#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
EVENT_LOOP = get_namedtuple_from_dict(
"CONST", {
"KEEP_ALIVE": 60,
"TOPIC": {
"CATEGORIES": {
"REQUEST": ["request"],
"RESPONSE": ["response"]
}
},
"ACTION": {
"CHECK": "check",
"KILL": "kill"
},
"STATE": {
"START": "start",
"WILL": "will",
"DISCONNECT": "disconnect"
},
"RESPONSE": {
"OK": "ok"
}
})
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_base_class, get_namedtuple_from_dict
ROUTE = get_namedtuple_from_dict("CONST", {
"DELIMITER": ":"
})
route_template = {
"start_waypoint_id": "0",
"goal_waypoint_id": "1",
"arrow_codes": ["0_1"]
}
'''
route_code = "[start_waypoint_id]:[joined_arrow_codes]:[goal_waypoint_id]"
routes = {
route_code: route,
}
'''
route_schema = {
"start_waypoint_id": {
"type": "string",
"required": True,
"nullable": False,
},
"goal_waypoint_id": {
"type": "string",
"required": True,
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
FLEET_MANAGER = get_namedtuple_from_dict(
"CONST", {
"NODE_NAME": "FleetManager",
"TOPIC": {
"CATEGORIES": {
"STATUS": ["status"],
"SCHEDULES": ["schedules"]
}
},
"TRIGGER": {
"LOG_IN": "log_in",
"LOG_OUT": "log_out"
},
"STATE": {
"LOG_IN": "log_in",
"LOG_OUT": "log_out"
}
})
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_base_class, get_namedtuple_from_dict, Pose
WAYPOINT = get_namedtuple_from_dict("CONST", {"GEOHASH_PRECISION": 15})
template = {
"geohash": "123456789012345",
"pose": Pose.get_template(),
"speed_limit": 5.5
}
'''
waypoint_id = "[id defined by autoware maps]"
waypoints = {
waypoint_id: waypoint,
}
'''
schema = {
"geohash": {
"type": "string",
"required": True,
"nullable": False,
"minlength": 15,
},
"pose": {
"type": "dict",
"schema": Pose.get_schema(),
"nullable": False,
},
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_base_class, get_namedtuple_from_dict
TARGET = get_namedtuple_from_dict("CONST", {"DELIMITER": "/"})
target_template = {"id": "uuid", "group": "EventLoop"}
target_schema = {
"id": {
"type": "string",
"required": True,
"nullable": True,
},
"group": {
"type": "string",
"required": True,
"nullable": False,
}
}
class Target(get_base_class(target_template, target_schema)):
pass
targets_template = [Target.get_template()]
targets_schema = {
"type": "list",
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
USER = get_namedtuple_from_dict(
"CONST", {
"TOPIC": {
"CATEGORIES": {
"STATUS": ["status"],
}
},
"EVENT": {
"TRIP": "trip",
},
"TRIGGER": {
"LOG_IN": "log_in",
"LOG_OUT": "log_out"
},
"STATE": {
"LOG_IN": "log_in",
"LOG_OUT": "log_out"
}
})
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
SIM_TAXI_FLEET = get_namedtuple_from_dict(
"CONST", {
"DISPATCHABLE_GEOHASH_DIGIT": 6,
"TIMEOUT": 30.0,
"TRIGGER": {
"WAIT_USER_REQUEST": "wait_user_request",
"DISPATCH": "dispatch",
"NOTICE": "notice",
"WAIT_TAXI_ARRIVAL": "wait_taxi_arrival",
"WAIT_USER_ACTION": "wait_user_action",
},
"STATE": {
"WAITING_FOR_USER_LOG_IN": "waiting_for_user_log_in",
"WAITING_FOR_USER_REQUEST": "waiting_for_user_request",
"WAITING_FOR_TAXI_ARRIVE_AT_USER_LOCATION":
"waiting_for_taxi_arrive_at_user_location",
"WAITING_FOR_USER_GETTING_ON": "waiting_for_user_getting_on",
