|
| 1 | +#! /usr/bin/env python3 |
| 2 | + |
| 3 | +# Copyright 2022 Tier IV, Inc. |
| 4 | +# |
| 5 | +# Licensed under the Apache License, Version 2.0 (the "License"); |
| 6 | +# you may not use this file except in compliance with the License. |
| 7 | +# You may obtain a copy of the License at |
| 8 | +# |
| 9 | +# http://www.apache.org/licenses/LICENSE-2.0 |
| 10 | +# |
| 11 | +# Unless required by applicable law or agreed to in writing, software |
| 12 | +# distributed under the License is distributed on an "AS IS" BASIS, |
| 13 | +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 14 | +# See the License for the specific language governing permissions and |
| 15 | +# limitations under the License. |
| 16 | + |
| 17 | +import math |
| 18 | +from pathlib import Path |
| 19 | + |
| 20 | +from ament_index_python.packages import get_package_share_directory |
| 21 | +from calc_utils import CalcUtils |
| 22 | +import config as CF |
| 23 | +from csv_reader import CSVReader |
| 24 | +import matplotlib.pyplot as plt |
| 25 | +import numpy as np |
| 26 | +from plotter import Plotter |
| 27 | +import rclpy |
| 28 | +from rclpy.node import Node |
| 29 | +from tier4_external_api_msgs.srv import GetAccelBrakeMapCalibrationData as CalibData |
| 30 | +import yaml |
| 31 | + |
| 32 | + |
| 33 | +class DrawGraph(Node): |
| 34 | + calibrated_map_dir = "" |
| 35 | + |
| 36 | + def __init__(self): |
| 37 | + super().__init__("plot_server") |
| 38 | + self.srv = self.create_service( |
| 39 | + CalibData, "/accel_brake_map_calibrator/get_data_service", self.get_data_callback |
| 40 | + ) |
| 41 | + |
| 42 | + package_path = get_package_share_directory("accel_brake_map_calibrator") |
| 43 | + default_map_path = get_package_share_directory("raw_vehicle_cmd_converter") |
| 44 | + |
| 45 | + self.default_map_dir = default_map_path + "/data/default/" |
| 46 | + self.calibrated_map_dir = package_path + "/config/" |
| 47 | + self.log_file = package_path + "/config/log.csv" |
| 48 | + |
| 49 | + config_file = package_path + "/config/accel_brake_map_calibrator.param.yaml" |
| 50 | + if Path(config_file).exists(): |
| 51 | + self.get_logger().info("config file exists") |
| 52 | + with open(config_file) as yml: |
| 53 | + data = yaml.safe_load(yml) |
| 54 | + self.min_vel_thr = data["/**"]["ros__parameters"]["velocity_min_threshold"] |
| 55 | + self.vel_diff_thr = data["/**"]["ros__parameters"]["velocity_diff_threshold"] |
| 56 | + self.pedal_diff_thr = data["/**"]["ros__parameters"]["pedal_diff_threshold"] |
| 57 | + self.max_steer_thr = data["/**"]["ros__parameters"]["max_steer_threshold"] |
| 58 | + self.max_pitch_thr = data["/**"]["ros__parameters"]["max_pitch_threshold"] |
| 59 | + self.max_jerk_thr = data["/**"]["ros__parameters"]["max_jerk_threshold"] |
| 60 | + else: |
| 61 | + self.get_logger().warning("config file is not found in {}".format(config_file)) |
| 62 | + self.min_vel_thr = 0.1 |
| 63 | + self.vel_diff_thr = 0.556 |
| 64 | + self.pedal_diff_thr = 0.03 |
| 65 | + self.max_steer_thr = 0.2 |
| 66 | + self.max_pitch_thr = 0.02 |
| 67 | + self.max_jerk_thr = 0.7 |
| 68 | + |
| 69 | + self.max_pedal_vel_thr = 0.7 |
| 70 | + |
| 71 | + # debug |
| 72 | + self.get_logger().info("default map dir: {}".format(self.default_map_dir)) |
| 73 | + self.get_logger().info("calibrated map dir: {}".format(self.calibrated_map_dir)) |
