-
Notifications
You must be signed in to change notification settings - Fork 1
/
guilateralg.py
282 lines (220 loc) · 12.4 KB
/
guilateralg.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
# -*- coding: utf-8 -*-
"""
Created on Sun Jun 12 09:44:19 2022
@author: RTB
"""
import tkinter
import tkinter.ttk
from collections import deque
import statistics
import constants
import math
import csv
#self.gearratios = [{'median':0, 'deque':deque(maxlen=240)} for x in range(1,12)]
#'acceleration_x', 'acceleration_y', 'acceleration_z',
# 'tire_slip_ratio_FL', 'tire_slip_ratio_FR',
# 'tire_slip_ratio_RL', 'tire_slip_ratio_RR',
'''
TireSlipRatioFrontLeft << this is longitudal slip or just spin.
TireSlipAngleFrontLeft << this is lateral tire slip angle (not the same as wheel angle).
TireCombinedSlipFrontLeft; << this is combination of the two above. Although the way they normalize this, it is hard to make sense of this third value.
None of those three show weight distribution, not sure what you mean by “angle of road force on tire”, and none of those show fraction of max possible grip.
Also, just to be completely clear. None of them show tire load.
TireSlipRatioFrontLeft can be used to calculate Fx, and TireSlipAngleFrontLeft could be used to calculate Fy at pure slip.
TireCombinedSlipFrontLeft can be used to calculate the same at combined slip.
Side force (Fy) and friction force (Fx)
'''
'''
TODO:
track lateral G over speed given tire grip < 1.5.
'''
MAXLEN = 300
G = 9.81
RED = '#ee2222'
ORANGE = '#eeaa00'
TIRES = ['FL', 'FR', 'RL', 'RR']
MAXG = 8
SLIPLIMIT = 1.5
#implements a short deque that rolls over into a long deque
#maintains a rolling sum for a rolling average
#starts filled with zeros, so averages are not correct until filled
class double_deque():
def __init__(self, shortlen, totallen):
self.shortlen = shortlen
self.totallen = totallen
self.longlen = totallen - shortlen
self.short = deque(maxlen=self.shortlen)
self.long = deque(maxlen=self.longlen)
self.reset()
#assumes short and long are filled to maxlen
def append(self, val):
popval = self.short.popleft()
self.short_rollingsum = self.short_rollingsum - popval + val
self.long_rollingsum = self.long_rollingsum - self.long[0] + popval
self.long.append(popval)
self.short.append(val)
def reset(self):
self.short.extend([0]*self.shortlen)
self.long.extend([0]*self.longlen)
self.short_rollingsum = 0
self.long_rollingsum = 0
def short_avg(self):
return self.short_rollingsum / self.shortlen
def long_avg(self):
return self.long_rollingsum / self.longlen
class GUILateralG:
# rownames = ['speed',
# 'velocity_x' , 'velocity_y', 'velocity_z',
# 'acceleration_x', 'acceleration_y', 'acceleration_z',
# 'angular_velocity_x', 'angular_velocity_y', 'angular_velocity_z',
# 'tire_slip_ratio_FL', 'tire_slip_ratio_FR', 'tire_slip_ratio_RL', 'tire_slip_ratio_RR',
# 'tire_slip_angle_FL', 'tire_slip_angle_FR', 'tire_slip_angle_RL', 'tire_slip_angle_RR',
# 'position_x', 'position_y', 'position_z',
# 'tire_temp_FL', 'tire_temp_FR', 'tire_temp_RL', 'tire_temp_RR' ]
MAX_DATAPOINTS = 60
SHORTLEN = 10
TOTALLEN = 300
def __init__(self, logger, *args, **kwargs):
self.logger = logger
self.accelx_deque = double_deque(shortlen=GUILateralG.SHORTLEN,
totallen=GUILateralG.TOTALLEN)
self.accely_deque = double_deque(shortlen=GUILateralG.SHORTLEN,
totallen=GUILateralG.TOTALLEN)
self.accelz_deque = double_deque(shortlen=GUILateralG.SHORTLEN,
totallen=GUILateralG.TOTALLEN)
self.accelx_shortavg_var = tkinter.StringVar()
self.accely_shortavg_var = tkinter.StringVar()
