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Merge pull request #37 from pjlao307/tuning-update
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Increase precision to 6 decimal places
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@pjlao307
pjlao307 authored Oct 30, 2018
2 parents 5ed6d75 + ed1809d commit 8557b87
Showing 1 changed file with 51 additions and 30 deletions.
81 changes: 51 additions & 30 deletions selfdrive/ui/tuning.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
CHANGE LOG:
v0.0.3 - Increase precision to 6 decimal places
v0.0.2 - Added 'press and hold' on the +/- buttons
- Swapped positions of +/- buttons
v0.0.1 - Initial version
Expand All @@ -28,7 +29,7 @@

#include "custom_touch.h"

#define VERSION "0.0.2"
#define VERSION "0.0.3"

#define ERROR_NO_FILE 1
#define BTN_NONE 0
Expand Down Expand Up @@ -84,12 +85,12 @@ char python_file[256]; // stores values as pyton variable
bool init_tune = false; // Used to initialize stuff
int num_lines = 0;

float angles[MAX_NUM_PARAMS][3]; // List of angle values from the file
double angles[MAX_NUM_PARAMS][3]; // List of angle values from the file
char property[50] = "CL_MAXD_A"; // What property to tune
char properties[50][MAX_NUM_PARAMS]; // List of property names
int current_property = -1; // Which property value to adjust when clicking the increase/decrease buttons
ui_element *property_buttons[MAX_NUM_PARAMS]; // Store the buttons that can be selected
float step = 0.001; // Steps to adjust on each click
double step = 0.000001; // Steps to adjust on each click
float delta_step = 0.001; // Change step by this amount
int step_toggle = 0; // Change to preset toggle step

Expand Down Expand Up @@ -184,17 +185,18 @@ void parse_file(char *filename) {
param_labels[i] = token;
while (token != NULL ) {
token = strtok(NULL, "=");
char *end;
if (token != NULL) {
token_value = str_remove(str_remove(token,'['),']');
//printf("token_value: %s\n", token_value);
char* token2 = strtok(token_value,",");
//printf("token2: %s\n", token2);
angles[i][angle_index++] = atof(token2);
angles[i][angle_index++] = strtod(token2,&end);
while (token2 != NULL) {
token2 = strtok(NULL, ",");
if (token2 != NULL) {
token_value2 = token2;
angles[i][angle_index++] = atof(token_value2);
angles[i][angle_index++] = strtod(token_value2,&end);
//printf("token_value2: %s\n", token_value2);
}
}
Expand All @@ -210,7 +212,7 @@ void parse_file(char *filename) {
for (int i=0; i < num_lines; i++) {
int num_elements = param_value_count[i];
for (int j=0; j < num_elements; j++) {
printf("%d, %d: %.3f\n", i, j, angles[i][j]);
printf("%d, %d: %.7f\n", i, j, angles[i][j]);
}
}
*/
Expand All @@ -232,12 +234,12 @@ void update_params() {
char temp[128] = "";
for (int j=0; j < num_elements; j++) {
char value_str[50];
snprintf(value_str,sizeof(value_str),"%.3f",angles[i][j]);
snprintf(value_str,sizeof(value_str),"%.6f",angles[i][j]);
strcat(temp, value_str);
if (j < num_elements-1) {
strcat(temp, ",");
}
//printf("%d, %d: %.3f\n", i, j, angles[i][j]);
//printf("%d, %d: %.36\n", i, j, angles[i][j]);
}
char line[128] = "";
snprintf(line,sizeof(line),"%s=[%s]\n",param_labels[i],temp);
Expand Down Expand Up @@ -295,17 +297,17 @@ void init_tuning(UIState *s) {

tune_values = (ui_element){
.name = "tune_values",
.pos_x = (1920/2)-400,
.pos_x = (1920/2)-650,
.pos_y = 1080-490,
.width = 850,
.width = 1350,
.height = 220
};

property_button = (ui_element){
.name = "property_button",
.pos_x = (1920/2)-365,
.pos_x = (1920/2)-600,
.pos_y = 1080-400,
.width = 230,
.width = 390,
.height = 95
};

Expand All @@ -322,9 +324,9 @@ void init_tuning(UIState *s) {

step_text = (ui_element){
.name = "step_text",
.pos_x = (1920/2)-380,
.pos_x = (1920/2)-580,
.pos_y = 1080-635,
.width = 250,
.width = 450,
.height = 125
};

Expand Down Expand Up @@ -455,14 +457,24 @@ void screen_draw_tuning(UIState *s) {

int pos_x;
int pos_y;
char thisValue[8];
char thisValue[12];
for (int i=0; i < param_value_count[param_index]; i++) {
pos_x = i*300;
if (i > 0) {
pos_x -= 40;
int pos_x = 0;
switch(i) {
case 0:
pos_x = 30;
break;
case 1:
pos_x = 470;
break;
case 2:
pos_x = 900;
break;
default:
break;
}
if (angles[param_index][i] < 1) {
snprintf(thisValue,sizeof(thisValue),"%.3f",angles[param_index][i]);
snprintf(thisValue,sizeof(thisValue),"%.6f",angles[param_index][i]);
}
else {
snprintf(thisValue,sizeof(thisValue),"%.1f",angles[param_index][i]);
Expand Down Expand Up @@ -498,18 +510,18 @@ void screen_draw_tuning(UIState *s) {
if (current_button == BTN_STEP) {
nvgFillColor(s->vg, nvgRGBA(0, 162, 255, 100));
}
char step_str[8];
char step_str[12];
if (step >= 1) {
snprintf(step_str,sizeof(step_str),"%.1f",step);
}
else {
snprintf(step_str,sizeof(step_str),"%.3f",step);
snprintf(step_str,sizeof(step_str),"%.6f",step);
}
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
nvgFontSize(s->vg, 70);
nvgText(s->vg,step_text.pos_x+120,step_increase.pos_y+55,"Steps",NULL);
nvgFontSize(s->vg, 80);
nvgText(s->vg,step_text.pos_x+125,step_increase.pos_y+112,step_str,NULL);
nvgText(s->vg,step_text.pos_x+220,step_increase.pos_y+112,step_str,NULL);

nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
nvgBeginPath(s->vg);
Expand Down Expand Up @@ -641,25 +653,34 @@ bool ui_element_clicked(int touch_x, int touch_y, ui_element el) {

void toggle_step() {
//printf("step_toggle: %d\n",step_toggle);
step_toggle++;
if (step_toggle == 0) {
step_toggle++;
delta_step = 0.01;
delta_step = 0.000001;
}
else if (step_toggle == 1) {
step_toggle++;
delta_step = 0.1;
delta_step = 0.00001;
}
else if (step_toggle == 2) {
step_toggle++;
delta_step = 1;
delta_step = 0.0001;
}
else if (step_toggle == 3) {
step_toggle++;
delta_step = 0.001;
}
else if (step_toggle == 4) {
delta_step = 0.01;
}
else if (step_toggle == 5) {
delta_step = 0.1;
}
else if (step_toggle == 6) {
delta_step = 1;
}
else if (step_toggle == 7) {
delta_step = 5;
}
else {
step_toggle = 0;
delta_step = 0.001;
delta_step = 0.000001;
}
step = delta_step;
}
Expand Down

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