clean up

examples/longitudinal_profiles.py

@@ -28,41 +28,27 @@ from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from
 class Action:
   accel: float      # m/s^2
   duration: float   # seconds
-  longControlState: CarControl.Actuators.LongControlState = CarControl.Actuators.LongControlState.pid
-
-  def get_msgs(self):
-    return [
-      (t, CarControl(
-        enabled=True,
-        longActive=True,
-        actuators=CarControl.Actuators(
-          accel=self.accel,
-          longControlState=self.longControlState,
-        ),
-      ))
-      for t in np.linspace(0, self.duration, int(self.duration/DT_CTRL))
-    ]
+
 
 @dataclass
 class Maneuver:
   description: str
   actions: list[Action]
-  # TODO: implement repeat
-  repeat: int = 1
+  repeat: int = 0
   initial_speed: float = 0.  # m/s
 
   _active: bool = False
   _finished: bool = False
   _action_index: int = 0
-  _start_frame: int = 0
+  _action_frames: int = 0
   _ready_cnt: int = 0
-  _active_frames: int = 0
+  _repeated: int = 0
 
-  def get_accel(self, v_ego: float, enabled: bool, standstill: bool, frame: int) -> float:
+  def get_accel(self, v_ego: float, enabled: bool, standstill: bool) -> float:
     ready = abs(v_ego - self.initial_speed) < 0.4 and enabled and not standstill
     self._ready_cnt = (self._ready_cnt + 1) if ready else 0
 
-    if self._ready_cnt > (2. / DT_MDL):
+    if self._ready_cnt > (3. / DT_MDL):
       self._active = True
 
     if not self._active:
@@ -70,14 +56,23 @@ class Maneuver:
 
     action = self.actions[self._action_index]
 
-    self._active_frames += 1
-
-    if self._active_frames > (action.duration / DT_MDL):
-      self._action_index += 1
-      self._active_frames = 0
-      if self._action_index == len(self.actions):
+    self._action_frames += 1
+
+    # reached duration of action
+    if self._action_frames > (action.duration / DT_MDL):
+      # next action
+      if self._action_index < len(self.actions) - 1:
+        self._action_index += 1
+        self._action_frames = 0  # TODO rename action frames?
+      # repeat maneuver
+      elif self._repeated < self.repeat:
+        self._repeated += 1
+        self._action_index = 0
+        self._action_frames = 0
+        self._active = False
+      # finish maneuver
+      else:
         self._finished = True
-        return 0.
 
     return action.accel
 
@@ -85,12 +80,6 @@ class Maneuver:
   def finished(self):
     return self._finished
 
-  # def get_msgs(self):
-  #   t0 = 0
-  #   for action in self.actions:
-  #     for lt, msg in action.get_msgs():
-  #       yield lt + t0, msg
-  #     t0 += lt
 
 MANEUVERS = [
   Maneuver(
@@ -100,31 +89,31 @@ MANEUVERS = [
      Action(1, 2), Action(-1, 2),
      Action(1, 2), Action(-1, 2),
    ],
-   repeat=2,
+   repeat=1,
    initial_speed=0.,
   ),
   Maneuver(
     "brake step response: -1m/ss from 20mph",
     [Action(-1, 3)],
-    repeat=3,
+    repeat=2,
     initial_speed=20. * Conversions.MPH_TO_MS,
   ),
   Maneuver(
     "brake step response: -4m/ss from 20mph",
     [Action(-4, 3)],
-    repeat=3,
+    repeat=2,
     initial_speed=20. * Conversions.MPH_TO_MS,
   ),
   Maneuver(
     "gas step response: +1m/ss from 20mph",
     [Action(1, 3)],
-    repeat=3,
+    repeat=2,
     initial_speed=20. * Conversions.MPH_TO_MS,
   ),
   Maneuver(
     "gas step response: +4m/ss from 20mph",
     [Action(4, 3)],
-    repeat=3,
+    repeat=2,
     initial_speed=20. * Conversions.MPH_TO_MS,
   ),
 ]
@@ -209,7 +198,7 @@ def main():
     cs = sm['carState']
 
     if maneuver is not None:
-      accel = maneuver.get_accel(cs.vEgo, cs.cruiseState.enabled, cs.cruiseState.standstill, sm.frame)
+      accel = maneuver.get_accel(cs.vEgo, cs.cruiseState.enabled, cs.cruiseState.standstill)
 
     longitudinalPlan.aTarget = accel
     longitudinalPlan.shouldStop = cs.vEgo < CP.vEgoStopping and accel < 0  # should_stop
@@ -224,7 +213,7 @@ def main():
     assistance_send.valid = True
     pm.send('driverAssistance', assistance_send)
 
-    print('finished?', maneuver.finished)
+    print('finished?', maneuver is not None and maneuver.finished)
     print('aTarget:', longitudinalPlan.aTarget)
 
     if maneuver is not None and maneuver.finished: