From 5e3bfc53272b585b2884081196c2df9e2533421e Mon Sep 17 00:00:00 2001
From: macDure <machao-1990@163.com>
Date: Mon, 29 Jun 2020 17:22:56 +0800
Subject: [PATCH] D-KIT: add the vehicle calibration config and modify the DV
 vehicle mode rules

---
 .../data/dev_kit/data_collection_table.pb.txt | 823 ++++++++++++++++++
 modules/dreamview/conf/vehicle_data.pb.txt    |   4 +
 2 files changed, 827 insertions(+)
 create mode 100644 modules/calibration/data/dev_kit/data_collection_table.pb.txt

diff --git a/modules/calibration/data/dev_kit/data_collection_table.pb.txt b/modules/calibration/data/dev_kit/data_collection_table.pb.txt
new file mode 100644
index 0000000000..77359bbd68
--- /dev/null
+++ b/modules/calibration/data/dev_kit/data_collection_table.pb.txt
@@ -0,0 +1,823 @@
+frame_threshold: 20
+total_frames: 4000
+scenario {
+  key: "Go Straight"
+  value {
+    feature {
+      name: "Forward"
+      range {
+        criterion {
+          field: "gear_location"
+          comparison_operator: EQUAL
+          value: 1
+        }
+      }
+    }
+    feature {
+      name: "Steering Angle"
+      range {
+        name: "Straight"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: -1
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: 1
+        }
+      }
+    }
+    feature {
+      name: "Speed"
+      range {
+        name: "Speed 0 ~ 2.5mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 0.2
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 2.5
+        }
+      }
+      range {
+        name: "Speed >= 2.5mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 2.5
+        }
+      }
+    }
+    feature {
+      name: "Accelerator (Decelerator)"
+      range {
+        name: "Throttle deadzone ~ 24%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 24
+        }
+      }
+      range {
+        name: "Throttle >= 24%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 24
+        }
+      }
+      range {
+        name: "Brake deadzone ~ 28%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "brake_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 28
+        }
+      }
+      range {
+        name: "Brake >= 28%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 28
+        }
+      }
+    }
+  }
+}
+scenario {
+  key: "Branch Left/Right"
+  value {
+    feature {
+      name: "Forward"
+      range {
+        criterion {
+          field: "gear_location"
+          comparison_operator: EQUAL
+          value: 1
+        }
+      }
+    }
+    feature {
+      name: "Steering Angle"
+      range {
+        name: "Branch Left"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 1
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: 30
+        }
+      }
+      range {
+        name: "Branch Right"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: -30
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: -1
+        }
+      }
+    }
+    feature {
+      name: "Speed"
+      range {
+        name: "Speed 0 ~ 10mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 0.2
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 10
+        }
+      }
+      range {
+        name: "Speed 10 ~ 20mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 10
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Speed >= 20mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+      }
+    }
+    feature {
+      name: "Accelerator (Decelerator)"
+      range {
+        name: "Throttle deadzone ~ 25%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Throttle 25% ~ 30%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 30
+        }
+      }
+      range {
+        name: "Throttle >= 30%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 30
+        }
+      }
+      range {
+        name: "Brake deadzone ~ 20%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "brake_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Brake 20% ~ 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Brake >= 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+      }
+    }
+  }
+}
+scenario {
+  key: "Turn Left/Right"
+  value {
+    feature {
+      name: "Forward"
+      range {
+        criterion {
+          field: "gear_location"
+          comparison_operator: EQUAL
+          value: 1
+        }
+      }
+    }
+    feature {
+      name: "Steering Angle"
+      range {
+        name: "Turn Left"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 30
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: 60
+        }
+      }
+      range {
+        name: "Turn Right"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: -60
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: -30
+        }
+      }
+    }
+    feature {
+      name: "Speed"
+      range {
+        name: "Speed 0 ~ 10mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 0.2
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 10
+        }
+      }
+      range {
+        name: "Speed 10 ~ 20mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 10
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+    }
+    feature {
+      name: "Accelerator (Decelerator)"
+      range {
+        name: "Throttle deadzone ~ 25%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Throttle 25% ~ 30%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 30
+        }
+      }
+      range {
+        name: "Throttle >= 30%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 30
+        }
+      }
+      range {
+        name: "Brake deadzone ~ 20%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "brake_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Brake 20% ~ 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Brake >= 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+      }
+    }
+  }
+}
+scenario {
+  key: "Sharp Left/Right"
+  value {
+    feature {
+      name: "Forward"
+      range {
+        criterion {
+          field: "gear_location"
+          comparison_operator: EQUAL
+          value: 1
+        }
+      }
+    }
+    feature {
+      name: "Steering Angle"
+      range {
+        name: "Sharp Left"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 60
+        }
+      }
+      range {
