long maneuvers https://github.com/commaai/openpilot/issues/26778#1

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ntegan1 wants to merge 7 commits intomasterfrom

reproducible-long-maneuvers

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ntegan1 commented Dec 13, 2022 •

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newish notes/ideas

maybe add options for constant accel control and constant velocity control, and a blend of both

good idea would probably be to filll a long_plan with speeds, times, accels from maneuver
speeds, accels, jerks
what do do about jerks

looks like jerks dont quite matter.
start with basic accels as derivative of speed graph
reset LoC at beginning

oldish notes

TODO: this is just for velocity.

but i used to set cruisestate speed to 0 and such, it was pretty responsive.

maybe start out with that and add acceleration stuff later

because right now, responsiveness to maneuver change in velocity is at the mercy of chill mode planning? (e2e is happy to keep barreling down at 60mph after you set speed to 10mph)

need to feeed desired vel directly into pid controller or somethign.
?closer to joystick code
?maybe in longcontrol.py vtarget upper lower stuff instead of long planner

nonegan added 2 commits

December 13, 2022 01:44


          long maneuvers commaai#26778

c1515e8


          start maneuvering

2fdcedd

Owner Author

ntegan1 commented Dec 13, 2022

comma@tici:/data/openpilot/tools$ ./joystick/maneuver/__init__.py 
{'name': 'first test maneuver', 'duration': 14, 'should_interpolate': False, 'velocity_unit': 'mph', 'points': [[0, 0], [5, 10], [8, 10], [12, 2], [14, 0]]}
plot points[(0,0),(5,10),(8,10),(12,2),(14,0)]

nonegan added 2 commits

December 13, 2022 03:18


          start maneuver controller and communication for start/stop/request

6b6bd2f


          untested

272767c

ntegan1 commented

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tools/joystick/maneuver/__init__.py Show resolved Hide resolved

nonegan added 2 commits

December 13, 2022 03:37


          long planner and script to start

4e20e32


          make

2c05dd6

ntegan1 commented

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tools/joystick/maneuver/__init__.py

Comment on lines +58 to +63

+                def set_finished(self):
+                  self.maneuvering = False
+                  self.maneuver = None
+                def request_maneuver_start(self, maneuver):
+                  self.maneuver = maneuver
+                  self.maneuvering = True

Owner Author

ntegan1 Dec 13, 2022

dead code

ntegan1 commented

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tools/joystick/maneuver/__init__.py

+              def available_maneuver_files():
+                all_files = os.listdir(maneuvers_directory)
+                files = [f for f in all_files if f[f.rfind(".")+1:] == "json"]
+                return files

Owner Author

ntegan1 Dec 13, 2022

dead

ntegan1 commented

View reviewed changes

tools/joystick/maneuver/__init__.py

+                  return bool(buf[0])
+                def maneuver_num(self):
+                  return buf[1]
+                def maneuver_request(self, maneuver_num):

Owner Author

ntegan1 Dec 13, 2022

maybe allow requesting diff maneuver during another one

ntegan1 commented

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tools/joystick/maneuver/__init__.py

+                def update(self, vcruise):
+                  should_start_maneuver = not self.maneuvering and self.mem.maneuver_requested()
+                  if not self.maneuvering and not should_start_maneuver:
+                    return vcruise

Owner Author

ntegan1 Dec 13, 2022

save manuver number and restart the thing if changes


          next steps

ba537ea

Owner Author

ntegan1 commented Dec 16, 2022

testing some of the a target stuff on opsetspeed branch

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