From 2e3bf355a1938397b843fa638dddf6da10a94eba Mon Sep 17 00:00:00 2001 From: qadmus <42746943+qadmus@users.noreply.github.com> Date: Mon, 15 Nov 2021 13:20:53 -0800 Subject: [PATCH] plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active (#22908) old-commit-hash: 5f2c7ad69f68857c0a160032fc4308927e38302e --- tools/plotjuggler/layouts/tuning.xml | 200 ++++++++++++++------------- 1 file changed, 101 insertions(+), 99 deletions(-) diff --git a/tools/plotjuggler/layouts/tuning.xml b/tools/plotjuggler/layouts/tuning.xml index 270b4a628..877fb82a5 100644 --- a/tools/plotjuggler/layouts/tuning.xml +++ b/tools/plotjuggler/layouts/tuning.xml @@ -1,43 +1,43 @@ - + - + - + - + - + - - - + + + - + - + - + - - + + - + @@ -48,46 +48,47 @@ - - + + - + - - + + + - + - - - + + + - + - + - + - - - + + + - + - - + + @@ -95,10 +96,10 @@ - + - + @@ -107,23 +108,23 @@ - + - - + + - + - - + + - + @@ -131,7 +132,7 @@ - t + @@ -142,40 +143,39 @@ + - + engage_delay = 5 last_bad_time = -engage_delay - accel = value -brake = v1 -gas = v2 -active = v3 + curvature = value / v3 +pressed = v1 +enabled = v2 -if (brake ~= 0 or gas ~= 0 or active == 0) then +if (pressed == 1 or enabled == 0) then last_bad_time = time end if (time > last_bad_time + engage_delay) then - return value + return curvature else return 0 end - /carControl/actuators/accel + /liveLocationKalman/angularVelocityCalibrated/value/2 - /carState/brakePressed - /carState/gasPressed - /carControl/active + /carState/steeringPressed + /carControl/enabled + /liveLocationKalman/velocityCalibrated/value/0 - + engage_delay = 5 last_bad_time = -engage_delay - accel = value -brake = v1 -gas = v2 -active = v3 + curvature = value +pressed = v1 +enabled = v2 -if (brake ~= 0 or gas ~= 0 or active == 0) then +if (pressed == 1 or enabled == 0) then last_bad_time = time end @@ -184,22 +184,20 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /longitudinalPlan/accels/0 + /controlsState/curvature - /carState/brakePressed - /carState/gasPressed - /carControl/active + /carState/steeringPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - accel = value -brake = v1 -gas = v2 -active = v3 + curvature = value +pressed = v1 +enabled = v2 -if (brake ~= 0 or gas ~= 0 or active == 0) then +if (pressed == 1 or enabled == 0) then last_bad_time = time end @@ -208,21 +206,21 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /carState/aEgo + /lateralPlan/curvatures/0 - /carState/brakePressed - /carState/gasPressed - /carControl/active + /carState/steeringPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - curvature = value -pressed = v1 -active = v2 + accel = value +brake = v1 +gas = v2 +enabled = v3 -if (pressed == 1 or active == 0) then +if (brake ~= 0 or gas ~= 0 or enabled == 0) then last_bad_time = time end @@ -231,20 +229,22 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /lateralPlan/curvatures/0 + /carState/aEgo - /carState/steeringPressed - /carControl/active + /carState/brakePressed + /carState/gasPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - curvature = value -pressed = v1 -active = v2 + accel = value +brake = v1 +gas = v2 +enabled = v3 -if (pressed == 1 or active == 0) then +if (brake ~= 0 or gas ~= 0 or enabled == 0) then last_bad_time = time end @@ -253,33 +253,35 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /controlsState/curvature + /longitudinalPlan/accels/0 - /carState/steeringPressed - /controlsState/active + /carState/brakePressed + /carState/gasPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - curvature = value / v3 -pressed = v1 -active = v2 + accel = value +brake = v1 +gas = v2 +enabled = v3 -if (pressed == 1 or active == 0) then +if (brake ~= 0 or gas ~= 0 or enabled == 0) then last_bad_time = time end if (time > last_bad_time + engage_delay) then - return curvature + return value else return 0 end - /liveLocationKalman/angularVelocityCalibrated/value/2 + /carControl/actuators/accel - /carState/steeringPressed - /carControl/active - /carState/vEgo + /carState/brakePressed + /carState/gasPressed + /carControl/enabled