mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-24 07:52:05 +08:00
DevTekVE
282 lines
9.0 KiB
XML
282 lines
9.0 KiB
XML
<?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>
|
|
|