PlotJuggler: Updated layout for torque controller (#36123)
* PlotJuggler: Updated layout for torque controller * yeah, no
This commit is contained in:
Jason Young
@@ -176,7 +176,7 @@ quiet-level = 3
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
|
||||
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
|
||||
|
||||
[tool.mypy]
|
||||
python_version = "3.11"
|
||||
|
||||
@@ -1,77 +1,45 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<root>
|
||||
<tabbed_widget parent="main_window" name="Main Window">
|
||||
<tabbed_widget name="Main Window" parent="main_window">
|
||||
<Tab containers="1" tab_name="Lateral Plan Conformance">
|
||||
<Container>
|
||||
<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
|
||||
<DockSplitter orientation="-" count="4" sizes="0.250949;0.249051;0.250949;0.249051">
|
||||
<DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="1.858161" bottom="-1.823407" right="1138.891674" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
|
||||
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
|
||||
<curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
|
||||
<curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="2.749816" bottom="-3.723091" right="1138.891674" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
|
||||
<curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
|
||||
<curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
|
||||
<curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="1.978032" bottom="-1.570956" right="1138.891674" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
|
||||
<curve name="/carOutput/actuatorsOutput/torque" color="#9467bd">
|
||||
<transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
|
||||
<options value_scale="-1" time_offset="0" value_offset="0"/>
|
||||
<options value_offset="0" value_scale="-1" time_offset="0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
|
||||
<curve color="#ff000f" name="/carState/steeringPressed"/>
|
||||
<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
|
||||
<curve name="/carState/steeringPressed" color="#ff000f"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="vehicle speed">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="105.981304" bottom="-2.709314" right="1138.891674" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve color="#d62728" name="carState.vEgo mph"/>
|
||||
<curve color="#1ac938" name="carState.vEgo kmh"/>
|
||||
<curve color="#ff7f0e" name="/carState/vEgo"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab containers="1" tab_name="Actuator Performance">
|
||||
<Container>
|
||||
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
|
||||
<DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
|
||||
<limitY/>
|
||||
<curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
|
||||
<curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
|
||||
<curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
|
||||
<limitY/>
|
||||
<curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
|
||||
<curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
|
||||
<limitY/>
|
||||
<curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
|
||||
<curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
|
||||
<curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
|
||||
<curve name="carState.vEgo mph" color="#d62728"/>
|
||||
<curve name="carState.vEgo kmh" color="#1ac938"/>
|
||||
<curve name="/carState/vEgo" color="#ff7f0e"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
@@ -79,115 +47,134 @@
|
||||
</Tab>
|
||||
<Tab containers="1" tab_name="Vehicle Dynamics">
|
||||
<Container>
|
||||
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
|
||||
<DockSplitter orientation="-" count="3" sizes="0.334282;0.331437;0.334282">
|
||||
<DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="19.665784" bottom="19.359553" right="1138.816328" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve color="#1f77b4" name="/carParams/steerRatio"/>
|
||||
<curve color="#1ac938" name="/liveParameters/steerRatio"/>
|
||||
<curve name="/carParams/steerRatio" color="#1f77b4"/>
|
||||
<curve name="/liveParameters/steerRatio" color="#1ac938"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="1.112210" bottom="0.995631" right="1138.816328" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
|
||||
<curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
|
||||
<curve name="/carParams/tireStiffnessFactor" color="#d62728"/>
|
||||
<curve name="/liveParameters/stiffnessFactor" color="#ff7f0e"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="-1.081041" bottom="-4.494133" right="1138.816328" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
|
||||
<curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
|
||||
<curve name="/liveParameters/angleOffsetAverageDeg" color="#f14cc1"/>
|
||||
<curve name="/liveParameters/angleOffsetDeg" color="#9467bd"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab containers="1" tab_name="Controller PIF Terms">
|
||||
<Tab containers="1" tab_name="Actuator Performance">
|
||||
<Container>
|
||||
<DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
|
||||
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
|
||||
<DockSplitter orientation="-" count="3" sizes="0.333333;0.333333;0.333333">
|
||||
<DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="1.216110" bottom="0.539474" right="1138.920072" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
|
||||
<curve name="/liveTorqueParameters/latAccelFactorFiltered" color="#1f77b4"/>
|
||||
<curve name="/liveTorqueParameters/latAccelFactorRaw" color="#d62728"/>
|
||||
<curve name="/carParams/lateralTuning/torque/latAccelFactor" color="#1c9222"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="-0.304367" bottom="-0.418688" right="1138.920072" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/liveTorqueParameters/latAccelOffsetFiltered" color="#1ac938"/>
|
||||