self.accelz_shortavg_var = tkinter.StringVar()
self.accel_shortavg_var = tkinter.StringVar()
self.accelx_longavg_var = tkinter.StringVar()
self.accely_longavg_var = tkinter.StringVar()
self.accelz_longavg_var = tkinter.StringVar()
self.accel_longavg_var = tkinter.StringVar()
self.accelx_label= tkinter.Label()
self.arrow = {t:{d:tkinter.Label() for d in ['U', 'L', 'R', 'D']} for t in TIRES}
self.latgdata = []
self.reset()
def tiregripcolor (self, tireneg, tirepos, slipvalue):
newcolor = constants.text_color
if slipvalue > 2:
newcolor = RED
elif slipvalue > 1:
newcolor = ORANGE
tirepos.configure(fg=newcolor)
newcolor = constants.text_color
if -slipvalue > 2:
newcolor = RED
elif -slipvalue > 1:
newcolor = ORANGE
tireneg.configure(fg=newcolor)
def display(self):
accelx_shortavg = self.accelx_deque.short_avg()
accely_shortavg = self.accely_deque.short_avg()
accelz_shortavg = self.accelz_deque.short_avg()
accelx_longavg = self.accelx_deque.long_avg()
accely_longavg = self.accely_deque.long_avg()
accelz_longavg = self.accelz_deque.long_avg()
accel_shortavg = math.sqrt(accelx_shortavg**2 + accely_shortavg**2 + accelz_shortavg**2)
accel_longavg = math.sqrt(accelx_longavg**2 + accely_longavg**2 + accelz_longavg**2)
# if (abs(self.tire_slip_ratio_FL) > 1 or abs(self.tire_slip_ratio_FR) > 1 or
# abs(self.tire_slip_ratio_RL) > 1 or abs(self.tire_slip_ratio_RR) > 1):
# self.accelx_label.configure(fg="#dd2222")
# else:
# self.accelx_label.configure(fg=constants.text_color)
for tire in ['FL', 'FR', 'RL', 'RR']:
self.tiregripcolor(self.arrow[tire]['U'], self.arrow[tire]['D'], self.tire_slip_ratio[tire])
self.tiregripcolor(self.arrow[tire]['L'], self.arrow[tire]['R'], self.tire_slip_angle[tire])
self.accelx_shortavg_var.set(f"{accelx_shortavg: .2f}")
self.accely_shortavg_var.set(f"{accely_shortavg: .2f}")
self.accelz_shortavg_var.set(f"{accelz_shortavg: .2f}")
self.accel_shortavg_var.set(f"{accel_shortavg: .2f}")
self.accelx_longavg_var.set(f"{accelx_longavg: .2f}")
self.accely_longavg_var.set(f"{accely_longavg: .2f}")
self.accelz_longavg_var.set(f"{accelz_longavg: .2f}")
self.accel_longavg_var.set(f"{accel_longavg: .2f}")
def update(self, fdp):
if fdp.is_race_on == 0:
return
self.accelx_deque.append(fdp.acceleration_x/G)
self.accely_deque.append(fdp.acceleration_y/G)
self.accelz_deque.append(fdp.acceleration_z/G)
self.tire_slip_ratio['FL'] = fdp.tire_slip_ratio_FL
self.tire_slip_ratio['FR'] = fdp.tire_slip_ratio_FR
self.tire_slip_ratio['RL'] = fdp.tire_slip_ratio_RL
self.tire_slip_ratio['RR'] = fdp.tire_slip_ratio_RR
self.tire_slip_angle['FL'] = fdp.tire_slip_angle_FL
self.tire_slip_angle['FR'] = fdp.tire_slip_angle_FR
self.tire_slip_angle['RL'] = fdp.tire_slip_angle_RL
self.tire_slip_angle['RR'] = fdp.tire_slip_angle_RR
self.latgdata.append([fdp.acceleration_x/G, fdp.acceleration_z/G, fdp.speed] + [self.tire_slip_angle[x] for x in TIRES])
# if len(self.latgdata) == GUILateralG.MAX_DATAPOINTS:
# with open('latgdata.csv', 'w', newline='') as rawcsv:
# csvobject = csv.writer(rawcsv, delimiter='\t', quotechar='', quoting=csv.QUOTE_NONE)
# csvobject.writerow(GUILateralG.rownames)
# csvobject.writerows(self.latgdata)
# self.latgdata.clear()
# self.logger.info("Written data to latgdata.csv")
# else:
# point = fdp.to_list(GUILateralG.rownames)
# self.latgdata.append(point)
def to_file(self, seconds=0):
with open('lateralgdata.csv', 'w', newline='') as rawcsv:
csvobject = csv.writer(rawcsv, delimiter='\t', quotechar='', quoting=csv.QUOTE_NONE)
csvobject.writerow(['latg', 'longg', 'speed', 'slipFL', 'slipFR', 'slipRL', 'slipRR'])
