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83 lines
3.4 KiB
83 lines
3.4 KiB
import numpy as np
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from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
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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.breakpoints = kwargs.get("breakpoints", [0.0, duration])
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self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))])
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self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))])
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self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))])
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self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))])
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self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))])
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self.only_lead2 = kwargs.get("only_lead2", False)
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self.only_radar = kwargs.get("only_radar", False)
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self.ensure_start = kwargs.get("ensure_start", False)
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self.ensure_slowdown = kwargs.get("ensure_slowdown", False)
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self.enabled = kwargs.get("enabled", True)
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self.e2e = kwargs.get("e2e", False)
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self.personality = kwargs.get("personality", 0)
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self.force_decel = kwargs.get("force_decel", False)
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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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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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enabled=self.enabled,
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only_lead2=self.only_lead2,
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only_radar=self.only_radar,
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e2e=self.e2e,
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personality=self.personality,
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force_decel=self.force_decel,
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)
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valid = True
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logs = []
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while plant.current_time < self.duration:
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speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
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prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
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cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values)
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pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values)
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prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values)
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log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle)
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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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logs.append(np.array([plant.current_time,
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log['distance'],
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log['distance_lead'],
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log['speed'],
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speed_lead,
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log['acceleration']]))
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if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
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print("Crashed!!!!")
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valid = False
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if self.ensure_start and log['v_rel'] > 0 and log['acceleration'] < 1e-3:
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print('LongitudinalPlanner not starting!')
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valid = False
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if self.ensure_slowdown and log['speed'] > 5.5:
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print('LongitudinalPlanner not slowing down!')
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valid = False
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if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
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print('Not stopping with force decel')
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valid = False
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print("maneuver end", valid)
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return valid, np.array(logs)
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