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141 lines
4.6 KiB
141 lines
4.6 KiB
import os
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import numpy as np
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import matplotlib.pyplot as plt
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import pylab
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from selfdrive.config import Conversions as CV
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class ManeuverPlot():
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def __init__(self, title=None):
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self.time_array = []
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self.gas_array = []
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self.brake_array = []
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self.steer_torque_array = []
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self.distance_array = []
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self.speed_array = []
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self.acceleration_array = []
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self.up_accel_cmd_array = []
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self.ui_accel_cmd_array = []
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self.uf_accel_cmd_array = []
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self.d_rel_array = []
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self.v_rel_array = []
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self.v_lead_array = []
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self.v_target_lead_array = []
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self.pid_speed_array = []
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self.cruise_speed_array = []
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self.jerk_factor_array = []
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self.a_target_array = []
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self.v_target_array = []
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self.fcw_array = []
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self.title = title
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def add_data(self, time, gas, brake, steer_torque, distance, speed,
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acceleration, up_accel_cmd, ui_accel_cmd, uf_accel_cmd, d_rel, v_rel,
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v_lead, v_target_lead, pid_speed, cruise_speed, jerk_factor, a_target, fcw):
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self.time_array.append(time)
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self.gas_array.append(gas)
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self.brake_array.append(brake)
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self.steer_torque_array.append(steer_torque)
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self.distance_array.append(distance)
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self.speed_array.append(speed)
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self.acceleration_array.append(acceleration)
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self.up_accel_cmd_array.append(up_accel_cmd)
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self.ui_accel_cmd_array.append(ui_accel_cmd)
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self.uf_accel_cmd_array.append(uf_accel_cmd)
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self.d_rel_array.append(d_rel)
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self.v_rel_array.append(v_rel)
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self.v_lead_array.append(v_lead)
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self.v_target_lead_array.append(v_target_lead)
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self.pid_speed_array.append(pid_speed)
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self.cruise_speed_array.append(cruise_speed)
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self.jerk_factor_array.append(jerk_factor)
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self.a_target_array.append(a_target)
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self.fcw_array.append(fcw)
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def write_plot(self, path, maneuver_name):
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# title = self.title or maneuver_name
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# TODO: Missing plots from the old one:
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# long_control_state
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# proportional_gb, intergral_gb
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if not os.path.exists(path + "/" + maneuver_name):
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os.makedirs(path + "/" + maneuver_name)
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plt_num = 0
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# speed chart ===================
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plt_num += 1
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plt.figure(plt_num)
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plt.plot(
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np.array(self.time_array), np.array(self.speed_array) * CV.MS_TO_MPH, 'r',
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np.array(self.time_array), np.array(self.pid_speed_array) * CV.MS_TO_MPH, 'y--',
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np.array(self.time_array), np.array(self.v_target_lead_array) * CV.MS_TO_MPH, 'b',
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np.array(self.time_array), np.array(self.cruise_speed_array) * CV.KPH_TO_MPH, 'k',
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np.array(self.time_array), np.array(self.v_lead_array) * CV.MS_TO_MPH, 'm'
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)
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plt.xlabel('Time [s]')
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plt.ylabel('Speed [mph]')
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plt.legend(['speed', 'pid speed', 'Target (lead) speed', 'Cruise speed', 'Lead speed'], loc=0)
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plt.grid()
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pylab.savefig("/".join([path, maneuver_name, 'speeds.svg']), dpi=1000)
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# acceleration chart ============
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plt_num += 1
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plt.figure(plt_num)
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plt.plot(
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np.array(self.time_array), np.array(self.acceleration_array), 'g',
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np.array(self.time_array), np.array(self.a_target_array), 'k--',
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np.array(self.time_array), np.array(self.fcw_array), 'ro',
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)
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plt.xlabel('Time [s]')
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plt.ylabel('Acceleration [m/s^2]')
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plt.legend(['ego-plant', 'target', 'fcw'], loc=0)
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plt.grid()
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pylab.savefig("/".join([path, maneuver_name, 'acceleration.svg']), dpi=1000)
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# pedal chart ===================
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plt_num += 1
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plt.figure(plt_num)
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plt.plot(
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np.array(self.time_array), np.array(self.gas_array), 'g',
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np.array(self.time_array), np.array(self.brake_array), 'r',
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)
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plt.xlabel('Time [s]')
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plt.ylabel('Pedal []')
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plt.legend(['Gas pedal', 'Brake pedal'], loc=0)
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plt.grid()
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pylab.savefig("/".join([path, maneuver_name, 'pedals.svg']), dpi=1000)
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# pid chart ======================
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plt_num += 1
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plt.figure(plt_num)
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plt.plot(
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np.array(self.time_array), np.array(self.up_accel_cmd_array), 'g',
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np.array(self.time_array), np.array(self.ui_accel_cmd_array), 'b',
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np.array(self.time_array), np.array(self.uf_accel_cmd_array), 'r'
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)
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plt.xlabel("Time, [s]")
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plt.ylabel("Accel Cmd [m/s^2]")
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plt.grid()
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plt.legend(["Proportional", "Integral", "feedforward"], loc=0)
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pylab.savefig("/".join([path, maneuver_name, "pid.svg"]), dpi=1000)
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# relative distances chart =======
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plt_num += 1
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plt.figure(plt_num)
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plt.plot(
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np.array(self.time_array), np.array(self.d_rel_array), 'g',
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)
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plt.xlabel('Time [s]')
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plt.ylabel('Relative Distance [m]')
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plt.grid()
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pylab.savefig("/".join([path, maneuver_name, 'distance.svg']), dpi=1000)
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plt.close("all")
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