<curve name="/liveTorqueParameters/latAccelOffsetRaw" color="#ff7f0e"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="0.226389" bottom="0.158050" right="1138.920072" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/liveTorqueParameters/frictionCoefficientFiltered" color="#f14cc1"/>
|
||||
<curve name="/liveTorqueParameters/frictionCoefficientRaw" color="#9467bd"/>
|
||||
<curve name="/carParams/lateralTuning/torque/friction" color="#1c9222"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab containers="1" tab_name="Actuator Delay">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" count="3" sizes="0.30441;0.358464;0.337127">
|
||||
<DockArea name="actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="1.025000" bottom="-0.025000" right="1138.749979" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/liveDelay/status" color="#ff7f0e"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="offline default vs online estimated steering actuator lag">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="0.419648" bottom="0.318362" right="1138.749979" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/liveDelay/lateralDelay" color="#1f77b4"/>
|
||||
<curve name="/liveDelay/lateralDelayEstimate" color="#d62728"/>
|
||||
<curve name="opendbc default steering lag" color="#1ac938"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="online estimated steering actuator lag, standard deviation">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="0.067320" bottom="-0.001642" right="1138.749979" left="0.000000"/>
|
||||
<limitY/>
|
||||
<curve name="/liveDelay/lateralDelayEstimateStd" color="#f14cc1"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab containers="1" tab_name="Controls Performance">
|
||||
<Container>
|
||||
<DockSplitter orientation="-" count="4" sizes="0.265655;0.251898;0.245731;0.236717">
|
||||
<DockArea name="rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="1.050000" bottom="-1.050000" right="1138.891921" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve name="/carControl/actuators/torque" color="#0c00f2"/>
|
||||
<curve name="/carOutput/actuatorsOutput/torque" color="#2cd63a"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="1.978032" bottom="-1.570956" right="1138.891921" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve name="/carOutput/actuatorsOutput/torque" color="#9467bd">
|
||||
<transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
|
||||
<options value_scale="-1.0" time_offset="0" value_offset="0"/>
|
||||
<options value_offset="0" value_scale="-1.0" time_offset="0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
|
||||
<curve color="#ff000f" name="/carState/steeringPressed"/>
|
||||
<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
|
||||
<curve name="/carState/steeringPressed" color="#ff000f"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="2.099784" bottom="-4.027542" right="1138.891921" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
|
||||
<curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
|
||||
<curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
|
||||
<curve color="#756a6a" name="Zero"/>
|
||||
<curve name="/controlsState/lateralControlState/torqueState/f" color="#0ab027"/>
|
||||
<curve name="/controlsState/lateralControlState/torqueState/p" color="#d62728"/>
|
||||
<curve name="/controlsState/lateralControlState/torqueState/i" color="#ffaf00"/>
|
||||
<curve name="Zero" color="#756a6a"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="road roll angle, from openpilot localizer">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
|
||||
<plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
|
||||
<range top="0.109446" bottom="-0.045525" right="1138.891921" left="0.000194"/>
|
||||
<limitY/>
|
||||
<curve color="#f14cc1" name="/liveParameters/roll"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
</Container>
|
||||
</Tab>
|
||||
<Tab containers="1" tab_name="Actuator Delay Estimation">
|
||||
<Container>
|
||||
<DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
|
||||
<DockArea name="desired vs actual lateral acceleration (baseline)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
|
||||
<limitY/>
|
||||
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
|
||||
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
|
||||
<limitY/>
|
||||
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
|
||||
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
|
||||
<options value_scale="1.0" time_offset="0.1" value_offset="0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
|
||||
<limitY/>
|
||||
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
|
||||
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
|
||||
<options value_scale="1.0" time_offset="0.2" value_offset="0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
<DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
|
||||
<plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
|
||||
<range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
|
||||
<limitY/>
|
||||
<curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
|
||||
<transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
|
||||
<options value_scale="1.0" time_offset="0.3" value_offset="0"/>
|
||||
</transform>
|
||||
</curve>
|
||||
<curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
|
||||
<curve name="/liveParameters/roll" color="#f14cc1"/>
|
||||
</plot>
|
||||
</DockArea>
|
||||
</DockSplitter>
|
||||
@@ -199,25 +186,34 @@
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<Plugins>
|
||||
<plugin ID="DataLoad CSV">
|
||||
<default delimiter="0" time_axis=""/>
|
||||
</plugin>
|
||||
<plugin ID="DataLoad Rlog"/>
|
||||
<plugin ID="DataLoad ULog"/>
|
||||
<plugin ID="Cereal Subscriber"/>
|
||||
<plugin ID="UDP Server"/>
|
||||
<plugin ID="ZMQ Subscriber"/>
|
||||
<plugin ID="Fast Fourier Transform"/>
|
||||
<plugin ID="Quaternion to RPY"/>
|
||||
<plugin ID="Reactive Script Editor">
|
||||
<library code="--[[ Helper function to create a series from arrays

