def main():
"""Main function."""
logger = DummyLogger()
box = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0)]
waypoint_generator = SimpleWaypointGenerator(
SimpleWaypointGenerator.get_waypoints_from_file_name(
'control/paths/solid-state-depot.kmz'))
waypoint_generator._waypoints.clear()
for x, y in ((x_ * .005 + 10, y_ * .005 + 10) for x_, y_ in box):
waypoint_generator._waypoints.append((x, y))
telemetry = DummyTelemetry(
logger,
waypoint_generator.get_current_waypoint(
waypoint_generator._waypoints[0][0],
waypoint_generator._waypoints[0][1]))
driver = DummyDriver(telemetry, logger)
command = Command(
telemetry,
driver,
waypoint_generator,
logger,
sleep_time_milliseconds=1,
)
command.run_course()
command.start()
while not waypoint_generator.done():
time.sleep(0.1)
command.kill()
def benchmark_command_run_course_iterator():
"""Benchmark the logic for driving the car."""
logger = DummyLogger()
telemetry = Telemetry(logger)
waypoint_generator = SimpleWaypointGenerator(
SimpleWaypointGenerator.get_waypoints_from_file_name(
'paths/solid-state-depot.kmz'))
driver = DummyDriver(telemetry, logger)
command = Command(telemetry, driver, waypoint_generator, logger)
iterations = 250
start = time.time()
iterator = command._run_course_iterator()
step = None
for step in zip(range(iterations), iterator):
pass
assert step is not None
assert step[0] == iterations - 1
end = time.time()
print('{} iterations of Command._run_course_iterator, each took {:.5}'.
format(iterations, (end - start) / float(iterations)))
def make_generator(waypoints=None):
"""Returns a KML waypoint generator."""
if waypoints is None:
waypoints = [(1, 1), (5, 10)]
return SimpleWaypointGenerator(waypoints)
