371 lines
12 KiB
Python
Executable File
371 lines
12 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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os.environ['NOCRASH'] = '1'
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import unittest
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import matplotlib
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matplotlib.use('svg')
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from selfdrive.config import Conversions as CV
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from selfdrive.car.honda.values import CruiseButtons as CB
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from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
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from selfdrive.manager.process_config import managed_processes
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from common.file_helpers import mkdirs_exists_ok
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from common.params import Params
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def check_no_collision(log):
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return min(log['d_rel']) > 0
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def check_fcw(log):
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return any(log['fcw'])
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def check_engaged(log):
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return log['controls_state_msgs'][-1][-1].active
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maneuvers = [
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Maneuver(
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'while cruising at 40 mph, change cruise speed to 50mph',
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duration=30.,
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initial_speed=40. * CV.MPH_TO_MS,
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cruise_button_presses=[(CB.DECEL_SET, 2.), (0, 2.3),
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(CB.RES_ACCEL, 10.), (0, 10.1),
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(CB.RES_ACCEL, 10.2), (0, 10.3)],
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checks=[check_engaged],
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),
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Maneuver(
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'while cruising at 60 mph, change cruise speed to 50mph',
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duration=30.,
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initial_speed=60. * CV.MPH_TO_MS,
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cruise_button_presses=[(CB.DECEL_SET, 2.), (0, 2.3),
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(CB.DECEL_SET, 10.), (0, 10.1),
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(CB.DECEL_SET, 10.2), (0, 10.3)],
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checks=[check_engaged],
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),
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Maneuver(
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'while cruising at 20mph, uphill grade of 10%',
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duration=25.,
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initial_speed=20. * CV.MPH_TO_MS,
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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grade_values=[0., 0., .1],
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grade_breakpoints=[0., 10., 11.],
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checks=[check_engaged],
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),
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Maneuver(
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'while cruising at 20mph, downhill grade of -10%',
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duration=25.,
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initial_speed=20. * CV.MPH_TO_MS,
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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grade_values=[0., 0., -.1],
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grade_breakpoints=[0., 10., 11.],
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checks=[check_engaged],
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),
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Maneuver(
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'approaching a 40mph car while cruising at 60mph from 100m away',
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duration=30.,
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initial_speed=60. * CV.MPH_TO_MS,
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lead_relevancy=True,
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initial_distance_lead=100.,
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speed_lead_values=[40. * CV.MPH_TO_MS, 40. * CV.MPH_TO_MS],
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speed_lead_breakpoints=[0., 100.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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'approaching a 0mph car while cruising at 40mph from 150m away',
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duration=30.,
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initial_speed=40. * CV.MPH_TO_MS,
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lead_relevancy=True,
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initial_distance_lead=150.,
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speed_lead_values=[0. * CV.MPH_TO_MS, 0. * CV.MPH_TO_MS],
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speed_lead_breakpoints=[0., 100.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
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duration=50.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 35.0],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
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duration=50.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 25.0],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
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duration=50.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 21.66],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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checks=[check_engaged, check_fcw],
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),
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Maneuver(
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'steady state following a car at 20m/s, then lead decel to 0mph at 5m/s^2',
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duration=40.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 20., 0.],
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speed_lead_breakpoints=[0., 15., 19.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
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checks=[check_engaged, check_fcw],
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),
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Maneuver(
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'starting at 0mph, approaching a stopped car 100m away',
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duration=30.,
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initial_speed=0.,
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lead_relevancy=True,
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initial_distance_lead=100.,
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"following a car at 60mph, lead accel and decel at 0.5m/s^2 every 2s",
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duration=25.,
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initial_speed=30.,
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lead_relevancy=True,
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initial_distance_lead=49.,
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speed_lead_values=[30., 30., 29., 31., 29., 31., 29.],
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speed_lead_breakpoints=[0., 6., 8., 12., 16., 20., 24.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"following a car at 10mph, stop and go at 1m/s2 lead dece1 and accel",
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duration=70.,
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initial_speed=10.,
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lead_relevancy=True,
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initial_distance_lead=20.,
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speed_lead_values=[10., 0., 0., 10., 0., 10.],
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speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"green light: stopped behind lead car, lead car accelerates at 1.5 m/s",
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duration=30.,
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initial_speed=0.,
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lead_relevancy=True,
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initial_distance_lead=4.,
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speed_lead_values=[0, 0, 45],
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speed_lead_breakpoints=[0, 10., 40.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9),
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(CB.RES_ACCEL, 2.0), (0.0, 2.1),
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(CB.RES_ACCEL, 2.2), (0.0, 2.3)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"stop and go with 1m/s2 lead decel and accel, with full stops",
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duration=70.,
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initial_speed=0.,
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lead_relevancy=True,
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initial_distance_lead=20.,
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speed_lead_values=[10., 0., 0., 10., 0., 0.],
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speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"stop and go with 1.5m/s2 lead accel and 3.3m/s^2 lead decel, with full stops",
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duration=45.,
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initial_speed=0.,
