from collections import defaultdict
getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
6 years ago
from selfdrive . test . plant . maneuverplots import ManeuverPlot
from selfdrive . test . plant . 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 . checks = kwargs . get ( " checks " , [ ] )
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
)
logs = defaultdict ( list )
last_controls_state = 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 {0} " . format ( 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, controls_state= plant.step(speed_lead, current_button, grade)
log = plant . step ( speed_lead , current_button , grade )
if log [ ' controls_state_msgs ' ] :
last_controls_state = log [ ' controls_state_msgs ' ] [ - 1 ]
d_rel = log [ ' distance_lead ' ] - log [ ' distance ' ] if self . lead_relevancy else 200.
v_rel = speed_lead - log [ ' speed ' ] if self . lead_relevancy else 0.
log [ ' d_rel ' ] = d_rel
log [ ' v_rel ' ] = v_rel
if last_controls_state :
# print(last_controls_state)
#develop plots
plot . add_data (
time = plant . current_time ( ) ,
gas = log [ ' gas ' ] , brake = log [ ' brake ' ] , steer_torque = log [ ' steer_torque ' ] ,
distance = log [ ' distance ' ] , speed = log [ ' speed ' ] , acceleration = log [ ' acceleration ' ] ,
up_accel_cmd = last_controls_state . upAccelCmd , ui_accel_cmd = last_controls_state . uiAccelCmd ,
uf_accel_cmd = last_controls_state . ufAccelCmd ,
d_rel = d_rel , v_rel = v_rel , v_lead = speed_lead ,
v_target_lead = last_controls_state . vTargetLead , pid_speed = last_controls_state . vPid ,
cruise_speed = last_controls_state . vCruise ,
jerk_factor = last_controls_state . jerkFactor ,
a_target = last_controls_state . aTarget ,
fcw = log [ ' fcw ' ] )
for k , v in log . items ( ) :
logs [ k ] . append ( v )
valid = True
for check in self . checks :
c = check ( logs )
if not c :
print check . __name__ + " not valid! "
valid = valid and c
print ( " maneuver end " , valid )
return ( plot , valid )
