from maneuverplots import ManeuverPlot
from plant import Plant
import numpy as np
class Maneuver ( object ) :
def __init__ ( self , title , duration , * * kwargs ) :
# Was tempted to make a builder class
self . distance_lead = kwargs . get ( " initial_distance_lead " , 200.0 )
self . speed = kwargs . get ( " initial_speed " , 0.0 )
self . lead_relevancy = kwargs . get ( " lead_relevancy " , 0 )
self . grade_values = kwargs . get ( " grade_values " , [ 0.0 , 0.0 ] )
self . grade_breakpoints = kwargs . get ( " grade_breakpoints " , [ 0.0 , duration ] )
self . speed_lead_values = kwargs . get ( " speed_lead_values " , [ 0.0 , 0.0 ] )
self . speed_lead_breakpoints = kwargs . get ( " speed_lead_breakpoints " , [ 0.0 , duration ] )
self . cruise_button_presses = kwargs . get ( " cruise_button_presses " , [ ] )
self . duration = duration
self . title = title
def evaluate ( self ) :
""" runs the plant sim and returns (score, run_data) """
plant = Plant (
lead_relevancy = self . lead_relevancy ,
speed = self . speed ,
distance_lead = self . distance_lead
)
last_live100 = None
plot = ManeuverPlot ( self . title )
buttons_sorted = sorted ( self . cruise_button_presses , key = lambda a : a [ 1 ] )
current_button = 0
while plant . current_time ( ) < self . duration :
while buttons_sorted and plant . current_time ( ) > = buttons_sorted [ 0 ] [ 1 ] :
current_button = buttons_sorted [ 0 ] [ 0 ]
buttons_sorted = buttons_sorted [ 1 : ]
print " current button changed to " , current_button
grade = np . interp ( plant . current_time ( ) , self . grade_breakpoints , self . grade_values )
speed_lead = np . interp ( plant . current_time ( ) , self . speed_lead_breakpoints , self . speed_lead_values )
distance , speed , acceleration , distance_lead , brake , gas , steer_torque , fcw , live100 = plant . step ( speed_lead , current_button , grade )
if live100 :
last_live100 = live100 [ - 1 ]
d_rel = distance_lead - distance if self . lead_relevancy else 200.
v_rel = speed_lead - speed if self . lead_relevancy else 0.
if last_live100 :
# print last_live100
#develop plots
plot . add_data (
time = plant . current_time ( ) ,
gas = gas , brake = brake , steer_torque = steer_torque ,
distance = distance , speed = speed , acceleration = acceleration ,
up_accel_cmd = last_live100 . upAccelCmd , ui_accel_cmd = last_live100 . uiAccelCmd ,
uf_accel_cmd = last_live100 . ufAccelCmd ,
d_rel = d_rel , v_rel = v_rel , v_lead = speed_lead ,
v_target_lead = last_live100 . vTargetLead , pid_speed = last_live100 . vPid ,
cruise_speed = last_live100 . vCruise ,
jerk_factor = last_live100 . jerkFactor ,
a_target = last_live100 . aTarget ,
fcw = fcw )
print " maneuver end "
return ( None , plot )
