refactor(mpc_lateral_controller): add debug info of qp solver #5459

kyoichi-sugahara · 2023-11-01T12:27:27Z

Description

`🤖 Generated by Copilot at d98b7bb`

This pull request adds three virtual functions to the QPSolverInterface class to retrieve the solver performance information, and implements them in the QPSolverOsqp and QPSolverUnconstraintFast classes. It also modifies the MPC class to use these functions and publish the solver performance as part of the diagnostic data.

I have added iteration_num, runtime, and objective_value to the topic used for debugging purposes.

Please note: If the QPSolverEigenLeastSquareLLT solver is selected, it is not possible to retrieve information.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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Signed-off-by: kyoichi-sugahara <[email protected]>

TakaHoribe

lgtm

codecov · 2023-11-02T09:40:10Z

Codecov Report

Attention: 4 lines in your changes are missing coverage. Please review.

Comparison is base (4e00bf2) 14.84% compared to head (64bffaf) 14.85%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5459   +/-   ##
=======================================
  Coverage   14.84%   14.85%           
=======================================
  Files        1665     1666    +1     
  Lines      116231   116241   +10     
  Branches    36256    36259    +3     
=======================================
+ Hits        17259    17265    +6     
- Misses      79473    79474    +1     
- Partials    19499    19502    +3

Flag	Coverage Δ		*Carryforward flag
differential	`46.14% <60.00%> (?)`
total	`14.84% <ø> (ø)`		Carriedforward from 4e00bf2

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
...pc_lateral_controller/qp_solver/qp_solver_osqp.hpp	`75.00% <100.00%> (+75.00%)`	⬆️
...ntroller/qp_solver/qp_solver_unconstraint_fast.hpp	`100.00% <100.00%> (ø)`
...hicle/raw_vehicle_cmd_converter/src/csv_loader.cpp	`67.27% <ø> (ø)`
...teral_controller/qp_solver/qp_solver_interface.hpp	`66.66% <66.66%> (ø)`
control/mpc_lateral_controller/src/mpc.cpp	`46.92% <0.00%> (-0.37%)`	⬇️

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…refoundation#5459) * add debug info of qp solver Signed-off-by: kyoichi-sugahara <[email protected]> * no info for EigenLeastSquareLLT Signed-off-by: kyoichi-sugahara <[email protected]> * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…refoundation#5459) (#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…refoundation#5459) (autowarefoundation#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(avoidance): keep stopping until all shift lines are registered Signed-off-by: satoshi-ota <[email protected]> * feat(map_loader): display curbstone as marker array (autowarefoundation#4958) display curbstone as marker array Signed-off-by: Shohei Sakai <[email protected]> Co-authored-by: kminoda <[email protected]> * revert refactoring due to cherry-pick * feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031) * feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(out_of_lane): improve reuse of previous decision (#1017) * Do not directly reuse a prev stop point but project it on the new path Signed-off-by: Maxime CLEMENT <[email protected]> * Improve reuse of the previously inserted stop point Signed-off-by: Maxime CLEMENT <[email protected]> * Fix precision of inserted stop point Signed-off-by: Maxime CLEMENT <[email protected]> --------- Signed-off-by: Maxime CLEMENT <[email protected]> * fix(system_monitor): output command line (autowarefoundation#5430) (#1057) * fix(system_monitor): output command line * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <[email protected]> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: pull tracking object merger from awf/main Signed-off-by: yoshiri <[email protected]> * feat(intersection): check path margin for overshoot vehicles on red light (autowarefoundation#5394) (#1056) Co-authored-by: Mamoru Sobue <[email protected]> * fix(ndt_scan_matcher): delete diagnostics thread (autowarefoundation#5532) Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> * fix(ndt_scan_matcher): delete unmerged feature * fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoundation#5951) Fixed the lock scope in update_ndt Signed-off-by: Shintaro SAKODA <[email protected]> * fix(static_drivable_area_expansion): fix bug in expansion logic for hatched road marking (autowarefoundation#5842) (#1075) fix(utils): fix drivable area expansion logic for zebra zone Signed-off-by: satoshi-ota <[email protected]> * fix(bvp): traffic light state debug (#1083) Signed-off-by: Mehmet Dogru <[email protected]> * fix(traffic_light): stop if the traffic light signal timed out (autowarefoundation#5819) (#1124) * fix(traffic_light): stop if the traffic light signal timed out * fix(traffic_light): fix README format --------- Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> * refactor(mpc_lateral_controller): add debug info of qp solver (autowarefoundation#5459) (#1098) * add debug info of qp solver * no info for EigenLeastSquareLLT * return 0 in base class --------- Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: Shohei Sakai <[email protected]> Signed-off-by: kminoda <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: takeshi.iwanari <[email protected]> Signed-off-by: yoshiri <[email protected]> Signed-off-by: yamato-ando <Yamato ANDO> Signed-off-by: Shintaro SAKODA <[email protected]> Signed-off-by: Mehmet Dogru <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: satoshi-ota <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Tomohito ANDO <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: yoshiri <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Shinnosuke Hirakawa <[email protected]> Co-authored-by: SakodaShintaro <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: Mehmet Dogru <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]>

