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81 lines
2.6 KiB
81 lines
2.6 KiB
#!/usr/bin/env python3
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# type: ignore
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import os
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import argparse
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import signal
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from collections import defaultdict
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import cereal.messaging as messaging
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def sigint_handler(signal, frame):
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print("handler!")
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exit(0)
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signal.signal(signal.SIGINT, sigint_handler)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Sniff a communication socket')
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parser.add_argument('--addr', default='127.0.0.1')
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args = parser.parse_args()
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if args.addr != "127.0.0.1":
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os.environ["ZMQ"] = "1"
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messaging.context = messaging.Context()
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carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
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sm = messaging.SubMaster(['carState', 'carControl', 'controlsState'], addr=args.addr)
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msg_cnt = 0
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stats = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0})
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cnt = 0
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total_error = 0
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while messaging.recv_one(carControl):
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sm.update()
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msg_cnt += 1
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actual_speed = sm['carState'].vEgo
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enabled = sm['controlsState'].enabled
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steer_override = sm['controlsState'].steerOverride
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# must be above 10 m/s, engaged and not overriding steering
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if actual_speed > 10.0 and enabled and not steer_override:
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cnt += 1
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# wait 5 seconds after engage/override
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if cnt >= 500:
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# calculate error before rounding
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actual_angle = sm['controlsState'].angleSteers
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desired_angle = sm['carControl'].actuators.steeringAngleDeg
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angle_error = abs(desired_angle - actual_angle)
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# round numbers
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actual_angle = round(actual_angle, 1)
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desired_angle = round(desired_angle, 1)
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angle_error = round(angle_error, 2)
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angle_abs = int(abs(round(desired_angle, 0)))
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# collect stats
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stats[angle_abs]["err"] += angle_error
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stats[angle_abs]["cnt"] += 1
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if actual_angle == desired_angle:
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stats[angle_abs]["="] += 1
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else:
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if desired_angle == 0.:
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overshoot = True
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else:
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overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle
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stats[angle_abs]["+" if overshoot else "-"] += 1
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else:
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cnt = 0
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if msg_cnt % 100 == 0:
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print(chr(27) + "[2J")
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if cnt != 0:
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print("COLLECTING ...")
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else:
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print("DISABLED (speed too low, not engaged, or steer override)")
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for k in sorted(stats.keys()):
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v = stats[k]
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print(f'angle: {k:#2} | error: {round(v["err"] / v["cnt"], 2):2.2f} | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#4}% | -:{int(v["-"] / v["cnt"] * 100):#3}% | count: {v["cnt"]:#4}')
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