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plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active #22908

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merged 2 commits into from
Nov 15, 2021
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plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active #22908

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248a3f2
add cruise setpoint, use carControl.enabled not carControl.active
hewers Nov 14, 2021
54adcb5
use vEgo for longitudinal (as used by the controller) and use liveLoc…
hewers Nov 14, 2021
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200 changes: 101 additions & 99 deletions tools/plotjuggler/layouts/tuning.xml
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Original file line number Diff line number Diff line change
@@ -1,43 +1,43 @@
<?xml version='1.0' encoding='UTF-8'?>
<root version="2.3.8">
<tabbed_widget name="Main Window" parent="main_window">
<tabbed_widget parent="main_window" name="Main Window">
<Tab tab_name="Lateral" containers="1">
<Container>
<DockSplitter sizes="0.2;0.2;0.2;0.2;0.2" orientation="-" count="5">
<DockSplitter orientation="-" count="5" sizes="0.200458;0.199313;0.200458;0.199313;0.200458">
<DockArea name="Velocity [m/s]">
<plot style="Lines" mode="TimeSeries">
<range bottom="23.655731" right="299.969780" top="31.072848" left="0.024389"/>
<range left="1.253354" top="29.954036" bottom="-0.841715" right="631.055584"/>
<limitY/>
<curve name="/carState/vEgo" color="#0072b2"/>
<curve color="#0072b2" name="/carState/vEgo"/>
</plot>
</DockArea>
<DockArea name="Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.001618" right="299.969780" top="0.001706" left="0.024389"/>
<range left="0.000000" top="0.006648" bottom="-0.003150" right="631.055209"/>
<limitY/>
<curve name="engaged curvature plan" color="#009e73"/>
<curve name="engaged curvature vehicle model" color="#785ef0"/>
<curve name="engaged curvature yaw" color="#0072b2"/>
<curve color="#009e73" name="engaged curvature plan"/>
<curve color="#785ef0" name="engaged curvature vehicle model"/>
<curve color="#0072b2" name="engaged curvature yaw"/>
</plot>
</DockArea>
<DockArea name="Roll [rad]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.086784" right="299.969780" top="0.007461" left="0.024389"/>
<range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
<limitY/>
<curve name="/liveLocationKalman/calibratedOrientationNED/value/0" color="#ffb000"/>
<curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
</plot>
</DockArea>
<DockArea name="Engaged [green] Steering Pressed [blue]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
<range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
<limitY/>
<curve name="/controlsState/enabled" color="#009e73"/>
<curve name="/carState/steeringPressed" color="#0072b2"/>
<curve color="#009e73" name="/controlsState/enabled"/>
<curve color="#0072b2" name="/carState/steeringPressed"/>
</plot>
</DockArea>
<DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
<limitY/>
<curve name="/carState/steeringRateLimited" color="#ffb000"/>
<curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
Expand All @@ -48,57 +48,58 @@
</Tab>
<Tab tab_name="Longitudinal" containers="1">
<Container>
<DockSplitter sizes="0.2;0.2;0.2;0.2;0.2" orientation="-" count="5">
<DockArea name="Velocity [m/s] True [blue] Plan [green]">
<DockSplitter orientation="-" count="5" sizes="0.1875;0.1875;0.1875;0.1875;0.25">
<DockArea name="Velocity [m/s] True [blue] Plan [green] Cruise [magenta]">
<plot style="Lines" mode="TimeSeries">
<range bottom="23.655731" right="299.969780" top="31.072848" left="0.024389"/>
<range left="0.000000" top="42.713492" bottom="-1.041792" right="631.055584"/>
<limitY/>
<curve name="/longitudinalPlan/speeds/0" color="#009e73"/>
<curve name="/carState/vEgo" color="#0072b2"/>
<curve color="#dc267f" name="/carState/cruiseState/speed"/>
<curve color="#009e73" name="/longitudinalPlan/speeds/0"/>
<curve color="#0072b2" name="/carState/vEgo"/>
</plot>
</DockArea>
