longitudinal profile runner (commaai#1197)

* long profiles

* start with creep

* lil cleanup

* corolla updates

* cleanup

* 2s

* plot is a little nicer

* strict mode

* cleanup

* unused

* fix that

---------

Co-authored-by: Comma Device <device@comma.ai>

.gitignore

@@ -10,6 +10,7 @@
 .sconsign.dblite
 .hypothesis
 *.egg-info/
+*.html
 uv.lock
 
 opendbc/can/*.so

examples/longitudinal-profiles.py

@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+import io
+import time
+import base64
+import argparse
+import numpy as np
+import matplotlib.pyplot as plt
+from collections import defaultdict
+from dataclasses import dataclass, asdict
+from pathlib import Path
+
+from opendbc.car.structs import CarControl
+from opendbc.car.panda_runner import PandaRunner
+
+DT = 0.01  # step time (s)
+
+@dataclass
+class Action:
+  accel: float      # m/s^2
+  duration: float   # seconds
+  longControlState: CarControl.Actuators.LongControlState = CarControl.Actuators.LongControlState.pid
+
+  def get_msgs(self):
+    return [
+      (t, CarControl(
+        enabled=True,
+        longActive=True,
+        actuators=CarControl.Actuators(
+          accel=self.accel,
+          longControlState=self.longControlState,
+        ),
+      ))
+      for t in np.linspace(0, self.duration, int(self.duration/DT))
+    ]
+
+@dataclass
+class Maneuver:
+  description: str
+  actions: list[Action]
+
+  def get_msgs(self):
+    t0 = 0
+    for action in self.actions:
+      for lt, msg in action.get_msgs():
+        yield lt + t0, msg
+      t0 += lt
+
+MANEUVERS = [
+  Maneuver(
+    "creeping: alternate between +1m/ss and -1m/ss",
+    [
+      Action(1, 2), Action(-1, 2),
+      Action(1, 2), Action(-1, 2),
+      Action(1, 2), Action(-1, 2),
+    ],
+  ),
+]
+
+def main(args):
+  with PandaRunner() as p:
+    print("\n\n")
+
+    logs = {}
+    for i, m in enumerate(MANEUVERS):
+      print(f"Running {i+1}/{len(MANEUVERS)} '{m.description}'")
+
+      print("- setting up")
+      good_cnt = 0
+      for _ in range(int(30./DT)):
+        cs = p.read(strict=False)
+
+        cc = CarControl(
+          enabled=True,
+          longActive=True,
+          actuators=CarControl.Actuators(accel=-1.5, longControlState=CarControl.Actuators.LongControlState.stopping),
+        )
+        p.write(cc)
+
+        good_cnt = (good_cnt+1) if cs.vEgo < 0.1 and cs.cruiseState.enabled and not cs.cruiseState.standstill else 0
+        if good_cnt > (2./DT):
+          break
+        time.sleep(DT)
+      else:
+        print("ERROR: failed to setup")
+        continue
+
+      print("- executing maneuver")
+      logs[m.description] = defaultdict(list)
+      for t, cc in m.get_msgs():
+        cs = p.read()
+        p.write(cc)
+
+        logs[m.description]["t"].append(t)
+        to_log = {"carControl": cc, "carState": cs, "carControl.actuators": cc.actuators,
+                  "carControl.cruiseControl": cc.cruiseControl, "carState.cruiseState": cs.cruiseState}
+        for k, v in to_log.items():
+          for k2, v2 in asdict(v).items():
+            logs[m.description][f"{k}.{k2}"].append(v2)
+
+        time.sleep(DT)
+
+  # ***** write out report *****
+
+  output_path = Path(__file__).resolve().parent / "longitudinal_reports"
+  output_fn = args.output or output_path / f"{p.CI.CP.carFingerprint}_{time.strftime('%Y%m%d-%H_%M_%S')}.html"
+  output_path.mkdir(exist_ok=True)
+  with open(output_fn, "w") as f:
+    f.write("<h1>Longitudinal maneuver report</h1>\n")
+    f.write(f"<h3>{p.CI.CP.carFingerprint}</h3>\n")
+    if args.desc:
+      f.write(f"<h3>{args.desc}</h3>")
+    for m in MANEUVERS:
+      f.write("<div style='border-top: 1px solid #000; margin: 20px 0;'></div>\n")
+      f.write(f"<h2>{m.description}</h2>\n")
+
+      log = logs[m.description]
+
+      plt.rcParams['font.size'] = 40
+      fig = plt.figure(figsize=(30, 20))
+      ax = fig.subplots(3, 1, sharex=True, gridspec_kw={'hspace': 0, 'height_ratios': [5, 1, 1]})
+
+      ax[0].grid(linewidth=4)
+      ax[0].plot(log["t"], log["carState.aEgo"], label='aEgo', linewidth=6)
+      ax[0].plot(log["t"], log["carControl.actuators.accel"], label='accel command', linewidth=6)
+      ax[0].set_ylabel('Acceleration (m/s^2)')
+      ax[0].set_ylim(-4.5, 4.5)
+      ax[0].legend()
+
+      ax[1].plot(log["t"], log["carControl.enabled"], label='enabled', linewidth=6)
+      ax[2].plot(log["t"], log["carState.gasPressed"], label='gasPressed', linewidth=6)
+      for i in (1, 2):
+        ax[i].set_yticks([0, 1], minor=False)
+        ax[i].set_ylim(-1, 2)
+        ax[i].legend()
+
+      ax[-1].set_xlabel("Time (s)")
+      fig.tight_layout()
+
+      buffer = io.BytesIO()
+      fig.savefig(buffer, format='png')
+      buffer.seek(0)
+      f.write(f"<img src='data:image/png;base64,{base64.b64encode(buffer.getvalue()).decode()}' style='width:100%; max-width:800px;'>\n")
+
+  print(f"\nReport written to {output_fn}\n")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="A tool for longitudinal control testing.",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument('--desc', help="Extra description to include in report.")
+  parser.add_argument('--output', help="Write out report to this file.", default=None)
+  args = parser.parse_args()
+
+  assert args.output is None or args.output.endswith(".html"), "Output filename must end with '.html'"
+
+  main(args)