| 74 | + self.get_logger().info("log file :{}".format(self.log_file)) |
| 75 | + self.get_logger().info("min_vel_thr : {}".format(self.min_vel_thr)) |
| 76 | + self.get_logger().info("vel_diff_thr : {}".format(self.vel_diff_thr)) |
| 77 | + self.get_logger().info("pedal_diff_thr : {}".format(self.pedal_diff_thr)) |
| 78 | + self.get_logger().info("max_steer_thr : {}".format(self.max_steer_thr)) |
| 79 | + self.get_logger().info("max_pitch_thr : {}".format(self.max_pitch_thr)) |
| 80 | + self.get_logger().info("max_jerk_thr : {}".format(self.max_jerk_thr)) |
| 81 | + self.get_logger().info("max_pedal_vel_thr : {}".format(self.max_pedal_vel_thr)) |
| 82 | + |
| 83 | + def get_data_callback(self, request, response): |
| 84 | + # read csv |
| 85 | + # If log file doesn't exsist, return empty data |
| 86 | + if not Path(self.log_file).exists(): |
| 87 | + response.graph_image = [] |
| 88 | + self.get_logger().info("svg data is empty") |
| 89 | + |
| 90 | + response.accel_map = "" |
| 91 | + self.get_logger().info("accel map is empty") |
| 92 | + |
| 93 | + response.brake_map = "" |
| 94 | + self.get_logger().info("brake map is empty") |
| 95 | + |
| 96 | + return response |
| 97 | + |
| 98 | + self.cr = CSVReader(self.log_file, csv_type="file") |
| 99 | + |
| 100 | + # remove unused_data |
| 101 | + self.csv_data = self.cr.removeUnusedData( |
| 102 | + self.min_vel_thr, |
| 103 | + self.max_steer_thr, |
| 104 | + self.max_pitch_thr, |
| 105 | + self.max_pedal_vel_thr, |
| 106 | + self.max_jerk_thr, |
| 107 | + ) |
| 108 | + |
| 109 | + # get statistics array |
| 110 | + vel_data = self.cr.getVelData() |
| 111 | + pedal_data = self.cr.getPedalData() |
| 112 | + acc_data = self.cr.getAccData() |
| 113 | + |
| 114 | + # get color factor (pitch) array for plotting |
| 115 | + color_data = self.cr.getPitchData() |
| 116 | + |
| 117 | + data, full_data = CalcUtils.create_2d_map( |
| 118 | + vel_data, |
| 119 | + pedal_data, |
| 120 | + acc_data, |
| 121 | + color_data, |
| 122 | + CF.VEL_LIST / 3.6, |
| 123 | + self.vel_diff_thr, |
| 124 | + CF.PEDAL_LIST, |
| 125 | + self.pedal_diff_thr, |
| 126 | + ) |
| 127 | + |
| 128 | + count_map, average_map, stddev_map = CalcUtils.create_stat_map(data) |
| 129 | + velocity_map_list = [] |
| 130 | + for i in range(len(CF.VEL_LIST)): |
| 131 | + velocity_map_list.append(CalcUtils.extract_x_index_map(full_data, i)) |
| 132 | + |
| 133 | + default_pedal_list, default_acc_list = self.load_map(self.default_map_dir) |
| 134 | + if len(default_pedal_list) == 0 or len(default_acc_list) == 0: |
| 135 | + self.get_logger().warning( |
| 136 | + "No default map file was found in {}".format(self.default_map_dir) |
| 137 | + ) |
| 138 | + |
| 139 | + response.graph_image = [] |
| 140 | + self.get_logger().info("svg data is empty") |
| 141 | + |
| 142 | + response.accel_map = "" |
| 143 | + self.get_logger().info("accel map is empty") |
| 144 | + |
| 145 | + response.brake_map = "" |
| 146 | + self.get_logger().info("brake map is empty") |
| 147 | + |
| 148 | + return response |
| 149 | + |
| 150 | + calibrated_pedal_list, calibrated_acc_list = self.load_map(self.calibrated_map_dir) |
| 151 | + if len(calibrated_pedal_list) == 0 or len(calibrated_acc_list) == 0: |
| 152 | + self.get_logger().warning( |
| 153 | + "No calibrated map file was found in {}".format(self.calibrated_map_dir) |
| 154 | + ) |
| 155 | + |
| 156 | + # visualize point from data |