<DockArea name="Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.832626" right="299.969780" top="1.070051" left="0.024389"/>
<range left="1.253354" top="0.808303" bottom="-1.213305" right="631.055759"/>
<limitY/>
<curve name="engaged_accel_plan" color="#009e73"/>
<curve name="engaged_accel_actuator" color="#785ef0"/>
<curve name="engaged_accel_actual" color="#0072b2"/>
<curve color="#009e73" name="engaged_accel_plan"/>
<curve color="#785ef0" name="engaged_accel_actuator"/>
<curve color="#0072b2" name="engaged_accel_actual"/>
</plot>
</DockArea>
<DockArea name="Pitch [rad]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.073326" right="299.969780" top="0.008998" left="0.024389"/>
<range left="0.000000" top="0.158854" bottom="-0.594843" right="631.038276"/>
<limitY/>
<curve name="/liveLocationKalman/calibratedOrientationNED/value/1" color="#ffb000"/>
<curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
</plot>
</DockArea>
<DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
<limitY/>
<curve name="/carControl/active" color="#009e73"/>
<curve name="/carState/gasPressed" color="#ffb000"/>
<curve name="/carState/brakePressed" color="#dc267f"/>
<curve color="#009e73" name="/carControl/enabled"/>
<curve color="#ffb000" name="/carState/gasPressed"/>
<curve color="#dc267f" name="/carState/brakePressed"/>
</plot>
</DockArea>
<DockArea name="State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.050000" right="299.969780" top="2.050000" left="0.024389"/>
<range left="1.253620" top="5.125000" bottom="-0.125000" right="631.055759"/>
<limitY/>
<curve name="/carControl/actuators/longControlState" color="#0072b2"/>
<curve name="/longitudinalPlan/longitudinalPlanSource" color="#009e73"/>
<curve color="#0072b2" name="/carControl/actuators/longControlState"/>
<curve color="#009e73" name="/longitudinalPlan/longitudinalPlanSource"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<Tab tab_name="Lateral Debug" containers="1">
<Container>
<DockSplitter sizes="0.250564;0.249436;0.250564;0.249436" orientation="-" count="4">
<DockSplitter orientation="-" count="4" sizes="0.25;0.25;0.25;0.25">
<DockArea name="Controller F [magenta] P [purple] I [blue]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.564869" right="299.969780" top="0.506951" left="0.024389"/>
<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
<limitY/>
<curve name="/controlsState/lateralControlState/pidState/f" color="#f14cc1"/>
<curve name="/controlsState/lateralControlState/pidState/p" color="#9467bd"/>
Expand All @@ -107,31 +108,31 @@
</DockArea>
<DockArea name="Driver Torque [blue] EPS Torque [green]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-216.025000" right="299.969780" top="205.025000" left="0.024389"/>
<range left="1.253354" top="2690.999030" bottom="-3450.198981" right="631.055584"/>
<limitY/>
<curve name="/carState/steeringTorqueEps" color="#009e73"/>
<curve name="/carState/steeringTorque" color="#0072b2"/>
<curve color="#009e73" name="/carState/steeringTorqueEps"/>
<curve color="#0072b2" name="/carState/steeringTorque"/>
</plot>
</DockArea>
<DockArea name="Engaged [green] Steering Pressed [blue]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
<limitY/>
<curve name="/carState/steeringPressed" color="#0072b2"/>
<curve name="/carControl/active" color="#009e73"/>
<curve color="#009e73" name="/carControl/enabled"/>
<curve color="#0072b2" name="/carState/steeringPressed"/>
</plot>
</DockArea>
<DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
<plot style="Lines" mode="TimeSeries">
<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
<limitY/>
<curve name="/carState/steeringRateLimited" color="#ffb000"/>
<curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>t
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
Expand All @@ -142,40 +143,39 @@
<plugin ID="Cereal Subscriber"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="engaged_accel_actuator">
<snippet name="engaged curvature yaw">
<global>engage_delay = 5
last_bad_time = -engage_delay</global>
<function>accel = value
brake = v1
gas = v2
active = v3
<function>curvature = value / v3
pressed = v1
enabled = v2

