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71 lines
2.7 KiB
71 lines
2.7 KiB
import os
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from enum import Enum
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from maneuverplots import ManeuverPlot
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from plant import Plant
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import numpy as np
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class Maneuver(object):
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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_values", [0.0, duration])
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self.cruise_button_presses = kwargs.get("cruise_button_presses", [])
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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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last_live100 = None
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event_queue = sorted(self.cruise_button_presses, key=lambda a: a[1])[::-1]
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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", 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, live100 = plant.step(speed_lead, current_button, grade)
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if live100:
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last_live100 = live100[-1]
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d_rel = distance_lead - distance if self.lead_relevancy else 200.
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v_rel = speed_lead - speed if self.lead_relevancy else 0.
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if last_live100:
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# print last_live100
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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=gas, brake=brake, steer_torque=steer_torque,
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distance=distance, speed=speed, acceleration=acceleration,
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up_accel_cmd=last_live100.upAccelCmd, ui_accel_cmd=last_live100.uiAccelCmd,
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d_rel=d_rel, v_rel=v_rel, v_lead=speed_lead,
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v_target_lead=last_live100.vTargetLead, pid_speed=last_live100.vPid,
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cruise_speed=last_live100.vCruise,
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jerk_factor=last_live100.jerkFactor,
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a_target_min=last_live100.aTargetMin, a_target_max=last_live100.aTargetMax)
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return (None, plot)
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