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lead_relevancy=True,
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initial_distance_lead=20.,
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speed_lead_values=[10., 0., 0., 10., 0., 0.],
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speed_lead_breakpoints=[10., 13., 26., 33., 36., 45.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"accelerate from 20 while lead vehicle decelerates from 40 to 20 at 1m/s2",
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duration=30.,
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initial_speed=10.,
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lead_relevancy=True,
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initial_distance_lead=10.,
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speed_lead_values=[20., 10.],
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speed_lead_breakpoints=[1., 11.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9),
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(CB.RES_ACCEL, 2.0), (0.0, 2.1),
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(CB.RES_ACCEL, 2.2), (0.0, 2.3)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"accelerate from 20 while lead vehicle decelerates from 40 to 0 at 2m/s2",
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duration=30.,
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initial_speed=10.,
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lead_relevancy=True,
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initial_distance_lead=10.,
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speed_lead_values=[20., 0.],
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speed_lead_breakpoints=[1., 11.],
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cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3),
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(CB.RES_ACCEL, 1.4), (0.0, 1.5),
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(CB.RES_ACCEL, 1.6), (0.0, 1.7),
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(CB.RES_ACCEL, 1.8), (0.0, 1.9),
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(CB.RES_ACCEL, 2.0), (0.0, 2.1),
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(CB.RES_ACCEL, 2.2), (0.0, 2.3)],
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checks=[check_engaged, check_no_collision],
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),
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Maneuver(
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"fcw: traveling at 30 m/s and approaching lead traveling at 20m/s",
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duration=15.,
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initial_speed=30.,
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lead_relevancy=True,
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initial_distance_lead=100.,
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speed_lead_values=[20.],
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speed_lead_breakpoints=[1.],
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cruise_button_presses=[],
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checks=[check_fcw],
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),
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Maneuver(
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"fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 1m/s2",
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duration=18.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 0.],
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speed_lead_breakpoints=[3., 23.],
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cruise_button_presses=[],
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checks=[check_fcw],
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),
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Maneuver(
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"fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 3m/s2",
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duration=13.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 0.],
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speed_lead_breakpoints=[3., 9.6],
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cruise_button_presses=[],
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checks=[check_fcw],
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),
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Maneuver(
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"fcw: traveling at 20 m/s following a lead that decels from 20m/s to 0 at 5m/s2",
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duration=8.,
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initial_speed=20.,
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lead_relevancy=True,
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initial_distance_lead=35.,
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speed_lead_values=[20., 0.],
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speed_lead_breakpoints=[3., 7.],
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cruise_button_presses=[],
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checks=[check_fcw],
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)
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]
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def setup_output():
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output_dir = os.path.join(os.getcwd(), 'out/longitudinal')
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if not os.path.exists(os.path.join(output_dir, "index.html")):
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# write test output header
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css_style = """
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.maneuver_title {
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font-size: 24px;
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text-align: center;
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}
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.maneuver_graph {
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width: 100%;
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}
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"""
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view_html = "<html><head><style>%s</style></head><body><table>" % (css_style,)
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for i, man in enumerate(maneuvers):
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view_html += "<tr><td class='maneuver_title' colspan=5><div>%s</div></td></tr><tr>" % (man.title,)
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for c in ['distance.svg', 'speeds.svg', 'acceleration.svg', 'pedals.svg', 'pid.svg']:
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view_html += "<td><img class='maneuver_graph' src='%s'/></td>" % (os.path.join("maneuver" + str(i + 1).zfill(2), c), )
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view_html += "</tr>"
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mkdirs_exists_ok(output_dir)
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with open(os.path.join(output_dir, "index.html"), "w") as f:
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f.write(view_html)
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class LongitudinalControl(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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os.environ['SIMULATION'] = "1"
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os.environ['SKIP_FW_QUERY'] = "1"
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os.environ['NO_CAN_TIMEOUT'] = "1"
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setup_output()
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params = Params()
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params.clear_all()
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params.put_bool("Passive", bool(os.getenv("PASSIVE")))
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("CommunityFeaturesToggle", True)
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# hack
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def test_longitudinal_setup(self):
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pass
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def run_maneuver_worker(k):
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man = maneuvers[k]
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output_dir = os.path.join(os.getcwd(), 'out/longitudinal')
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def run(self):
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print(man.title)
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valid = False
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for _ in range(3):
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managed_processes['radard'].start()
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managed_processes['controlsd'].start()
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managed_processes['plannerd'].start()
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plot, valid = man.evaluate()
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plot.write_plot(output_dir, "maneuver" + str(k + 1).zfill(2))
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managed_processes['radard'].stop()
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managed_processes['controlsd'].stop()
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managed_processes['plannerd'].stop()
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if valid:
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break
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self.assertTrue(valid)
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return run
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for k in range(len(maneuvers)):
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setattr(LongitudinalControl, "test_longitudinal_maneuvers_%d" % (k + 1), run_maneuver_worker(k))
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if __name__ == "__main__":
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unittest.main(failfast=True)
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