mirror of
https://github.com/sunnypilot/sunnypilot.git
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DevTekVE
210 lines
10 KiB
XML
210 lines
10 KiB
XML
<?xml version='1.0' encoding='UTF-8'?>
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<root>
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<tabbed_widget parent="main_window" name="Main Window">
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<Tab tab_name="actuator data" containers="1">
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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 style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-1.050000" top="1.050000" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#17becf" name="/carControl/actuators/torque"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-453.043646" top="538.555487" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#1f77b4" name="/carControl/actuators/steeringAngleDeg"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-0.647461" top="26.545898" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#ff7f0e" name="/carState/vEgoRaw"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-0.209157" top="0.175448" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#f14cc1" name="/carControl/actuators/curvature"/>
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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 tab_name="steering messages (CAN)" containers="1">
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<Container>
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<DockSplitter orientation="-" sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5">
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-189.000000" top="189.000000" right="723.115449" left="6.371879"/>
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<limitY/>
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<curve color="#b6ff00" name="/can/128/LKAS_ALT/LKAS_ANGLE_CMD"/>
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<curve color="#00fab2" name="/can/0/LKAS_ALT/LKAS_ANGLE_CMD"/>
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<curve color="#d62728" name="/can/192/LKAS_ALT/LKAS_ANGLE_CMD"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-6.250000" top="256.250000" right="722.420439" left="6.497277"/>
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<limitY/>
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<curve color="#00ffe8" name="/can/128/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
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<curve color="#e5fd00" name="/can/0/LKAS_ALT/LKAS_ANGLE_MAX_TORQUE"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-4.399729" top="4.056632" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#ff7f0e" name="IMU_LatAccelVal_ms^2_roll_compensated"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-0.025000" top="1.025000" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#d62728" name="/carState/steeringPressed"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-0.025000" top="1.025000" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#f14cc1" name="/can/1/CCNC_0x161/DAW_ICON"/>
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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 tab_name="Understanding Torque" containers="1">
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<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 style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-6.250000" top="256.250000" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#1f77b4" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
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</plot>
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</DockArea>
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<DockArea name="...">
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<plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
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<range bottom="-42.062501" top="78.162503" right="722.420439" left="0.000000"/>
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<limitY/>
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<curve color="#1ac938" name="/carState/steeringTorqueEps"/>
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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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<currentTabIndex index="1"/>
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</tabbed_widget>
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<use_relative_time_offset enabled="1"/>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<Plugins>
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<plugin ID="DataLoad CSV">
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<default delimiter="0" time_axis=""/>
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</plugin>
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<plugin ID="DataLoad MCAP"/>
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<plugin ID="DataLoad Rlog"/>
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<plugin ID="DataLoad ULog"/>
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<plugin ID="Cereal Subscriber"/>
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<plugin ID="UDP Server"/>
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<plugin ID="WebSocket Server"/>
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<plugin ID="ZMQ Subscriber"/>
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<plugin ID="Fast Fourier Transform"/>
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<plugin ID="Quaternion to RPY"/>
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<plugin ID="Reactive Script Editor">
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<library code="--[[ Helper function to create a series from arrays

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

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

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

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

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

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

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

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end
"/>
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<scripts/>
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</plugin>
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<plugin ID="CSV Exporter"/>
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</Plugins>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<customMathEquations>
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<snippet name="Desired lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/desiredCurvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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<snippet name="Actual lateral accel (roll compensated)">
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<global></global>
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<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
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<linked_source>/controlsState/curvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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</additional_sources>
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</snippet>
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<snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
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<global></global>
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<function>if (v1 == 0 and v2 == 1) then
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return (value * -9.8) - (v3 * 9.81)
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end
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--return 0
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return (value * -9.8) - (v3 * 9.81)</function>
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<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
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<additional_sources>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/latActive</v2>
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<v3>/liveParameters/roll</v3>
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</additional_sources>
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</snippet>
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<snippet name="IMU_LatAccelVal_Ms^3">
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<global></global>
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<function>return value * -9.8</function>
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<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
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<additional_sources>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/latActive</v2>
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</additional_sources>
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</snippet>
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<snippet name="IMU_LatAccelVal_Ms^2">
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<global></global>
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<function>if (v1 == 0 and v2 == 1) then
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return value * -9.8
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end
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return 0</function>
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<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
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<additional_sources>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/latActive</v2>
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</additional_sources>
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</snippet>
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<snippet name="roll compensated lateral acceleration">
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<global></global>
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<function>if (v3 == 0 and v4 == 1) then
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return (value * v1 ^ 2) - (v2 * 9.81)
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end
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return 0</function>
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<linked_source>/controlsState/curvature</linked_source>
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<additional_sources>
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<v1>/carState/vEgo</v1>
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<v2>/liveParameters/roll</v2>
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<v3>/carState/steeringPressed</v3>
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<v4>/carControl/latActive</v4>
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</additional_sources>
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</snippet>
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<snippet name="IMU_LatAccelVal_ms^2">
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<global></global>
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<function>return value * -9.8</function>
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<linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
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<additional_sources>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/latActive</v2>
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</additional_sources>
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</snippet>
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</customMathEquations>
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<snippets/>
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<!-- - - - - - - - - - - - - - - -->
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</root>
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