opendbc/car/panda_runner.py

@@ -1,35 +1,57 @@
-from contextlib import contextmanager
+import time
+from contextlib import AbstractContextManager
 
 from panda import Panda
 from opendbc.car.car_helpers import get_car
 from opendbc.car.can_definitions import CanData
+from opendbc.car.structs import CarControl
 
-@contextmanager
-def PandaRunner():
-  p = Panda()
+class PandaRunner(AbstractContextManager):
+  def __enter__(self):
+    self.p = Panda()
+    self.p.reset()
 
-  def _can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
-    recv = p.can_recv()
-    while len(recv) == 0 and wait_for_one:
-      recv = p.can_recv()
-    return [[CanData(addr, dat, bus) for addr, dat, bus in recv], ]
-
-  try:
     # setup + fingerprinting
-    p.set_safety_mode(Panda.SAFETY_ELM327, 1)
-    CI = get_car(_can_recv, p.can_send_many, p.set_obd, True)
-    print("fingerprinted", CI.CP.carName)
-    assert CI.CP.carFingerprint != "mock", "Unable to identify car. Check connections and ensure car is supported."
+    self.p.set_safety_mode(Panda.SAFETY_ELM327, 1)
+    self.CI = get_car(self._can_recv, self.p.can_send_many, self.p.set_obd, True)
+    print("fingerprinted", self.CI.CP.carName)
+    assert self.CI.CP.carFingerprint != "mock", "Unable to identify car. Check connections and ensure car is supported."
+
+    self.p.set_safety_mode(Panda.SAFETY_ELM327, 1)
+    self.CI.init(self.CI.CP, self._can_recv, self.p.can_send_many)
+    self.p.set_safety_mode(Panda.SAFETY_TOYOTA, self.CI.CP.safetyConfigs[0].safetyParam)
+
+    return self
 
-    p.set_safety_mode(Panda.SAFETY_ELM327, 1)
-    CI.init(CI.CP, _can_recv, p.can_send_many)
-    p.set_safety_mode(Panda.SAFETY_TOYOTA, CI.CP.safetyConfigs[0].safetyParam)
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+    self.p.reset()  # avoid siren
+    return super().__exit__(exc_type, exc_value, traceback)
+
+  @property
+  def panda(self) -> Panda:
+    return self.p
+
+  def _can_recv(self, wait_for_one: bool = False) -> list[list[CanData]]:
+    recv = self.p.can_recv()
+    while len(recv) == 0 and wait_for_one:
+      recv = self.p.can_recv()
+    return [[CanData(addr, dat, bus) for addr, dat, bus in recv], ]
 
-    yield p, CI
-  finally:
-    p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
+  def read(self, strict: bool = True):
+    cs = self.CI.update([int(time.monotonic()*1e9), self._can_recv()[0]])
+    if strict:
+      assert cs.canValid, "CAN went invalid, check connections"
+    return cs
 
+  def write(self, cc: CarControl) -> None:
+    if cc.enabled and not self.p.health()['controls_allowed']:
+      # prevent the car from faulting. print a warning?
+      cc = CarControl(enabled=False)
+    _, can_sends = self.CI.apply(cc)
+    self.p.can_send_many(can_sends, timeout=25)
+    self.p.send_heartbeat()
 
 if __name__ == "__main__":
-  with PandaRunner() as (p, CI):
-    print(p.can_recv())
+  with PandaRunner() as p:
+    print(p.read())

pyproject.toml

@@ -35,6 +35,7 @@ docs = [
 ]
 examples = [
   "inputs",
+  "matplotlib",
 ]
 
 [tool.pytest.ini_options]