mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-22 08:23:53 +08:00
4fa62f1464
* wip torqued * add basic logic * setup in manager * check sanity and publish msg * add first order filter to outputs * wire up controlsd, and update gains * rename intercept to offset * add cloudlog, live values are not updated * fix bugs, do not reset points for now * fix crashes * rename to main * fix bugs, works offline * fix float in cereal bug * add latacc filter * randomly choose points, approx for iid * add variable decay * local param to capnp instead of dict * verify works in replay * use torqued output in controlsd * use in controlsd; use points from past routes * controlsd bugfix * filter before updating gains, needs to be replaced * save all points to ensure smooth transition across routes, revert friction factor to 1.5 * add filters to prevent noisy low-speed data points; improve fit sanity * add engaged buffer * revert lat_acc thresh * use paramsd realtime process config * make latacc-to-torque generic, and overrideable * move freq to 4Hz, avoid storing in np.array, don't publish points in the message * float instead of np * remove constant while storing pts * rename slope, offset to lat_accet_factor, offset * resolve issues * use camelcase in all capnp params * use camelcase everywhere * reduce latacc threshold or sanity, add car_sane todo, save points properly * add and check tag * write param to disk at end of route * remove args * rebase op, cereal * save on exit * restore default handler * cpu usage check * add to process replay * handle reset better, reduce unnecessary computation * always publish raw values - useful for debug * regen routes * update refs * checks on cache restore * check tuning vals too * clean that up * reduce cpu usage * reduce cpu usage by 75% * cleanup * optimize further * handle reset condition better, don't put points in init, use only in corolla * bump cereal after rebasing * update refs * Update common/params.cc Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove unnecessary checks * Update RELEASES.md Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
45 lines
1.7 KiB
Python
Executable File
45 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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import concurrent.futures
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import os
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import random
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import traceback
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from tqdm import tqdm
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from selfdrive.test.process_replay.helpers import OpenpilotPrefix
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from selfdrive.test.process_replay.regen import regen_and_save
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from selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
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from tools.lib.route import SegmentName
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def regen_job(segment, upload, disable_tqdm):
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with OpenpilotPrefix():
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sn = SegmentName(segment[1])
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fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
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try:
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relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False,
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outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm)
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relr = '|'.join(relr.split('/')[-2:])
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return f' ("{segment[0]}", "{relr}"), '
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except Exception as e:
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err = f" {segment} failed: {str(e)}"
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err += traceback.format_exc()
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err += "\n\n"
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return err
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description="Generate new segments from old ones")
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parser.add_argument("-j", "--jobs", type=int, default=1)
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parser.add_argument("--no-upload", action="store_true")
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args = parser.parse_args()
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with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
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p = pool.map(regen_job, segments, [not args.no_upload] * len(segments), [args.jobs > 1] * len(segments))
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msg = "Copy these new segments into test_processes.py:"
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for seg in tqdm(p, desc="Generating segments", total=len(segments)):
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msg += "\n" + str(seg)
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print()
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print()
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print(msg)
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