def __init__(self, pose_stream, waypoints_stream, control_stream, flags):
pose_stream.add_callback(self.on_pose_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([pose_stream, waypoints_stream],
[control_stream], self.on_watermark)
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
self._flags = flags
self._mpc_config = global_config
pid_use_real_time = False
if self._flags.execution_mode == 'real-world':
# The PID is executing on a real car. Use the real time delta
# between two control commands.
pid_use_real_time = True
if self._flags.carla_control_frequency == -1:
dt = 1.0 / self._flags.carla_fps
else:
dt = 1.0 / self._flags.carla_control_frequency
self._pid = PIDLongitudinalController(flags.pid_p, flags.pid_d,
flags.pid_i, dt,
pid_use_real_time)
self._pose_msgs = deque()
self._obstacles_msgs = deque()
self._traffic_light_msgs = deque()
self._waypoint_msgs = deque()
self._mpc = None
def __init__(self, pose_stream, waypoints_stream, control_stream, flags):
pose_stream.add_callback(self.on_pose_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([pose_stream, waypoints_stream],
[control_stream], self.on_watermark)
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
# TODO(ionel): Add path to calculate pid error with real time.
if self._flags.carla_control_frequency == -1:
dt = 1.0 / self._flags.carla_fps
else:
dt = 1.0 / self._flags.carla_control_frequency
self._pid = PIDLongitudinalController(1.0, 0, 0.05, dt)
# Queues in which received messages are stored.
self._waypoint_msgs = deque()
self._pose_msgs = deque()
def __init__(self, pose_stream: ReadStream, waypoints_stream: ReadStream,
control_stream: WriteStream, flags):
pose_stream.add_callback(self.on_pose_update)
waypoints_stream.add_callback(self.on_waypoints_update)
erdos.add_watermark_callback([pose_stream, waypoints_stream],
[control_stream], self.on_watermark)
self._flags = flags
self._logger = erdos.utils.setup_logging(self.config.name,
self.config.log_file_name)
pid_use_real_time = False
if self._flags.execution_mode == 'real-world':
# The PID is executing on a real car. Use the real time delta
# between two control commands.
pid_use_real_time = True
if self._flags.simulator_control_frequency == -1:
dt = 1.0 / self._flags.simulator_fps
else:
dt = 1.0 / self._flags.simulator_control_frequency
self._pid = PIDLongitudinalController(flags.pid_p, flags.pid_d,
flags.pid_i, dt,
pid_use_real_time)
# Queues in which received messages are stored.
self._waypoint_msgs = deque()
self._pose_msgs = deque()