csvobject.writerows(self.latgdata[-seconds*60:])
self.logger.info(f"Written {len(self.latgdata[-seconds*60:])} rows to file")
def set_canvas(self, frame):
self.frame = tkinter.Frame(frame, border=0, bg=constants.background_color, relief="groove",
highlightthickness=True, highlightcolor=constants.text_color)
opts = {'bg':constants.background_color, 'fg':constants.text_color, 'justify':tkinter.RIGHT, 'anchor':tkinter.E,
'font':('Helvetica 10 bold')}
tkinter.Label(self.frame, text='axis', **opts).grid(row=0)
tkinter.Label(self.frame, text=' 0.17s', **opts).grid(row=0, column=1)
tkinter.Label(self.frame, text=' 5s', **opts).grid(row=0, column=2)
opts['font'] = ('Helvetica 16 bold')
tkinter.Label(self.frame, text='X:', **opts).grid(row=1)
tkinter.Label(self.frame, text='Y:', **opts).grid(row=2)
tkinter.Label(self.frame, text='Z:', **opts).grid(row=3)
tkinter.Label(self.frame, text='g:', **opts).grid(row=4)
opts['width'] = 4
tkinter.Label(self.frame, textvariable=self.accelx_shortavg_var, **opts).grid(row=1, column=1)
tkinter.Label(self.frame, textvariable=self.accely_shortavg_var, **opts).grid(row=2, column=1)
tkinter.Label(self.frame, textvariable=self.accelz_shortavg_var, **opts).grid(row=3, column=1)
tkinter.Label(self.frame, textvariable=self.accel_shortavg_var, **opts).grid(row=4, column=1)
tkinter.Label(self.frame, textvariable=self.accelx_longavg_var, **opts).grid(row=1, column=2)
tkinter.Label(self.frame, textvariable=self.accely_longavg_var, **opts).grid(row=2, column=2)
tkinter.Label(self.frame, textvariable=self.accelz_longavg_var, **opts).grid(row=3, column=2)
tkinter.Label(self.frame, textvariable=self.accel_longavg_var, **opts).grid(row=4, column=2)
button = tkinter.Button(self.frame, text='Dump', bg=constants.background_color, fg=constants.text_color,
borderwidth=3, highlightcolor=constants.text_color, highlightthickness=True)
button.bind('<Button-1>', lambda x: self.to_file())
button.grid(row=0, column=3)
button5 = tkinter.Button(self.frame, text='5s', bg=constants.background_color, fg=constants.text_color,
borderwidth=3, highlightcolor=constants.text_color, highlightthickness=True)
button5.bind('<Button-1>', lambda x: self.to_file(seconds=5))
button5.grid(row=1, column=3)
#🢀 🢂 🢁 🢃
self.arrowframe = tkinter.Frame(frame, border=0, bg=constants.background_color, relief="groove",
highlightthickness=True, highlightcolor=constants.text_color)
rowoffset = 0
coloffset = 0
opts = {'bg':constants.background_color, 'fg':constants.text_color, 'font':('Helvetica 16 bold')}
for tire in ['FL', 'FR', 'RL', 'RR']:
rowoffset = 0 if tire[0] == 'F' else 3
coloffset = 0 if tire[1] == 'L' else 2
self.arrow[tire]['U'] = tkinter.Label(self.arrowframe, text="🢁", **opts)
self.arrow[tire]['L'] = tkinter.Label(self.arrowframe, text="🢀", **opts)
self.arrow[tire]['R'] = tkinter.Label(self.arrowframe, text="🢂", **opts)
self.arrow[tire]['D'] = tkinter.Label(self.arrowframe, text="🢃", **opts)
self.arrow[tire]['U'].grid(row=0+rowoffset, column=0+coloffset, padx=0, pady=0, columnspan=2)
self.arrow[tire]['L'].grid(row=1+rowoffset, column=0+coloffset, padx=0, pady=0)
self.arrow[tire]['R'].grid(row=1+rowoffset, column=1+coloffset, padx=0, pady=0)
self.arrow[tire]['D'].grid(row=2+rowoffset, column=0+coloffset, padx=0, pady=0, columnspan=2)
def reset(self):
self.accelx_deque.reset()
self.accely_deque.reset()
self.accelz_deque.reset()
self.tire_slip_ratio = {t:0 for t in TIRES}
self.tire_slip_angle = {t:0 for t in TIRES}
self.latgdata.clear()
self.display()