rename

common/params.cc

@@ -158,7 +158,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
-    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LongitudinalManeuverMode", PERSISTENT},
     {"LongitudinalPersonality", PERSISTENT},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},

system/manager/process_config.py

@@ -77,7 +77,7 @@ procs = [
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
   PythonProcess("controlsd", "selfdrive.controls.controlsd", not_joystick),
   PythonProcess("joystickd", "tools.joystick.joystickd", joystick),
-  PythonProcess("longitudinal_profilesd", "examples.longitudinal_profiles", long_maneuver),
+  PythonProcess("maneuversd", "examples.maneuversd", long_maneuver),
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),

tools/longitudinal_maneuvers/generate_report.py

@@ -0,0 +1,61 @@
+import io
+import os
+import time
+import base64
+import argparse
+import numpy as np
+import matplotlib.pyplot as plt
+from collections import defaultdict
+from dataclasses import dataclass, asdict
+from pathlib import Path
+
+
+def report(args, logs, fp):
+  output_path = Path(__file__).resolve().parent / "longitudinal_reports"
+  output_fn = args.output or output_path / f"{fp}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
+  output_path.mkdir(exist_ok=True)
+  with open(output_fn, "w") as f:
+    f.write("<h1>Longitudinal maneuver report</h1>\n")
+    f.write(f"<h3>{fp}</h3>\n")
+    if args.desc:
+      f.write(f"<h3>{args.desc}</h3>")
+    for description, runs in logs.items():
+      f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+      f.write(f"<h2>{description}</h2>\n")
+      for run, log in runs.items():
+        f.write(f"<h3>Run #{int(run)+1}</h3>\n")
+        plt.rcParams['font.size'] = 40
+        fig = plt.figure(figsize=(30, 25))
+        ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'hspace': 0, 'height_ratios': [5, 3, 1, 1]})
+
+        ax[0].grid(linewidth=4)
+        ax[0].plot(log["t"], log["carControl.actuators.accel"], label='accel command', linewidth=6)
+        ax[0].plot(log["t"], log["carState.aEgo"], label='aEgo', linewidth=6)
+        ax[0].set_ylabel('Acceleration (m/s^2)')
+        #ax[0].set_ylim(-6.5, 6.5)
+        ax[0].legend()
+
+        ax[1].grid(linewidth=4)
+        ax[1].plot(log["t"], log["carState.vEgo"], 'g', label='vEgo', linewidth=6)
+        ax[1].set_ylabel('Velocity (m/s)')
+        ax[1].legend()
+
+        ax[2].plot(log["t"], log["carControl.enabled"], label='enabled', linewidth=6)
+        ax[3].plot(log["t"], log["carState.gasPressed"], label='gasPressed', linewidth=6)
+        ax[3].plot(log["t"], log["carState.brakePressed"], label='brakePressed', linewidth=6)
+        for i in (2, 3):
+          ax[i].set_yticks([0, 1], minor=False)
+          ax[i].set_ylim(-1, 2)
+          ax[i].legend()
+
+        ax[-1].set_xlabel("Time (s)")
+        fig.tight_layout()
+
+        buffer = io.BytesIO()
+        fig.savefig(buffer, format='png')
+        buffer.seek(0)
+        f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+
+    import json
+    f.write(f"<p style='display: none'>{json.dumps(logs)}</p>")
+  print(f"\nReport written to {output_fn}\n")

tools/longitudinal_maneuvers/maneuversd.py

@@ -1,27 +1,11 @@
 #!/usr/bin/env python3
-import io
+from dataclasses import dataclass
-import os
-import time
-import base64
-import argparse
-import numpy as np
-import matplotlib.pyplot as plt
-from collections import defaultdict
-from dataclasses import dataclass, asdict
-from pathlib import Path
 
 from cereal import messaging, car
-from opendbc.car.structs import CarControl
 from opendbc.car.common.conversions import Conversions
-from openpilot.common.realtime import DT_CTRL, DT_MDL, Ratekeeper
+from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
-
-# TODOs
-# - support lateral maneuvers
-# - setup: show countdown?
 