| 157 | + plot_width = 3 |
| 158 | + plot_height = int(math.ceil(len(CF.VEL_LIST) / float(plot_width))) |
| 159 | + plotter = Plotter(plot_height, plot_width) |
| 160 | + for i in range(len(CF.VEL_LIST)): |
| 161 | + self.view_pedal_accel_graph( |
| 162 | + plotter, |
| 163 | + i, |
| 164 | + velocity_map_list, |
| 165 | + i, |
| 166 | + count_map, |
| 167 | + average_map, |
| 168 | + stddev_map, |
| 169 | + default_pedal_list, |
| 170 | + default_acc_list, |
| 171 | + calibrated_pedal_list, |
| 172 | + calibrated_acc_list, |
| 173 | + ) |
| 174 | + plt.savefig("plot.svg") |
| 175 | + self.get_logger().info("svg saved") |
| 176 | + |
| 177 | + # pack response data |
| 178 | + text = Path("plot.svg").read_text() |
| 179 | + if text == "": |
| 180 | + response.graph_image = [] |
| 181 | + self.get_logger().info("svg data is empty") |
| 182 | + else: |
| 183 | + byte = text.encode() |
| 184 | + for b in byte: |
| 185 | + response.graph_image.append(b) |
| 186 | + self.get_logger().info("svg data is packed") |
| 187 | + |
| 188 | + accel_map_name = Path(self.calibrated_map_dir + "accel_map.csv") |
| 189 | + if accel_map_name.exists(): |
| 190 | + with open(self.calibrated_map_dir + "accel_map.csv", "r") as calibrated_accel_map: |
| 191 | + for accel_data in calibrated_accel_map: |
| 192 | + response.accel_map += accel_data |
| 193 | + self.get_logger().info("accel map is packed") |
| 194 | + else: |
| 195 | + response.accel_map = "" |
| 196 | + self.get_logger().info("accel map is empty") |
| 197 | + |
| 198 | + brake_map_name = Path(self.calibrated_map_dir + "brake_map.csv") |
| 199 | + if brake_map_name.exists(): |
| 200 | + with open(self.calibrated_map_dir + "brake_map.csv", "r") as calibrated_brake_map: |
| 201 | + for brake_data in calibrated_brake_map: |
| 202 | + response.brake_map += brake_data |
| 203 | + self.get_logger().info("brake map is packed") |
| 204 | + else: |
| 205 | + response.brake_map = "" |
| 206 | + self.get_logger().info("brake map is empty") |
| 207 | + |
| 208 | + return response |
| 209 | + |
| 210 | + def plotter_function(self): |
| 211 | + return self.plotter |
| 212 | + |
| 213 | + def view_pedal_accel_graph( |
| 214 | + self, |
| 215 | + plotter, |
| 216 | + subplot_num, |
| 217 | + velocity_map_list, |
| 218 | + vel_list_idx, |
| 219 | + count_map, |
| 220 | + average_map, |
| 221 | + stddev_map, |
| 222 | + default_pedal_list, |
| 223 | + default_acc_list, |
| 224 | + calibrated_pedal_list, |
| 225 | + calibrated_acc_list, |
| 226 | + ): |
| 227 | + |
| 228 | + fig = plotter.subplot_more(subplot_num) |
| 229 | + |
| 230 | + # calibrated map |
| 231 | + if len(calibrated_pedal_list) != 0 and len(calibrated_acc_list) != 0: |
| 232 | + plotter.plot( |
| 233 | + calibrated_pedal_list[vel_list_idx], |
| 234 | + calibrated_acc_list[vel_list_idx], |
| 235 | + color="blue", |
| 236 | + label="calibrated", |
| 237 | + ) |
| 238 | + |
| 239 | + # default map |
| 240 | + if len(default_pedal_list) != 0 and len(default_acc_list) != 0: |
| 241 | + plotter.plot( |
| 242 | + default_pedal_list[vel_list_idx], |
| 243 | + default_acc_list[vel_list_idx], |
| 244 | + color="orange", |
| 245 | + label="default", |
| 246 | + linestyle="dashed", |
| 247 | + ) |
| 248 | + |
| 249 | + # plot all data |
| 250 | + pedal_list = [0 for i in range(len(CF.PEDAL_LIST))] |
| 251 | + if velocity_map_list[vel_list_idx] is not None: |