"WAITING_FOR_TAXI_ARRIVE_AT_USER_DESTINATION":
"waiting_for_taxi_arrive_at_user_destination",
"WAITING_FOR_USER_GETTING_OUT": "waiting_for_user_getting_out",
}
})
from ams.structures import get_namedtuple_from_dict
SIM_BUS_USER = get_namedtuple_from_dict("CONST", {
"NODE_NAME": "SimBusUser",
"TARGET_GROUP": {
"START_BUS_STOP": "startBusStop",
"GOAL_BUS_STOP": "goalBusStop"
},
"TRIGGER": {
"WAIT": "wait",
"GET_ON": "get_on",
"GOT_ON": "got_on",
"MOVE_VEHICLE": "move_vehicle",
"REQUEST_STOP": "request_stop",
"GET_OUT": "get_out",
"GOT_OUT": "got_out"
},
"STATE": {
"ARRIVED_AT_BUS_STOP": "arrived_at_bus_stop",
"WAITING": "waiting",
"GETTING_ON": "getting_on",
"GOT_ON": "got_on",
"MOVING": "moving",
"READY_TO_GET_OUT": "ready_to_get_out",
"GETTING_OUT": "getting_out",
"GOT_OUT": "got_out"
}
})
#!/usr/bin/env python
# coding: utf-8
from sys import float_info
from ams.structures import get_namedtuple_from_dict
SIM_CAR = get_namedtuple_from_dict("CONST", {
"NODE_NAME": "SimCar",
"TOPIC": {
"CATEGORIES": {
"LOCATION": ["status", "location"],
"STATUS": ["status"]
}
},
"TRIGGER": {
"MOVE": "move",
"STOP": "stop"
},
"STATE": {
"MOVE": "move",
"STOP": "stop"
},
"LOWER_INTER_VEHICLE_DISTANCE": 3.0,
"LOWER_INTER_TRAFFIC_SIGNAL_DISTANCE": 1.0,
"FLOAT_MAX": float_info.max,
"ACCELERATION_MAX": 0.3 # [m/s^2]
})
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
VEHICLE = get_namedtuple_from_dict(
"CONST", {
"TOPIC": {
"CATEGORIES": {
"STATUS": ["status"],
"GEOTOPIC": ["geotopic"]
}
},
"STATE": {
"LOG_IN": "log_in",
"LOG_OUT": "log_out"
}
})
SIM_BUS = get_namedtuple_from_dict(
"CONST", {
"NODE_NAME": "SimBus",
"EVENT": {
"STAND_BY": "standBy",
"MOVE_TO_CIRCULAR_ROUTE": "moveToCircularRoute",
"MOVE_TO_SELECT_POINT": "moveToSelectPoint",
"MOVE_TO_BRANCH_POINT": "moveToBranchPoint",
"MOVE_TO_BUS_STOP": "moveToBusStop",
"MOVE_TO_JUNCTION": "moveToJunction",
"MOVE_TO_PARKING": "moveToParking",
"STOP_TO_TAKE_UP": "stopToTakeUp",
"STOP_TO_DISCHARGE": "stopToDischarge",
"STOP_TO_DISCHARGE_AND_TAKE_UP": "stopToDischargeAndTakeUp",
"STOP_TO_PARKING": "stopToParking"
},
"TRIGGER": {
"STAND_BY": "stand_by",
"MOVE": "move",
"MOVE_AND_REQUEST_SCHEDULES": "move_and_request_schedules",
"REQUEST_SCHEDULES": "request_schedules",
"STOP": "stop",
},
"STATE": {
"STAND_BY": "stand_by",
"MOVE_TO_CIRCULAR_ROUTE": "move_to_circular_route",
"MOVE_TO_SELECT_POINT": "move_to_select_point",
"REQUEST_THROUGH_SCHEDULES": "request_through_schedules",
"REQUEST_VIA_SCHEDULES": "request_via_schedules",
"MOVE_TO_BRANCH_POINT": "move_to_branch_point",
"MOVE_TO_BUS_STOP": "move_to_bus_stop",
"MOVE_TO_JUNCTION": "move_to_junction",
"MOVE_TO_PARKING": "move_to_parking",
"STOP_FOR_DISCHARGING_AND_TAKING_UP":
"stop_for_discharging_and_taking_up",
"STOP_FOR_PARKING": "stop_for_parking"
}
})
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
SIM_BUS_FLEET = get_namedtuple_from_dict(
"CONST", {
"DISPATCHABLE_GEOHASH_DIGIT": 6,
"TIMEOUT": 30.0,
"TARGET_GROUP": {
"BUS_SCHEDULES": "bus_schedules"
},
"TRIGGER": {
"ASSIGN_BUS_SCHEDULES": "send_circular_route_schedules",
"SEND_THROUGH_SCHEDULES": "send_through_schedules",
"SEND_VIA_SCHEDULES": "send_via_schedules"
},
"STATE": {
