mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-07 00:05:44 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 royjr
|
431ea4ed6d | ||
|
Jason Wen
|
bea05d4624 |
@@ -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>
|
||||
@@ -262,11 +262,4 @@ 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: 11a657be24...61bf5a90c5
@@ -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 +0,0 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:434a720871336d359378beff5ebff3f9fd654d958693d272c7c6f2e271c7e41c
|
||||
size 47676
|
||||
@@ -177,7 +177,7 @@ class HomeLayout(Widget):
|
||||
|
||||
version_rect = rl.Rectangle(self.header_rect.x + self.header_rect.width - version_text_width, self.header_rect.y,
|
||||
version_text_width, self.header_rect.height)
|
||||
gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, font_weight=FontWeight.AUDIOWIDE)
|
||||
gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
|
||||
|
||||
def _render_home_content(self):
|
||||
self._render_left_column()
|
||||
|
||||
@@ -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;
|
||||
};
|
||||
@@ -94,7 +94,6 @@ class FontWeight(StrEnum):
|
||||
BOLD = "Inter-Bold.fnt"
|
||||
SEMI_BOLD = "Inter-SemiBold.fnt"
|
||||
UNIFONT = "unifont.fnt"
|
||||
AUDIOWIDE = "Audiowide-Regular.ttf"
|
||||
|
||||
# Small UI fonts
|
||||
DISPLAY_REGULAR = "Inter-Regular.fnt"
|
||||
|
||||
@@ -16,6 +16,7 @@ AUTO_SCROLL_TC = 0.18
|
||||
BOUNCE_RETURN_RATE = 10.0
|
||||
REJECT_DECELERATION_FACTOR = 3
|
||||
MAX_SPEED = 10000.0 # px/s
|
||||
MOUSE_WHEEL_SCROLL_SPEED = 5
|
||||
|
||||
DEBUG = os.getenv("DEBUG_SCROLL", "0") == "1"
|
||||
|
||||
@@ -58,7 +59,7 @@ class GuiScrollPanel2:
|
||||
self._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
|
||||
self._previous_mouse_event = mouse_event
|
||||
|
||||
self._update_state(bounds_size, content_size)
|
||||
self._update_state(bounds, bounds_size, content_size)
|
||||
|
||||
if DEBUG:
|
||||
print('Velocity:', self._velocity)
|
||||
@@ -67,8 +68,17 @@ class GuiScrollPanel2:
|
||||
print()
|
||||
return self.get_offset()
|
||||
|
||||
def _update_state(self, bounds_size: float, content_size: float) -> None:
|
||||
def _update_state(self, bounds: rl.Rectangle, bounds_size: float, content_size: float) -> None:
|
||||
"""Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
|
||||
mouse_wheel = rl.get_mouse_wheel_move()
|
||||
if mouse_wheel != 0:
|
||||
mouse_pos = rl.get_mouse_position()
|
||||
if rl.check_collision_point_rec(mouse_pos, bounds):
|
||||
scroll_delta = mouse_wheel * MOUSE_WHEEL_SCROLL_SPEED
|
||||
current_offset = self._offset.x if self._horizontal else self._offset.y
|
||||
self.set_offset(current_offset + scroll_delta)
|
||||
self._velocity = 0.0
|
||||
|
||||
if self._state == ScrollState.AUTO_SCROLL:
|
||||
# simple exponential return if out of bounds
|
||||
out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
|
||||
|
||||
@@ -69,6 +69,9 @@ class DefaultStyleSP(Base):
|
||||
BUTTON_PRIMARY_COLOR = rl.Color(70, 91, 234, 255) # Royal Blue
|
||||
BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255)
|
||||
BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255) # Very Dark Grey
|
||||
TREE_DIALOG_TRANSPARENT = rl.Color(0, 0, 0, 0)
|
||||
TREE_DIALOG_SEARCH_BUTTON_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
|
||||
TREE_DIALOG_SEARCH_BUTTON_BORDER = rl.Color(150, 150, 150, 200)
|
||||
|
||||
# Vehicle Description Colors
|
||||
GREEN = rl.Color(0, 241, 0, 255)
|
||||
|
||||
@@ -99,6 +99,7 @@ class TreeOptionDialog(MultiOptionDialog):
|
||||
self.search_title = search_title or tr("Enter search query")
|
||||
self.search_subtitle = search_subtitle
|
||||
self.search_dialog = None
|
||||
self._search_pressed = False
|
||||
|
||||
self._build_visible_items()
|
||||
|
||||
@@ -183,9 +184,10 @@ class TreeOptionDialog(MultiOptionDialog):
|
||||
input_rect = rl.Rectangle(self._search_rect.x + inset, self._search_rect.y + inset,
|
||||
self._search_rect.width - inset * 2, self._search_rect.height - inset * 2)
|
||||
|
||||
# Transparent fill + border
|
||||
rl.draw_rectangle_rounded(input_rect, roundness, 10, rl.Color(0, 0, 0, 0))
|
||||
rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, rl.Color(150, 150, 150, 200))
|
||||
# Transparent fill (unpressed), white fill (pressed), border
|
||||
fill_color = style.TREE_DIALOG_SEARCH_BUTTON_PRESSED if self._search_pressed else style.TREE_DIALOG_TRANSPARENT
|
||||
rl.draw_rectangle_rounded(input_rect, roundness, 10, fill_color)
|
||||
rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, style.TREE_DIALOG_SEARCH_BUTTON_BORDER)
|
||||
|
||||
# Magnifying glass icon
|
||||
icon_color = rl.Color(180, 180, 180, 240)
|
||||
@@ -233,8 +235,21 @@ class TreeOptionDialog(MultiOptionDialog):
|
||||
|
||||
return self._result
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos):
|
||||
def _handle_mouse_press(self, mouse_pos):
|
||||
if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
|
||||
self._search_pressed = True
|
||||
return True
|
||||
return super()._handle_mouse_press(mouse_pos)
|
||||
|
||||
def _handle_mouse_release(self, mouse_pos):
|
||||
clicked_search = False
|
||||
if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
|
||||
clicked_search = self._search_pressed
|
||||
|
||||
self._search_pressed = False
|
||||
|
||||
if clicked_search:
|
||||
self._on_search_clicked()
|
||||
return True
|
||||
|
||||
return super()._handle_mouse_release(mouse_pos)
|
||||
|
||||
@@ -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>
|
||||
<DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
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<DockArea name="...">
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
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<limitY/>
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<curve name="/carControl/actuators/torque" color="#17becf"/>
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</plot>
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<limitY/>
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<curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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</Container>
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</Tab>
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<Tab containers="1" tab_name="steering messages (CAN)">
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<DockArea name="...">
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
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<limitY/>
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<curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#29d627"/>
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<curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
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</plot>
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</DockArea>
|
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<DockArea name="...">
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||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
|
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<limitY/>
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<curve name="/carState/steeringPressed" color="#d62728"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
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<limitY/>
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<curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
