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104 lines
3.1 KiB
104 lines
3.1 KiB
#!/usr/bin/env python3
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import sys
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import cereal.messaging as messaging
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import numpy as np
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import matplotlib.pyplot as plt
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N = 21
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# debug longitudinal MPC by plotting its trajectory. To receive liveLongitudinalMpc packets,
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# set on LOG_MPC env variable and run plannerd on a replay
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def plot_longitudinal_mpc(addr="127.0.0.1"):
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# *** log ***
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livempc = messaging.sub_sock('liveLongitudinalMpc', addr=addr, conflate=True)
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radarstate = messaging.sub_sock('radarState', addr=addr, conflate=True)
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plt.ion()
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fig = plt.figure()
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t = np.hstack([np.arange(0.0, 0.8, 0.2), np.arange(0.8, 10.6, 0.6)])
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p_x_ego = fig.add_subplot(3, 2, 1)
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p_v_ego = fig.add_subplot(3, 2, 3)
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p_a_ego = fig.add_subplot(3, 2, 5)
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# p_x_l = fig.add_subplot(3, 2, 2)
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# p_a_l = fig.add_subplot(3, 2, 6)
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p_d_l = fig.add_subplot(3, 2, 2)
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p_d_l_v = fig.add_subplot(3, 2, 4)
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p_d_l_vv = fig.add_subplot(3, 2, 6)
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p_v_ego.set_ylim([0, 30])
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p_a_ego.set_ylim([-4, 4])
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p_d_l.set_ylim([-1, 10])
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p_x_ego.set_title('x')
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p_v_ego.set_title('v')
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p_a_ego.set_title('a')
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p_d_l.set_title('rel dist')
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l_x_ego, = p_x_ego.plot(t, np.zeros(N))
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l_v_ego, = p_v_ego.plot(t, np.zeros(N))
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l_a_ego, = p_a_ego.plot(t, np.zeros(N))
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l_x_l, = p_x_ego.plot(t, np.zeros(N))
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l_v_l, = p_v_ego.plot(t, np.zeros(N))
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l_a_l, = p_a_ego.plot(t, np.zeros(N))
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l_d_l, = p_d_l.plot(t, np.zeros(N))
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l_d_l_v, = p_d_l_v.plot(np.zeros(N))
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l_d_l_vv, = p_d_l_vv.plot(np.zeros(N))
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p_x_ego.legend(['ego', 'l'])
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p_v_ego.legend(['ego', 'l'])
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p_a_ego.legend(['ego', 'l'])
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p_d_l_v.set_xlabel('d_rel')
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p_d_l_v.set_ylabel('v_rel')
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p_d_l_v.set_ylim([-20, 20])
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p_d_l_v.set_xlim([0, 100])
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p_d_l_vv.set_xlabel('d_rel')
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p_d_l_vv.set_ylabel('v_rel')
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p_d_l_vv.set_ylim([-5, 5])
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p_d_l_vv.set_xlim([10, 40])
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while True:
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lMpc = messaging.recv_sock(livempc, wait=True)
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rs = messaging.recv_sock(radarstate, wait=True)
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if lMpc is not None:
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if lMpc.liveLongitudinalMpc.mpcId != 1:
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continue
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x_ego = list(lMpc.liveLongitudinalMpc.xEgo)
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v_ego = list(lMpc.liveLongitudinalMpc.vEgo)
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a_ego = list(lMpc.liveLongitudinalMpc.aEgo)
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x_l = list(lMpc.liveLongitudinalMpc.xLead)
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v_l = list(lMpc.liveLongitudinalMpc.vLead)
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# a_l = list(lMpc.liveLongitudinalMpc.aLead)
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a_l = rs.radarState.leadOne.aLeadK * np.exp(-lMpc.liveLongitudinalMpc.aLeadTau * t**2 / 2)
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#print(min(a_ego), lMpc.liveLongitudinalMpc.qpIterations)
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l_x_ego.set_ydata(x_ego)
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l_v_ego.set_ydata(v_ego)
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l_a_ego.set_ydata(a_ego)
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l_x_l.set_ydata(x_l)
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l_v_l.set_ydata(v_l)
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l_a_l.set_ydata(a_l)
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l_d_l.set_ydata(np.array(x_l) - np.array(x_ego))
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l_d_l_v.set_ydata(np.array(v_l) - np.array(v_ego))
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l_d_l_v.set_xdata(np.array(x_l) - np.array(x_ego))
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l_d_l_vv.set_ydata(np.array(v_l) - np.array(v_ego))
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l_d_l_vv.set_xdata(np.array(x_l) - np.array(x_ego))
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p_x_ego.relim()
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p_x_ego.autoscale_view(True, scaley=True, scalex=True)
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fig.canvas.draw()
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fig.canvas.flush_events()
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if __name__ == "__main__":
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if len(sys.argv) > 1:
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plot_longitudinal_mpc(sys.argv[1])
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else:
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plot_longitudinal_mpc()
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