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86 lines
3.4 KiB
86 lines
3.4 KiB
from collections import defaultdict
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from selfdrive.test.longitudinal_maneuvers.maneuverplots import ManeuverPlot
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from selfdrive.test.longitudinal_maneuvers.plant import Plant
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import numpy as np
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class Maneuver():
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def __init__(self, title, duration, **kwargs):
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# Was tempted to make a builder class
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self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
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self.speed = kwargs.get("initial_speed", 0.0)
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self.lead_relevancy = kwargs.get("lead_relevancy", 0)
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self.grade_values = kwargs.get("grade_values", [0.0, 0.0])
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self.grade_breakpoints = kwargs.get("grade_breakpoints", [0.0, duration])
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self.speed_lead_values = kwargs.get("speed_lead_values", [0.0, 0.0])
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self.speed_lead_breakpoints = kwargs.get("speed_lead_breakpoints", [0.0, duration])
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self.cruise_button_presses = kwargs.get("cruise_button_presses", [])
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self.checks = kwargs.get("checks", [])
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self.duration = duration
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self.title = title
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def evaluate(self):
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"""runs the plant sim and returns (score, run_data)"""
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plant = Plant(
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lead_relevancy=self.lead_relevancy,
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speed=self.speed,
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distance_lead=self.distance_lead
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)
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logs = defaultdict(list)
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last_controls_state = None
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plot = ManeuverPlot(self.title)
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buttons_sorted = sorted(self.cruise_button_presses, key=lambda a: a[1])
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current_button = 0
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while plant.current_time() < self.duration:
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while buttons_sorted and plant.current_time() >= buttons_sorted[0][1]:
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current_button = buttons_sorted[0][0]
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buttons_sorted = buttons_sorted[1:]
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print("current button changed to {0}".format(current_button))
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grade = np.interp(plant.current_time(), self.grade_breakpoints, self.grade_values)
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speed_lead = np.interp(plant.current_time(), self.speed_lead_breakpoints, self.speed_lead_values)
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# distance, speed, acceleration, distance_lead, brake, gas, steer_torque, fcw, controls_state= plant.step(speed_lead, current_button, grade)
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log = plant.step(speed_lead, current_button, grade)
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if log['controls_state_msgs']:
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last_controls_state = log['controls_state_msgs'][-1]
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d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
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v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
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log['d_rel'] = d_rel
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log['v_rel'] = v_rel
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if last_controls_state:
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# print(last_controls_state)
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#develop plots
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plot.add_data(
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time=plant.current_time(),
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gas=log['gas'], brake=log['brake'], steer_torque=log['steer_torque'],
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distance=log['distance'], speed=log['speed'], acceleration=log['acceleration'],
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up_accel_cmd=last_controls_state.upAccelCmd, ui_accel_cmd=last_controls_state.uiAccelCmd,
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uf_accel_cmd=last_controls_state.ufAccelCmd,
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d_rel=d_rel, v_rel=v_rel, v_lead=speed_lead,
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v_target_lead=last_controls_state.vTargetLead, pid_speed=last_controls_state.vPid,
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cruise_speed=last_controls_state.vCruise,
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jerk_factor=last_controls_state.jerkFactor,
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a_target=last_controls_state.aTarget,
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fcw=log['fcw'])
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for k, v in log.items():
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logs[k].append(v)
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valid = True
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for check in self.checks:
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c = check(logs)
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if not c:
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print(check.__name__ + " not valid!")
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valid = valid and c
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print("maneuver end", valid)
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return (plot, valid)
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