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110 lines
2.9 KiB
110 lines
2.9 KiB
#!/usr/bin/env python3
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import matplotlib
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matplotlib.use('TkAgg')
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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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# debug liateral 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 mpc_vwr_thread(addr="127.0.0.1"):
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plt.ion()
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fig = plt.figure(figsize=(15, 20))
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ax = fig.add_subplot(131)
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aa = fig.add_subplot(132, sharey=ax)
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ap = fig.add_subplot(133, sharey=ax)
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ax.set_xlim([-10, 10])
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ax.set_ylim([0., 100.])
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aa.set_xlim([-20., 20])
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ap.set_xlim([-5, 5])
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ax.set_xlabel('x [m]')
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ax.set_ylabel('y [m]')
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aa.set_xlabel('steer_angle [deg]')
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ap.set_xlabel('asset angle [deg]')
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ax.grid(True)
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aa.grid(True)
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ap.grid(True)
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path_x = np.arange(0, 100)
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mpc_path_x = np.arange(0, 49)
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p_path_y = np.zeros(100)
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l_path_y = np.zeros(100)
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r_path_y = np.zeros(100)
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mpc_path_y = np.zeros(49)
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mpc_steer_angle = np.zeros(49)
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mpc_psi = np.zeros(49)
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line1, = ax.plot(mpc_path_y, mpc_path_x)
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# line1b, = ax.plot(mpc_path_y, mpc_path_x, 'o')
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lineP, = ax.plot(p_path_y, path_x)
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lineL, = ax.plot(l_path_y, path_x)
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lineR, = ax.plot(r_path_y, path_x)
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line3, = aa.plot(mpc_steer_angle, mpc_path_x)
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line4, = ap.plot(mpc_psi, mpc_path_x)
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ax.invert_xaxis()
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aa.invert_xaxis()
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plt.show()
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# *** log ***
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livempc = messaging.sub_sock('liveMpc', addr=addr)
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model = messaging.sub_sock('model', addr=addr)
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path_plan_sock = messaging.sub_sock('pathPlan', addr=addr)
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while 1:
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lMpc = messaging.recv_sock(livempc, wait=True)
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md = messaging.recv_sock(model)
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pp = messaging.recv_sock(path_plan_sock)
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if md is not None:
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p_poly = np.array(md.model.path.poly)
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l_poly = np.array(md.model.leftLane.poly)
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r_poly = np.array(md.model.rightLane.poly)
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p_path_y = np.polyval(p_poly, path_x)
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l_path_y = np.polyval(r_poly, path_x)
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r_path_y = np.polyval(l_poly, path_x)
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if pp is not None:
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p_path_y = np.polyval(pp.pathPlan.dPoly, path_x)
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lineP.set_xdata(p_path_y)
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lineP.set_ydata(path_x)
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if lMpc is not None:
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mpc_path_x = list(lMpc.liveMpc.x)[1:]
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mpc_path_y = list(lMpc.liveMpc.y)[1:]
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mpc_steer_angle = list(lMpc.liveMpc.delta)[1:]
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mpc_psi = list(lMpc.liveMpc.psi)[1:]
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line1.set_xdata(mpc_path_y)
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line1.set_ydata(mpc_path_x)
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lineL.set_xdata(l_path_y)
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lineL.set_ydata(path_x)
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lineR.set_xdata(r_path_y)
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lineR.set_ydata(path_x)
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line3.set_xdata(np.asarray(mpc_steer_angle)*180./np.pi * 14)
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line3.set_ydata(mpc_path_x)
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line4.set_xdata(np.asarray(mpc_psi)*180./np.pi)
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line4.set_ydata(mpc_path_x)
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aa.relim()
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aa.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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mpc_vwr_thread(sys.argv[1])
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else:
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mpc_vwr_thread()
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