sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

rename

Browse Source
pull/33527/head
Shane Smiskol 1 year ago
parent 40a1201f05
commit 85761980b7
4 changed files with 69 additions and 100 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      common/params.cc
  2. 2
      system/manager/process_config.py
  3. 61
      tools/longitudinal_maneuvers/generate_report.py
  4. 104
      tools/longitudinal_maneuvers/maneuversd.py

2
common/params.cc
Unescape View File

@ -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},

2
system/manager/process_config.py
Unescape View File

@ -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),

61
tools/longitudinal_maneuvers/generate_report.py
Unescape View File

@ -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")

104
examples/longitudinal_profiles.py → tools/longitudinal_maneuvers/maneuversd.py
Unescape View File

@ -1,27 +1,11 @@
#!/usr/bin/env python3
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
from dataclasses import dataclass
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('aTarget:', longitudinalPlan.aTarget)
print('shouldStop:', longitudinalPlan.shouldStop)
# print('finished?', maneuver is not None and maneuver.finished)
# print('aTarget:', longitudinalPlan.aTarget)
# 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)
Write Preview
Loading…
Cancel
Save