
||||
t.join()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -744,17 +744,17 @@ 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:
|
||||
stats_dir = stats_dir or Paths.stats_root()
|
||||
def stat_handler(end_event: threading.Event) -> None:
|
||||
STATS_DIR = Paths.stats_root()
|
||||
last_scan = 0.0
|
||||
|
||||
while not end_event.is_set():
|
||||
curr_scan = time.monotonic()
|
||||
try:
|
||||
if curr_scan - last_scan > 10:
|
||||
stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(stats_dir)))
|
||||
stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
|
||||
if len(stat_filenames) > 0:
|
||||
stat_path = os.path.join(stats_dir, stat_filenames[0])
|
||||
stat_path = os.path.join(STATS_DIR, stat_filenames[0])
|
||||
with open(stat_path) as f:
|
||||
jsonrpc = {
|
||||
"method": "storeStats",
|
||||
|
||||
@@ -55,13 +55,6 @@ class Paths:
|
||||
else:
|
||||
return "/data/stats/"
|
||||
|
||||
@staticmethod
|
||||
def stats_sp_root() -> str:
|
||||
if PC:
|
||||
return str(Path(Paths.comma_home()) / "stats")
|
||||
else:
|
||||
return "/data/stats_sp/"
|
||||
|
||||
@staticmethod
|
||||
def config_root() -> str:
|
||||
if PC:
|
||||
|
||||
@@ -164,7 +164,6 @@ procs = [
|
||||
# sunnylink <3
|
||||
DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
|
||||
PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
|
||||
PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
|
||||
]
|
||||
|
||||
# sunnypilot
|
||||
|
||||
+4
-55
@@ -1,15 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
import base64
|
||||
import json
|
||||
import os
|
||||
from decimal import Decimal
|
||||
|
||||
import zmq
|
||||
import time
|
||||
import uuid
|
||||
from pathlib import Path
|
||||
from collections import defaultdict
|
||||
from datetime import datetime, UTC, date
|
||||
from datetime import datetime, UTC
|
||||
from typing import NoReturn
|
||||
|
||||
from openpilot.common.params import Params
|
||||
@@ -25,21 +21,18 @@ from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET,
|
||||
class METRIC_TYPE:
|
||||
GAUGE = 'g'
|
||||
SAMPLE = 'sa'
|
||||
RAW = 'r'
|
||||
|
||||
|
||||
class StatLog:
|
||||
def __init__(self):
|
||||
self.pid = None
|
||||
self.zctx = None
|
||||
self.sock = None
|
||||
self.stats_socket = STATS_SOCKET
|
||||
|
||||
def connect(self) -> None:
|
||||
self.zctx = zmq.Context.instance() or zmq.Context()
|
||||
self.zctx = zmq.Context()
|
||||
self.sock = self.zctx.socket(zmq.PUSH)
|
||||
self.sock.setsockopt(zmq.LINGER, 10)
|
||||
self.sock.connect(self.stats_socket)
|
||||
self.sock.connect(STATS_SOCKET)
|
||||
self.pid = os.getpid()
|
||||
|
||||
def __del__(self):
|
||||
@@ -67,50 +60,6 @@ class StatLog:
|
||||
self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}")
|
||||
|
||||
|
||||
class StatLogSP(StatLog):
|
||||
def __init__(self, intercept=True):
|
||||
"""
|
||||
Initializes the class instance with an optional parameter to determine
|
||||
if statistical logging should be configured or not.
|
||||
|
||||
:param intercept: A boolean flag that indicates whether to initialize
|
||||
the `comma_statlog`. If True, the `comma_statlog` attribute is
|
||||
instantiated as a `StatLog` object. Defaults to True.
|
||||
"""
|
||||
super().__init__()
|
||||
self.comma_statlog = StatLog() if intercept else None
|
||||
self.stats_socket = f"{STATS_SOCKET}_sp"
|
||||
|
||||
def connect(self) -> None:
|
||||
super().connect()
|
||||
if self.comma_statlog:
|
||||
self.comma_statlog.connect()
|
||||
|
||||
def __del__(self):
|
||||
super().__del__()
|
||||
if self.comma_statlog:
|
||||
self.comma_statlog.__del__()
|
||||
|
||||
def _send(self, metric: str) -> None:
|
||||
super()._send(metric)
|
||||
if self.comma_statlog:
|
||||
self.comma_statlog._send(metric)
|
||||
|
||||
@staticmethod
|
||||
def default_converter(obj):
|
||||
if isinstance(obj, (datetime, date)):
|
||||
return obj.isoformat()
|
||||
if isinstance(obj, set):
|
||||
return list(obj)
|
||||
if isinstance(obj, Decimal):
|
||||
return float(obj)
|
||||
return str(obj) # fallback for unknown types
|
||||
|
||||
def raw(self, name: str, value: dict) -> None:
|
||||
encoded_dict = base64.b64encode(json.dumps(value, default=self.default_converter).encode("utf-8")).decode("utf-8")
|
||||
self._send(f"{name}:{encoded_dict}|{METRIC_TYPE.RAW}")
|
||||
|
||||
|
||||
def main() -> NoReturn:
|
||||
dongle_id = Params().get("DongleId")
|
||||
def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
|
||||
@@ -231,4 +180,4 @@ def main() -> NoReturn:
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
else:
|
||||
statlog = StatLogSP(intercept=True)
|
||||
statlog = StatLog()
|
||||
|
||||
@@ -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
@@ -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>
|
||||
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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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 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>
|
||||
|
||||
Reference in New Issue
Block a user