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fix ui.py

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old-commit-hash: 7ae497d05d
commatwo_master
Willem Melching 4 years ago
parent b854cca46d
commit 3516acf3ad
1 changed files with 5 additions and 5 deletions
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  1. 10
      tools/replay/ui.py

10
tools/replay/ui.py
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@ -69,7 +69,7 @@ def ui_thread(addr, frame_address):
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
frame = messaging.sub_sock('frame', addr=addr, conflate=True) frame = messaging.sub_sock('frame', addr=addr, conflate=True)
sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
'liveTracks', 'model', 'liveMpc', 'liveParameters', 'lateralPlan', 'frame'], addr=addr) 'liveTracks', 'model', 'liveMpc', 'liveParameters', 'lateralPlan', 'frame'], addr=addr)
calibration = None calibration = None
@ -164,7 +164,7 @@ def ui_thread(addr, frame_address):
angle_steers_k = np.inf angle_steers_k = np.inf
plot_arr[:-1] = plot_arr[1:] plot_arr[:-1] = plot_arr[1:]
plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['controlsState'].angleSteers plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['controlsState'].angleSteersDes
plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steerAngle plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steerAngle
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
@ -172,12 +172,12 @@ def ui_thread(addr, frame_address):
plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
plot_arr[-1, name_to_arr_idx['computer_brake']] = sm['carControl'].actuators.brake plot_arr[-1, name_to_arr_idx['computer_brake']] = sm['carControl'].actuators.brake
plot_arr[-1, name_to_arr_idx['v_ego']] = sm['controlsState'].vEgo plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
plot_arr[-1, name_to_arr_idx['v_override']] = sm['carControl'].cruiseControl.speedOverride plot_arr[-1, name_to_arr_idx['v_override']] = sm['carControl'].cruiseControl.speedOverride
plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
plot_arr[-1, name_to_arr_idx['a_target']] = sm['plan'].aTarget plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
plot_arr[-1, name_to_arr_idx['accel_override']] = sm['carControl'].cruiseControl.accelOverride plot_arr[-1, name_to_arr_idx['accel_override']] = sm['carControl'].cruiseControl.accelOverride
# ***** model **** # ***** model ****
@ -241,7 +241,7 @@ def ui_thread(addr, frame_address):
info_font.render("BRAKE LIGHTS", True, RED if sm['carState'].brakeLights else BLACK), info_font.render("BRAKE LIGHTS", True, RED if sm['carState'].brakeLights else BLACK),
info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW), info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW), info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
info_font.render("LONG MPC SOURCE: " + str(sm['plan'].longitudinalPlanSource), True, YELLOW), info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
None, None,
info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverage, 2)) + " deg", True, YELLOW), info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverage, 2)) + " deg", True, YELLOW),
info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffset, 2)) + " deg", True, YELLOW), info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffset, 2)) + " deg", True, YELLOW),

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