 
 @dataclass
@@ -63,7 +47,7 @@ class Maneuver:
       # next action
       if self._action_index < len(self.actions) - 1:
         self._action_index += 1
-        self._action_frames = 0  # TODO rename action frames?
+        self._action_frames = 0
       # repeat maneuver
       elif self._repeated < self.repeat:
         self._repeated += 1
@@ -123,57 +107,6 @@ MANEUVERS = [
 ]
 
 
-def report(args, logs, fp):
-  output_path = Path(__file__).resolve().parent / "longitudinal_reports"
-  output_fn = args.output or output_path / f"{fp}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
-  output_path.mkdir(exist_ok=True)
-  with open(output_fn, "w") as f:
-    f.write("<h1>Longitudinal maneuver report</h1>\n")
-    f.write(f"<h3>{fp}</h3>\n")
-    if args.desc:
-      f.write(f"<h3>{args.desc}</h3>")
-    for description, runs in logs.items():
-      f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
-      f.write(f"<h2>{description}</h2>\n")
-      for run, log in runs.items():
-        f.write(f"<h3>Run #{int(run)+1}</h3>\n")
-        plt.rcParams['font.size'] = 40
-        fig = plt.figure(figsize=(30, 25))
-        ax = fig.subplots(4, 1, sharex=True, gridspec_kw={'hspace': 0, 'height_ratios': [5, 3, 1, 1]})
-
-        ax[0].grid(linewidth=4)
-        ax[0].plot(log["t"], log["carControl.actuators.accel"], label='accel command', linewidth=6)
-        ax[0].plot(log["t"], log["carState.aEgo"], label='aEgo', linewidth=6)
-        ax[0].set_ylabel('Acceleration (m/s^2)')
-        #ax[0].set_ylim(-6.5, 6.5)
-        ax[0].legend()
-
-        ax[1].grid(linewidth=4)
-        ax[1].plot(log["t"], log["carState.vEgo"], 'g', label='vEgo', linewidth=6)
-        ax[1].set_ylabel('Velocity (m/s)')
-        ax[1].legend()
-
-        ax[2].plot(log["t"], log["carControl.enabled"], label='enabled', linewidth=6)
-        ax[3].plot(log["t"], log["carState.gasPressed"], label='gasPressed', linewidth=6)
-        ax[3].plot(log["t"], log["carState.brakePressed"], label='brakePressed', linewidth=6)
-        for i in (2, 3):
-          ax[i].set_yticks([0, 1], minor=False)
-          ax[i].set_ylim(-1, 2)
-          ax[i].legend()
-
-        ax[-1].set_xlabel("Time (s)")
-        fig.tight_layout()
-
-        buffer = io.BytesIO()
-        fig.savefig(buffer, format='png')
-        buffer.seek(0)
-        f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
-
-    import json
-    f.write(f"<p style='display: none'>{json.dumps(logs)}</p>")
-  print(f"\nReport written to {output_fn}\n")
-
-
 def main():
   params = Params()
   cloudlog.info("joystickd is waiting for CarParams")
@@ -226,34 +159,9 @@ def main():
     assistance_send.valid = True
     pm.send('driverAssistance', assistance_send)
 
-    print('finished?', maneuver is not None and maneuver.finished)
+    # print('finished?', maneuver is not None and maneuver.finished)
-    print('aTarget:', longitudinalPlan.aTarget)
+    # print('aTarget:', longitudinalPlan.aTarget)
-    print('shouldStop:', longitudinalPlan.shouldStop)
+    # print('shouldStop:', longitudinalPlan.shouldStop)
 
     if maneuver is not None and maneuver.finished:
       maneuver = None
-
-
-if __name__ == "__main__":
-  main()
-  exit()
-
-  maneuver_help = "\n".join([f"{i+1}. {m.description}" for i, m in enumerate(MANEUVERS)])
-  parser = argparse.ArgumentParser(description="A tool for longitudinal control testing.",
-                                   formatter_class=argparse.RawTextHelpFormatter)
-  parser.add_argument('--desc', help="Extra description to include in report.")
-  parser.add_argument('--output', help="Write out report to this file.", default=None)
-  parser.add_argument('maneuvers', nargs='*', type=int, default=None, help=f'Deafult is all.\n{maneuver_help}')
-  args = parser.parse_args()
-  print(args)
-
-  if "REPORT_TEST" in os.environ:
-    with open(os.environ["REPORT_TEST"]) as f:
-      import json
-      logs = json.loads(f.read().split("none'>")[1].split('</p>')[0])
-    report(args, logs, "testing")
-    exit()
-
-  assert args.output is None or args.output.endswith(".html"), "Output filename must end with '.html'"
-
-  main(args)