151 lines
3.7 KiB
Python
Executable File
151 lines
3.7 KiB
Python
Executable File
#!/usr/bin/env python3
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# pylint: skip-file
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# flake8: noqa
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# type: ignore
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import math
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import multiprocessing
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import numpy as np
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from tqdm import tqdm
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from selfdrive.locationd.paramsd import ParamsLearner, States
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from tools.lib.logreader import LogReader
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from tools.lib.route import Route
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ROUTE = "b2f1615665781088|2021-03-14--17-27-47"
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PLOT = True
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def load_segment(segment_name):
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print(f"Loading {segment_name}")
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if segment_name is None:
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return []
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try:
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return list(LogReader(segment_name))
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except ValueError as e:
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print(f"Error parsing {segment_name}: {e}")
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return []
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if __name__ == "__main__":
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route = Route(ROUTE)
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msgs = []
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with multiprocessing.Pool(24) as pool:
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for d in pool.map(load_segment, route.log_paths()):
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msgs += d
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for m in msgs:
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if m.which() == 'carParams':
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CP = m.carParams
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break
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params = {
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'carFingerprint': CP.carFingerprint,
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'steerRatio': CP.steerRatio,
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'stiffnessFactor': 1.0,
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'angleOffsetAverageDeg': 0.0,
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}
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for m in msgs:
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if m.which() == 'liveParameters':
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params['steerRatio'] = m.liveParameters.steerRatio
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params['angleOffsetAverageDeg'] = m.liveParameters.angleOffsetAverageDeg
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break
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for m in msgs:
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if m.which() == 'carState':
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last_carstate = m
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break
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print(params)
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learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']))
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msgs = [m for m in tqdm(msgs) if m.which() in ('liveLocationKalman', 'carState', 'liveParameters')]
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msgs = sorted(msgs, key=lambda m: m.logMonoTime)
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ts = []
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ts_log = []
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results = []
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results_log = []
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for m in tqdm(msgs):
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if m.which() == 'carState':
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last_carstate = m
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elif m.which() == 'liveLocationKalman':
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t = last_carstate.logMonoTime / 1e9
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learner.handle_log(t, 'carState', last_carstate.carState)
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t = m.logMonoTime / 1e9
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learner.handle_log(t, 'liveLocationKalman', m.liveLocationKalman)
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x = learner.kf.x
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sr = float(x[States.STEER_RATIO])
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st = float(x[States.STIFFNESS])
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ao_avg = math.degrees(x[States.ANGLE_OFFSET])
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ao = ao_avg + math.degrees(x[States.ANGLE_OFFSET_FAST])
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r = [sr, st, ao_avg, ao]
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if any(math.isnan(v) for v in r):
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print("NaN", t)
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ts.append(t)
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results.append(r)
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elif m.which() == 'liveParameters':
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t = m.logMonoTime / 1e9
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mm = m.liveParameters
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r = [mm.steerRatio, mm.stiffnessFactor, mm.angleOffsetAverageDeg, mm.angleOffsetDeg]
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if any(math.isnan(v) for v in r):
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print("NaN in log", t)
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ts_log.append(t)
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results_log.append(r)
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results = np.asarray(results)
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results_log = np.asarray(results_log)
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if PLOT:
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import matplotlib.pyplot as plt
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plt.figure()
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plt.subplot(3, 2, 1)
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plt.plot(ts, results[:, 0], label='Steer Ratio')
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plt.grid()
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plt.ylim([0, 20])
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plt.legend()
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plt.subplot(3, 2, 3)
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plt.plot(ts, results[:, 1], label='Stiffness')
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plt.ylim([0, 2])
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plt.grid()
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plt.legend()
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plt.subplot(3, 2, 5)
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plt.plot(ts, results[:, 2], label='Angle offset (average)')
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plt.plot(ts, results[:, 3], label='Angle offset (instant)')
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plt.ylim([-5, 5])
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plt.grid()
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plt.legend()
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plt.subplot(3, 2, 2)
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plt.plot(ts_log, results_log[:, 0], label='Steer Ratio')
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plt.grid()
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plt.ylim([0, 20])
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plt.legend()
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plt.subplot(3, 2, 4)
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plt.plot(ts_log, results_log[:, 1], label='Stiffness')
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plt.ylim([0, 2])
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plt.grid()
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plt.legend()
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plt.subplot(3, 2, 6)
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plt.plot(ts_log, results_log[:, 2], label='Angle offset (average)')
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plt.plot(ts_log, results_log[:, 3], label='Angle offset (instant)')
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plt.ylim([-5, 5])
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plt.grid()
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plt.legend()
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plt.show()
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