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cleanup old nidec accel override logic (#22181)

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* cleanup old nidec accel override logic

* add ref without deprecated fields

* no more override
old-commit-hash: 74b6c87254
This commit is contained in:
HaraldSchafer
2021-09-10 10:34:18 -07:00
committed by GitHub
parent e9ebd076f7
commit cb1cd01bdf
8 changed files with 8 additions and 74 deletions
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7
tools/replay/ui.py
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@@ -80,14 +80,13 @@ def ui_thread(addr, frame_address):
"v_override": 10,
"v_cruise": 11,
"a_ego": 12,
"a_target": 13,
"accel_override": 14}
"a_target": 13}
plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
plot_names = [["gas", "computer_gas", "user_brake", "computer_brake", "accel_override"],
plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
["v_ego", "v_override", "v_pid", "v_cruise"],
["a_ego", "a_target"]]
@@ -155,10 +154,8 @@ def ui_thread(addr, frame_address):
plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
plot_arr[-1, name_to_arr_idx['v_override']] = sm['carControl'].cruiseControl.speedOverride
plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
plot_arr[-1, name_to_arr_idx['accel_override']] = sm['carControl'].cruiseControl.accelOverride
if len(sm['longitudinalPlan'].accels):
plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]