 new_series: a series previously created with ScatterXY.new(name)
 prefix: prefix of the timeseries, before the index of the array
 suffix_X: suffix to complete the name of the series containing the X value. If [nil], use the index of the array.
 suffix_Y: suffix to complete the name of the series containing the Y value
 timestamp: usually the tracker_time variable
 
 Example:
 
 Assuming we have multiple series in the form:
 
 /trajectory/node.{X}/position/x
 /trajectory/node.{X}/position/y
 
 where {N} is the index of the array (integer). We can create a reactive series from the array with:
 
 new_series = ScatterXY.new("my_trajectory") 
 CreateSeriesFromArray( new_series, "/trajectory/node", "position/x", "position/y", tracker_time );
--]]

function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )
 
 --- clear previous values
 new_series:clear()
 
 --- Append points to new_series
 index = 0
 while(true) do

 x = index;
 -- if not nil, get the X coordinate from a series
 if suffix_X ~= nil then 
 series_x = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_X) )
 if series_x == nil then break end
 x = series_x:atTime(timestamp)	 
 end
 
 series_y = TimeseriesView.find( string.format( "%s.%d/%s", prefix, index, suffix_Y) )
 if series_y == nil then break end 
 y = series_y:atTime(timestamp)
 
 new_series:push_back(x,y)
 index = index+1
 end
end

--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]

function GetSeriesNamesByPrefix(prefix)
 -- GetSeriesNames(9 is a built-in function
 all_names = GetSeriesNames()
 filtered_names = {}
 for i, name in ipairs(all_names) do
 -- check the prefix
 if name:find(prefix, 1, #prefix) then
 table.insert(filtered_names, name);
 end
 end
 return filtered_names
end

--[[ Modify an existing series, applying offsets to all their X and Y values

 series: an existing timeseries, obtained with TimeseriesView.find(name)
 delta_x: offset to apply to each x value
 delta_y: offset to apply to each y value 
 
--]]

function ApplyOffsetInPlace(series, delta_x, delta_y)
 -- use C++ indeces, not Lua indeces
 for index=0, series:size()-1 do
 x,y = series:at(index)
 series:set(index, x + delta_x, y + delta_y)
 end
end
"/>
|
||||
<scripts/>
|
||||
</plugin>
|
||||
<plugin ID="CSV Exporter"/>
|
||||
</Plugins>
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<!-- - - - - - - - - - - - - - - -->
|
||||
<customMathEquations>
|
||||
<snippet name="Zero">
|
||||
<snippet name="carState.vEgo kmh">
|
||||
<global></global>
|
||||
<function>return (0)</function>
|
||||
<linked_source>/carState/canValid</linked_source>
|
||||
<function>return value * 3.6</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
</snippet>
|
||||
<snippet name="Actual lateral accel (roll compensated)">
|
||||
<snippet name="carState.vEgo mph">
|
||||
<global></global>
|
||||
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
|
||||
<linked_source>/controlsState/curvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
<v2>/liveParameters/roll</v2>
|
||||
</additional_sources>
|
||||
<function>return value * 2.23694</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
</snippet>
|
||||
<snippet name="Desired lateral accel (roll compensated)">
|
||||
<global></global>
|
||||
@@ -228,15 +224,24 @@
|
||||
<v2>/liveParameters/roll</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="carState.vEgo mph">
|
||||
<snippet name="Actual lateral accel (roll compensated)">
|
||||
<global></global>
|
||||
<function>return value * 2.23694</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
|
||||
<linked_source>/controlsState/curvature</linked_source>
|
||||
<additional_sources>
|
||||
<v1>/carState/vEgo</v1>
|
||||
<v2>/liveParameters/roll</v2>
|
||||
</additional_sources>
|
||||
</snippet>
|
||||
<snippet name="carState.vEgo kmh">
|
||||
<snippet name="opendbc default steering lag">
|
||||
<global></global>
|
||||
<function>return value * 3.6</function>
|
||||
<linked_source>/carState/vEgo</linked_source>
|
||||
<function>return value + 0.2</function>
|
||||
<linked_source>/carParams/steerActuatorDelay</linked_source>
|
||||
</snippet>
|
||||
<snippet name="Zero">
|
||||
<global></global>
|
||||
<function>return (0)</function>
|
||||
<linked_source>/carState/canValid</linked_source>
|
||||
</snippet>
|
||||
</customMathEquations>
|
||||
<snippets/>
|
||||
|
||||
Reference in New Issue
Block a user