+        name: "Sharp Right"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: -60
+        }
+      }
+    }
+    feature {
+      name: "Speed"
+      range {
+        name: "Speed 0 ~ 10mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 0.2
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 10
+        }
+      }
+      range {
+        name: "Speed 10 ~ 20mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 10
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+    }
+    feature {
+      name: "Accelerator (Decelerator)"
+      range {
+        name: "Throttle deadzone ~ 25%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Throttle 25% ~ 30%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 30
+        }
+      }
+      range {
+        name: "Throttle >= 30%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 30
+        }
+      }
+      range {
+        name: "Brake deadzone ~ 20%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "brake_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Brake 20% ~ 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Brake >= 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+      }
+    }
+  }
+}
+scenario {
+  key: "Reverse: Go Straight or Branch Left/Right"
+  value {
+    feature {
+      name: "Reverse"
+      range {
+        criterion {
+          field: "gear_location"
+          comparison_operator: EQUAL
+          value: 2
+        }
+      }
+    }
+    feature {
+      name: "Steering Angle"
+      range {
+        name: "Go Straight"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: -1
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: 1
+        }
+      }
+      range {
+        name: "Branch Left"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 1
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: 30
+        }
+      }
+      range {
+        name: "Branch Right"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: -30
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: -1
+        }
+      }
+    }
+    feature {
+      name: "Speed"
+      range {
+        name: "Speed 0 ~ 2mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 0.2
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 2
+        }
+      }
+    }
+    feature {
+      name: "Accelerator (Decelerator)"
+      range {
+        name: "Throttle < deadzone, Brake < deadzone"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          vehicle_config: "brake_deadzone"
+        }
+      }
+      range {
+        name: "Throttle deadzone ~ 20%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Throttle >= 20%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+      }
+      range {
+        name: "Brake deadzone ~ 20%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "brake_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Brake 20% ~ 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Brake >= 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+      }
+    }
+  }
+}
+scenario {
+  key: "Reverse: Turn Left/Right"
+  value {
+    feature {
+      name: "Reverse"
+      range {
+        criterion {
+          field: "gear_location"
+          comparison_operator: EQUAL
+          value: 2
+        }
+      }
+    }
+    feature {
+      name: "Steering Angle"
+      range {
+        name: "Turn Left"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 30
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: 60
+        }
+      }
+      range {
+        name: "Turn Right"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: -60
+        }
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: -30
+        }
+      }
+      range {
+        name: "Sharp Left"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 60
+        }
+      }
+      range {
+        name: "Sharp Right"
+        criterion {
+          field: "steering_percentage"
+          comparison_operator: LESS_THAN
+          value: -60
+        }
+      }
+    }
+    feature {
+      name: "Speed"
+      range {
+        name: "Speed 0 ~ 2mps"
+        criterion {
+          field: "speed_mps"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 0.2
+        }
+        criterion {
+          field: "speed_mps"
+          comparison_operator: LESS_THAN
+          value: 2
+        }
+      }
+    }
+    feature {
+      name: "Accelerator (Decelerator)"
+      range {
+        name: "Throttle < deadzone, Brake < deadzone"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          vehicle_config: "brake_deadzone"
+        }
+      }
+      range {
+        name: "Throttle deadzone ~ 20%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "throttle_deadzone"
+        }
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Throttle >= 20%"
+        criterion {
+          field: "throttle_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+      }
+      range {
+        name: "Brake deadzone ~ 20%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          vehicle_config: "brake_deadzone"
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 20
+        }
+      }
+      range {
+        name: "Brake 20% ~ 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 20
+        }
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: LESS_THAN
+          value: 25
+        }
+      }
+      range {
+        name: "Brake >= 25%"
+        criterion {
+          field: "brake_percentage"
+          comparison_operator: GREATER_THAN_OR_EQUAL
+          value: 25
+        }
+      }
+    }
+  }
+}
diff --git a/modules/dreamview/conf/vehicle_data.pb.txt b/modules/dreamview/conf/vehicle_data.pb.txt
index cfd1c3508d..4060e64906 100644
--- a/modules/dreamview/conf/vehicle_data.pb.txt
+++ b/modules/dreamview/conf/vehicle_data.pb.txt
@@ -10,6 +10,10 @@ data_files {
   source_path: "cancard_params/canbus_conf.pb.txt"
   dest_path: "/apollo/modules/canbus/conf/canbus_conf.pb.txt"
 }
+data_files {
+  source_path: "data_collection_table.pb.txt"
+  dest_path: "/apollo/modules/dreamview/conf/data_collection_table.pb.txt"
+}
 data_files {
   source_path: "navigation_lincoln.pb.txt"
   dest_path: "/apollo/modules/control/conf/navigation_lincoln.pb.txt"
-- 
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