if (brake ~= 0 or gas ~= 0 or active == 0) then
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end

if (time > last_bad_time + engage_delay) then
return value
return curvature
else
return 0
end</function>
<linkedSource>/carControl/actuators/accel</linkedSource>
<linkedSource>/liveLocationKalman/angularVelocityCalibrated/value/2</linkedSource>
<additionalSources>
<v1>/carState/brakePressed</v1>
<v2>/carState/gasPressed</v2>
<v3>/carControl/active</v3>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/enabled</v2>
<v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
</additionalSources>
</snippet>
<snippet name="engaged_accel_plan">
<snippet name="engaged curvature vehicle model">
<global>engage_delay = 5
last_bad_time = -engage_delay</global>
<function>accel = value
brake = v1
gas = v2
active = v3
<function>curvature = value
pressed = v1
enabled = v2

if (brake ~= 0 or gas ~= 0 or active == 0) then
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end

Expand All @@ -184,22 +184,20 @@ if (time > last_bad_time + engage_delay) then
else
return 0
end</function>
<linkedSource>/longitudinalPlan/accels/0</linkedSource>
<linkedSource>/controlsState/curvature</linkedSource>
<additionalSources>
<v1>/carState/brakePressed</v1>
<v2>/carState/gasPressed</v2>
<v3>/carControl/active</v3>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/enabled</v2>
</additionalSources>
</snippet>
<snippet name="engaged_accel_actual">
<snippet name="engaged curvature plan">
<global>engage_delay = 5
last_bad_time = -engage_delay</global>
<function>accel = value
brake = v1
gas = v2
active = v3
<function>curvature = value
pressed = v1
enabled = v2

if (brake ~= 0 or gas ~= 0 or active == 0) then
if (pressed == 1 or enabled == 0) then
last_bad_time = time
end

Expand All @@ -208,21 +206,21 @@ if (time > last_bad_time + engage_delay) then
else
return 0
end</function>
<linkedSource>/carState/aEgo</linkedSource>
<linkedSource>/lateralPlan/curvatures/0</linkedSource>
<additionalSources>
<v1>/carState/brakePressed</v1>
<v2>/carState/gasPressed</v2>
<v3>/carControl/active</v3>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/enabled</v2>
</additionalSources>
</snippet>
<snippet name="engaged curvature plan">
<snippet name="engaged_accel_actual">
<global>engage_delay = 5
last_bad_time = -engage_delay</global>
<function>curvature = value
pressed = v1
active = v2
<function>accel = value
brake = v1
gas = v2
enabled = v3

if (pressed == 1 or active == 0) then
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
last_bad_time = time
end

Expand All @@ -231,20 +229,22 @@ if (time > last_bad_time + engage_delay) then
else
return 0
end</function>
<linkedSource>/lateralPlan/curvatures/0</linkedSource>
<linkedSource>/carState/aEgo</linkedSource>
<additionalSources>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/active</v2>
<v1>/carState/brakePressed</v1>
<v2>/carState/gasPressed</v2>
<v3>/carControl/enabled</v3>
</additionalSources>
</snippet>
<snippet name="engaged curvature vehicle model">
<snippet name="engaged_accel_plan">
<global>engage_delay = 5
last_bad_time = -engage_delay</global>
<function>curvature = value
pressed = v1
active = v2
<function>accel = value
brake = v1
gas = v2
enabled = v3

if (pressed == 1 or active == 0) then
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
last_bad_time = time
end

Expand All @@ -253,33 +253,35 @@ if (time > last_bad_time + engage_delay) then
else
return 0
end</function>
<linkedSource>/controlsState/curvature</linkedSource>
<linkedSource>/longitudinalPlan/accels/0</linkedSource>
<additionalSources>
<v1>/carState/steeringPressed</v1>
<v2>/controlsState/active</v2>
<v1>/carState/brakePressed</v1>
<v2>/carState/gasPressed</v2>
<v3>/carControl/enabled</v3>
</additionalSources>
</snippet>
<snippet name="engaged curvature yaw">
<snippet name="engaged_accel_actuator">
<global>engage_delay = 5
last_bad_time = -engage_delay</global>
<function>curvature = value / v3
pressed = v1
active = v2
<function>accel = value
brake = v1
gas = v2
enabled = v3

if (pressed == 1 or active == 0) then
if (brake ~= 0 or gas ~= 0 or enabled == 0) then
last_bad_time = time
end

if (time > last_bad_time + engage_delay) then
return curvature
return value
else
return 0
end</function>
<linkedSource>/liveLocationKalman/angularVelocityCalibrated/value/2</linkedSource>
<linkedSource>/carControl/actuators/accel</linkedSource>
<additionalSources>
<v1>/carState/steeringPressed</v1>
<v2>/carControl/active</v2>
<v3>/carState/vEgo</v3>
<v1>/carState/brakePressed</v1>
<v2>/carState/gasPressed</v2>
<v3>/carControl/enabled</v3>
</additionalSources>
</snippet>
</customMathEquations>
Expand Down