fix ui.py
parent
d46520a057
commit
7ae497d05d
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@ -69,7 +69,7 @@ def ui_thread(addr, frame_address):
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top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
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frame = messaging.sub_sock('frame', addr=addr, conflate=True)
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sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
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sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
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'liveTracks', 'model', 'liveMpc', 'liveParameters', 'lateralPlan', 'frame'], addr=addr)
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calibration = None
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@ -164,7 +164,7 @@ def ui_thread(addr, frame_address):
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angle_steers_k = np.inf
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plot_arr[:-1] = plot_arr[1:]
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plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['controlsState'].angleSteers
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plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['controlsState'].angleSteersDes
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plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steerAngle
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plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
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plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
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@ -172,12 +172,12 @@ def ui_thread(addr, frame_address):
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plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
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plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
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plot_arr[-1, name_to_arr_idx['computer_brake']] = sm['carControl'].actuators.brake
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plot_arr[-1, name_to_arr_idx['v_ego']] = sm['controlsState'].vEgo
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plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
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plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
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plot_arr[-1, name_to_arr_idx['v_override']] = sm['carControl'].cruiseControl.speedOverride
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plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
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plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
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plot_arr[-1, name_to_arr_idx['a_target']] = sm['plan'].aTarget
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plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].aTarget
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plot_arr[-1, name_to_arr_idx['accel_override']] = sm['carControl'].cruiseControl.accelOverride
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# ***** model ****
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@ -241,7 +241,7 @@ def ui_thread(addr, frame_address):
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info_font.render("BRAKE LIGHTS", True, RED if sm['carState'].brakeLights else BLACK),
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info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
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info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
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info_font.render("LONG MPC SOURCE: " + str(sm['plan'].longitudinalPlanSource), True, YELLOW),
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info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
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None,
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info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverage, 2)) + " deg", True, YELLOW),
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info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffset, 2)) + " deg", True, YELLOW),
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