def drive(self, carstate: State) -> Command:
""" Description
Args:
carstate: All parameters packed in a State object
Returns:
command: The next move packed in a Command object
"""
self.iter += 1
self.back_up_driver.update_status(carstate)
# trackers
self.update_trackers(carstate)
if PRINT_STATE: # and (self.iter % PRINT_CYCLE_INTERVAL) == 0:
self.print_trackers(carstate, r=True)
# crash and collision detection for swarm
if ENABLE_SWARM:
if self.back_up_driver.needs_help or self.back_up_driver.is_off_road:
self.crashed_in_last_frame = True
if not self.crashed_in_last_frame:
debug(self.iter, "SWARM: crashed")
for dist in carstate.opponents:
if dist == 0:
self.contact_in_last_frame = True
# crisis handling
if ENABLE_CRISIS_DRIVER:
if self.back_up_driver.is_in_control:
return self.back_up_driver.drive(carstate)
elif self.back_up_driver.needs_help:
self.back_up_driver.pass_control(carstate)
return self.back_up_driver.drive(carstate)
# since the data and python's values differ we need to adjust them
try:
carstate.angle = radians(carstate.angle)
carstate.speed_x = carstate.speed_x * 3.6
command = self.make_next_command(carstate)
except Exception as e:
err(self.iter, str(e))
command = self.back_up_driver.driver.drive(carstate)
return command
def drive(self, carstate: State) -> Command:
self.update_trackers(carstate)
if self.in_a_bad_place(carstate):
command = self.back_up_driver.drive(carstate)
if self.bad_counter >= 600 and is_stuck(carstate):
# we try reversing
command.gear = -command.gear
if command.gear < 0:
command.steering = -command.steering
command.gear = -1
self.bad_counter = 200
else:
# since the data and python's values differ we need to adjust them
carstate.angle = math.radians(carstate.angle)
carstate.speed_x = carstate.speed_x*3.6
command = self.make_next_command(carstate)
# based on target, implement speed/steering manually
print("Executing command: gear={}, acc={}, break={}, steering={}".format(command.gear,
command.accelerator,
command.brake,
command.steering))
return command