def evaluate(self):
plant = Plant(lead_relevancy=self.lead_relevancy,
speed=self.speed,
distance_lead=self.distance_lead,
only_lead2=self.only_lead2,
only_radar=self.only_radar)
valid = True
while plant.current_time() < self.duration:
speed_lead = np.interp(plant.current_time(),
self.speed_lead_breakpoints,
self.speed_lead_values)
log = plant.step(speed_lead)
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 d_rel < 1.0:
print("Crashed!!!!")
valid = False
print("maneuver end", valid)
return valid
def evaluate(self):
plant = Plant(
lead_relevancy=self.lead_relevancy,
speed=self.speed,
distance_lead=self.distance_lead,
only_lead2=self.only_lead2,
only_radar=self.only_radar
)
valid = True
logs = []
while plant.current_time() < self.duration:
speed_lead = np.interp(plant.current_time(), self.breakpoints, self.speed_lead_values)
prob = np.interp(plant.current_time(), self.breakpoints, self.prob_lead_values)
cruise = np.interp(plant.current_time(), self.breakpoints, self.cruise_values)
log = plant.step(speed_lead, prob, cruise)
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
logs.append(np.array([plant.current_time(),
log['distance'],
log['distance_lead'],
log['speed'],
speed_lead,
log['acceleration']]))
if d_rel < .4 and (self.only_radar or prob > 0.5):
print("Crashed!!!!")
valid = False
print("maneuver end", valid)
return valid, np.array(logs)
md.model.frameId = 0
for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
x.points = [0.0]*50
x.prob = 0.0
x.std = 1.0
car_pts = [pt_to_car(pt) for pt in control_pts]
print(car_pts)
car_poly = np.polyfit([x[0] for x in car_pts], [x[1] for x in car_pts], 3)
md.model.path.points = np.polyval(car_poly, np.arange(0, 50)).tolist()
md.model.path.prob = 1.0
Plant.model.send(md.to_bytes())
plant.step(cruise_buttons = cruise_buttons, v_lead = 2.0, publish_model = False)
display.fill((10,10,10))
carx += plant.speed * plant.ts * math.cos(heading)
cary += plant.speed * plant.ts * math.sin(heading)
# positive steering angle = steering right
print(plant.angle_steer)
heading += plant.angle_steer * plant.ts
print(heading)
# draw my car
display.blit(pygame.transform.rotate(car, 90-math.degrees(heading)), (carx*METER, cary*METER))
# draw control pts
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)