"WAITING_FOR_BUS_STAND_BY": "waiting_for_bus_stand_by",
"WAITING_FOR_SCHEDULES_REQUEST": "waiting_for_schedules_request",
}
})
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
TRAFFIC_SIGNAL = get_namedtuple_from_dict(
"CONST",
{
"NODE_NAME": "TrafficSignal",
"TOPIC": {
"CATEGORIES": {
"STATUS": ["status"],
"SCHEDULES": ["schedules"],
"CYCLE": ["cycle"]
}
},
"LOWER_LIMIT_RATE": 600.0, # [sec]
"STATE": {
"GREEN": "green",
"YELLOW": "yellow",
"RED": "red",
"UNKNOWN": "unknown"
}
})
AUTOWARE = get_namedtuple_from_dict(
"CONST", {
"NODE_NAME": "Autoware",
"FLOAT_MAX": float_info.max,
"DEFAULT_UPPER_DISTANCE_FROM_STOPLINE": 50.0,
"ROS": {
"DECISION_MAKER_STATES": {
"MAIN": {
"START": "Start",
"DRIVE": "Drive",
"INITIAL": "Initial",
"MISSION_COMPLETE": "MissionComplete",
},
"ACC": {
"KEEP": "Keep",
"STOP": "Stop",
},
"STR": {
"NONE": ""
},
"BEHAVIOR": {
"TRAFFIC_LIGHT_GREEN": "\nTrafficLightGreen",
"TRAFFIC_LIGHT_RED": "\nTrafficLightRed",
"WAIT_ORDERS": "\nWaitOrders",
}
},
"STATE_CMD": {
"MAIN": {
"START": 1,
"INIT": 2,
"DRIVE": 6
},
"SUB": {
"KEEP": 13,
"STOP": 14
},
},
"TRAFFIC_LIGHT": {
"RED": 0,
"GREEN": 1,
"UNKNOWN": 2
},
},
"TRIGGER": {
"LAUNCH": "launch",
"ACTIVATE": "activate",
"SCHEDULE": "schedule",
"SYNCHRONIZE_ROUTE": "synchronize_route",
"MOVE": "move",
"STOP": "stop",
"GET_READY": "get_ready"
},
"STATE": {
"LAUNCHED": "launched",
"STAND_BY": "stand_by",
"SCHEDULE_UPDATED": "schedule_updated",
"READY_TO_MOVE": "ready_to_move",
"MOVE": "move",
"STOP": "stop",
},
"TOPIC": {
"ROS_NODE_NAME": "ros",
"CATEGORIES": {
"BASED_LANE_WAYPOINTS_ARRAY":
["based", "lane_waypoints_array"],
"STATE_CMD": ["state_cmd"],
"LIGHT_COLOR": ["light_color"],
"CURRENT_POSE": ["current_pose"],
"CLOSEST_WAYPOINT": ["closest_waypoint"],
"DECISION_MAKER_STATES": ["decisionmaker", "states"],
}
},
})
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
SIM_TAXI_USER = get_namedtuple_from_dict(
"CONST", {
"NODE_NAME": "SimTaxiUser",
"TRIGGER": {
"REQUEST": "request",
"WAIT": "wait",
"GET_ON": "get_on",
"GOT_ON": "got_on",
"MOVE_VEHICLE": "move_vehicle",
"GET_OUT": "get_out",
"GOT_OUT": "got_out"
},
"STATE": {
"CALLING": "calling",
"WAITING": "waiting",
"GETTING_ON": "getting_on",
"GOT_ON": "got_on",
"MOVING": "moving",
"GETTING_OUT": "getting_out",
"GOT_OUT": "got_out"
},
})
#!/usr/bin/env python
# coding: utf-8
from numpy import pi
from ams.structures import get_base_class, get_namedtuple_from_dict
RPY = get_namedtuple_from_dict("CONST", {
"PI2": 2.0 * pi
})
template = {
"roll": 0.0,
"pitch": 0.0,
"yaw": 0.0,
}
schema = {
"roll": {
"type": "number",
"required": True,
"nullable": True,
"min": 0.0,
"max": RPY.PI2
},
"pitch": {
"type": "number",
"required": True,
"nullable": True,
"min": 0.0,
"max": RPY.PI2
},
#!/usr/bin/env python
# coding: utf-8
from ams.structures import get_namedtuple_from_dict
SIM_TAXI = get_namedtuple_from_dict(
"CONST", {
"NODE_NAME": "SimTaxi",
"TRIGGER": {
"STAND_BY": "stand_by",
"MOVE": "move",
"STOP": "stop",
},
"STATE": {
"STAND_BY": "stand_by",
"MOVE_FOR_PICKING_UP": "move_for_picking_up",
"STOP_FOR_PICKING_UP": "stop_for_picking_up",
"MOVE_FOR_DISCHARGING": "move_for_discharging",
"STOP_FOR_DISCHARGING": "stop_for_discharging"
},
})