add debug info of qp solver

4c61011

Signed-off-by: kyoichi-sugahara <[email protected]>

github-actions bot added the component:control Vehicle control algorithms and mechanisms. (auto-assigned) label Nov 1, 2023

kyoichi-sugahara added 2 commits November 2, 2023 14:31

Merge branch 'main' into refactor/mpc_debug_solver_info

08115ab

Signed-off-by: kyoichi-sugahara <[email protected]>

no info for EigenLeastSquareLLT

d98b7bb

Signed-off-by: kyoichi-sugahara <[email protected]>

kyoichi-sugahara marked this pull request as ready for review November 2, 2023 07:28

kyoichi-sugahara requested review from TakaHoribe and takayuki5168 as code owners November 2, 2023 07:28

kyoichi-sugahara and others added 3 commits November 2, 2023 16:44

Merge branch 'main' into refactor/mpc_debug_solver_info

032b777

Signed-off-by: kyoichi-sugahara <[email protected]>

return 0 in base class

7eab258

Signed-off-by: kyoichi-sugahara <[email protected]>

style(pre-commit): autofix

64bffaf

TakaHoribe approved these changes Nov 2, 2023

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kyoichi-sugahara added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Nov 2, 2023

kyoichi-sugahara merged commit ee20545 into autowarefoundation:main Nov 4, 2023
33 of 34 checks passed

kyoichi-sugahara deleted the refactor/mpc_debug_solver_info branch November 4, 2023 17:11

tier4-autoware-public-bot bot mentioned this pull request Nov 8, 2023

chore: sync upstream tier4/autoware.universe#1005

Merged

TomohitoAndo mentioned this pull request Jan 18, 2024

refactor(mpc_lateral_controller): add debug info of qp solver (#5459) tier4/autoware.universe#1098

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refactor(mpc_lateral_controller): add debug info of qp solver #5459

refactor(mpc_lateral_controller): add debug info of qp solver #5459

kyoichi-sugahara commented Nov 1, 2023 •

edited by TakaHoribe

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codecov bot commented Nov 2, 2023 •

edited

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refactor(mpc_lateral_controller): add debug info of qp solver #5459

refactor(mpc_lateral_controller): add debug info of qp solver #5459

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kyoichi-sugahara commented Nov 1, 2023 • edited by TakaHoribe Loading

Description

🤖 Generated by Copilot at d98b7bb

Tests performed

Effects on system behavior

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codecov bot commented Nov 2, 2023 • edited Loading

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kyoichi-sugahara commented Nov 1, 2023 •

edited by TakaHoribe

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`🤖 Generated by Copilot at d98b7bb`

codecov bot commented Nov 2, 2023 •

edited

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