| 252 | + plotter.scatter_color( |
| 253 | + velocity_map_list[vel_list_idx][:, 1], |
| 254 | + velocity_map_list[vel_list_idx][:, 2], |
| 255 | + color=velocity_map_list[vel_list_idx][:, 3], |
| 256 | + label="all", |
| 257 | + ) |
| 258 | + |
| 259 | + for pedal in velocity_map_list[vel_list_idx][:, 1]: |
| 260 | + min_pedal = 10 |
| 261 | + for pedal_idx, ref_pedal in enumerate(CF.PEDAL_LIST): |
| 262 | + if min_pedal > abs(pedal - ref_pedal): |
| 263 | + min_pedal = abs(pedal - ref_pedal) |
| 264 | + min_pedal_idx = pedal_idx |
| 265 | + pedal_list[min_pedal_idx] += 1 |
| 266 | + |
| 267 | + # plot average data |
| 268 | + plotter.scatter(CF.PEDAL_LIST, average_map[:, vel_list_idx], "red", label="average") |
| 269 | + |
| 270 | + # add label of standard deviation |
| 271 | + plotter.scatter([], [], "black", label="std dev") |
| 272 | + |
| 273 | + # plot average text |
| 274 | + for i in range(len(CF.PEDAL_LIST)): |
| 275 | + if count_map[i, vel_list_idx] == 0: |
| 276 | + continue |
| 277 | + x = CF.PEDAL_LIST[i] |
| 278 | + y = average_map[i, vel_list_idx] |
| 279 | + y2 = stddev_map[i, vel_list_idx] |
| 280 | + # plot average |
| 281 | + plotter.plot_text(x, y + 1, y, color="red") |
| 282 | + |
| 283 | + # plot standard deviation |
| 284 | + plotter.plot_text(x, y - 1, y2, color="black") |
| 285 | + |
| 286 | + # plot the number of all data |
| 287 | + plotter.plot_text( |
| 288 | + x, y - 2, "{}\npts".format(pedal_list[i]), num_data_type="str", color="green" |
| 289 | + ) |
| 290 | + |
| 291 | + pedal_lim = [CF.PEDAL_LIST[0] - 0.05, CF.PEDAL_LIST[-1] + 0.05] |
| 292 | + accel_lim = [-5.0, 5.0] |
| 293 | + |
| 294 | + plotter.set_lim(fig, pedal_lim, accel_lim) |
| 295 | + plotter.add_label( |
| 296 | + str(CF.VEL_LIST[vel_list_idx]) + "kmh; pedal-accel relation", "pedal", "accel" |
| 297 | + ) |
| 298 | + |
| 299 | + def load_map(self, csv_dir): |
| 300 | + try: |
| 301 | + accel_pedal_list = [] |
| 302 | + accel_acc_list = [] |
| 303 | + with open(csv_dir + "accel_map.csv") as f: |
| 304 | + for l_idx, l in enumerate(f.readlines()): |
| 305 | + w = l.split(",") |
| 306 | + w[-1] = w[-1][:-1] |
| 307 | + if l_idx != 0: |
| 308 | + accel_pedal_list.append([float(w[0]) for e in w[1:]]) |
| 309 | + accel_acc_list.append([float(e) for e in w[1:]]) |
| 310 | + |
| 311 | + brake_pedal_list = [] |
| 312 | + brake_acc_list = [] |
| 313 | + with open(csv_dir + "brake_map.csv") as f: |
| 314 | + for l_idx, l in enumerate(f.readlines()): |
| 315 | + w = l.split(",") |
| 316 | + w[-1] = w[-1][:-1] |
| 317 | + if l_idx != 0: |
| 318 | + brake_pedal_list.append([-float(w[0]) for e in w[1:]]) |
| 319 | + brake_acc_list.append([float(e) for e in w[1:]]) |
| 320 | + |
| 321 | + return np.hstack( |
| 322 | + [np.fliplr(np.array(accel_pedal_list).T), np.array(brake_pedal_list).T.tolist()] |
| 323 | + ), np.hstack([np.fliplr(np.array(accel_acc_list).T), np.array(brake_acc_list).T]) |
| 324 | + except OSError as e: |
| 325 | + print(e) |
| 326 | + return [], [] |
| 327 | + |
| 328 | + |
| 329 | +def main(args=None): |
| 330 | + rclpy.init(args=None) |
| 331 | + node = DrawGraph() |
| 332 | + rclpy.spin(node) |
| 333 | + node.destroy_node() |
| 334 | + rclpy.shutdown() |
| 335 | + |
| 336 | + |
| 337 | +if __name__ == "__main__": |
| 338 | + main() |
![pre-commit-ci[bot]](https://avatars.githubusercontent.com/in/68672?v=4&size=40){kind=avatar}
0 commit comments