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<limitY/>
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<curve name="/carState/steerFaultTemporary" color="#d62728"/>
|
||||
<curve name="/carControl/latActive" color="#1ac938"/>
|
||||
</plot>
|
||||
</DockArea>
|
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<DockArea name="...">
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||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
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<limitY/>
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<curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
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<limitY/>
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<curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
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||||
</plot>
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</DockArea>
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</DockSplitter>
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||||
</Container>
|
||||
</Tab>
|
||||
<Tab containers="1" tab_name="Understanding Torque">
|
||||
<Container>
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||||
<DockSplitter orientation="-" sizes="0.5;0.5" count="2">
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<DockArea name="...">
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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<range bottom="-6.175000" left="429.901019" top="253.175000" right="590.696728"/>
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<range bottom="-24.190000" left="301.990881" top="21.590000" right="462.962504"/>
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<limitY/>
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<curve name="/carState/steeringTorqueEps" color="#1ac938"/>
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</plot>
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</DockArea>
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</DockSplitter>
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</Container>
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||||
</Tab>
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<Tab containers="1" tab_name="tab2">
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||||
<Container>
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||||
<DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
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<DockArea name="...">
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<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
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<range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
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<limitY/>
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||||
<curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#9467bd"/>
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<curve name="/can/1/LFA_ALT/ADAS_ACIAnglTqRedcGainVal" color="#17becf"/>
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||||
<curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
|
||||
<curve name="/can/192/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#d62728"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
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||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
|
||||
<range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
|
||||
<limitY/>
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||||
<curve name="/can/128/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#b8c91a"/>
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||||
<curve name="/can/192/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#ff7f0e"/>
|
||||
</plot>
|
||||
</DockArea>
|
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<DockArea name="...">
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||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
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||||
<range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
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||||
<limitY/>
|
||||
<curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
|
||||
<curve name="/carState/steerFaultTemporary" color="#1f77b4"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
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||||
<range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
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||||
<limitY/>
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||||
<curve name="/pandaStates/0/safetyTxBlocked" color="#bcbd22"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<currentTabIndex index="3"/>
|
||||
</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/>
|
||||
<snippets/>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
</root>
|
||||
|
||||
@@ -1,636 +0,0 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget name="Main Window" parent="main_window">
|
||||
<Tab tab_name="actuator data" containers="1">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
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<limitY/>
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||||
<curve name="/carControl/actuators/torque" color="#17becf"/>
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
</DockSplitter>
|
||||
</Container>
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||||
</Tab>
|
||||
<Tab tab_name="steering messages (CAN)" containers="1">
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
<curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#ff7f0e"/>
|
||||
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|
||||
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|
||||
<DockArea name="...">
|
||||
<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
|
||||
<range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
|
||||
<limitY/>
|
||||
<curve name="/carState/steeringPressed" color="#d62728"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="...">
|
||||
<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<Tab tab_name="Understanding Torque" containers="1">
|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
</Container>
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||||
</Tab>
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||||
<Tab tab_name="Angle Error and Saturation TQ" containers="1">
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||||
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||||
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||||
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||||
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||||
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||||
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||||
<range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
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||||
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|
||||
<curve name="/carControl/latActive" color="#9467bd"/>
|
||||
<curve name="/carState/steeringPressed" color="#17becf"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
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|
||||
</Container>
|
||||
</Tab>
|
||||
<currentTabIndex index="3"/>
|
||||
</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 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