def main():
actor_list = []
verboseIsEnabled = None
try:
"""
Section for starting the client and connecting to the server
"""
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
for arg in sys.argv:
if (arg == '--verbose'):
verboseIsEnabled = True
if verboseIsEnabled:
print('client version: %s' % client.get_client_version())
print('server version: %s' % client.get_server_version())
print('client to server connection status: {}'.format(
client.get_server_version()))
print('Retrieving the world data from server...')
world = client.get_world()
if verboseIsEnabled:
print('{} \n'.format(world))
"""
Section for retrieving the blueprints and spawn the actors
"""
blueprint_library = world.get_blueprint_library()
if verboseIsEnabled:
print('\nRetrieving CARLA blueprint library...')
print('\nobject: %s\n\nblueprint methods: %s\n\nblueprint list:' %
(type(blueprint_library), dir(blueprint_library)))
for blueprint in blueprint_library:
print(blueprint)
audi_blueprint = blueprint_library.find('vehicle.audi.tt')
print('\n%s\n' % audi_blueprint)
color = '191,191,191'
audi_blueprint.set_attribute('color', color)
transform = carla.Transform(carla.Location(x=10.5, y=-1.8, z=38.5),
carla.Rotation(yaw=0.0))
vehicleEgo = world.spawn_actor(audi_blueprint, transform)
actor_list.append(vehicleEgo)
print('created %s' % vehicleEgo.type_id)
color = random.choice(
audi_blueprint.get_attribute('color').recommended_values)
audi_blueprint.set_attribute('color', color)
"""
Section for initializing the PID testing
"""
user_input_sp = None
while (not isinstance(user_input_sp, int)) and (not isinstance(
user_input_sp, float)):
user_input_sp = input('Enter the desired Setpoint:\n')
data = TestData(DataInit.total_duration, DataInit.sampling_period)
start = time.time()
print(
'\nStarting test:\n\n' +
'Time(s) current_vel(m/s) setpoint_vel(m/s) throttle(%) pid_demand'
)
time.sleep(2.5)
print(
'.................................................................\n'
)
time.sleep(1)
# raise SystemExit
p = PID(DataInit.K['Kp'], DataInit.K['Ki'], DataInit.K['Kd'])
p.setPoint(user_input_sp)
p.Integrator_min = -5
p.Integrator_max = 40
pid = 0
for _ in range(
int(DataInit.total_duration / DataInit.sampling_period) + 1):
measurement_value = vehicleEgo.get_velocity().x
vehicleEgo.apply_control(carla.VehicleControl(
pid)) if 1 > pid > 0 else vehicleEgo.apply_control(
carla.VehicleControl(1))
if 0 > pid:
vehicleEgo.apply_control(carla.VehicleControl(brake=abs(pid)))
pid = p.update(measurement_value)
data.append_data(round(time.time() - start, 2), p.getSetPoint(),
round(vehicleEgo.get_velocity().x, 5),
p.getError())
time.sleep(DataInit.sampling_period)
print('%0.3f\t%0.2f\t\t\t%0.2f\t\t%0.2f\t%0.2f' %
(time.time() - start, vehicleEgo.get_velocity().x,
p.set_point, vehicleEgo.get_control().throttle, pid))
data.plot()
print('\nError Mean (Steady State):\n' + str(
round(
np.absolute(
np.mean(data.error[data.error.shape[0] /
2:data.error.shape[0]])), 5) * 100) +
'%\n')
finally:
print('destroying actors')
for actor in actor_list:
actor.destroy()
print('done.')
def main():
actor_list = []
verboseIsEnabled = None
try:
"""
Section for starting the client and connecting to the server
"""
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
for arg in sys.argv:
if (arg == '--verbose'):
verboseIsEnabled = True
if verboseIsEnabled:
print('client version: %s' % client.get_client_version())
print('server version: %s' % client.get_server_version())
print('client to server connection status: {}'.format(client.get_server_version()))
print('Retrieving the world data from server...')
world = client.get_world()
if verboseIsEnabled:
print('{} \n'.format(world))
"""
Section for retrieving the blueprints and spawn the actors
"""
blueprint_library = world.get_blueprint_library()
if verboseIsEnabled:
print('\nRetrieving CARLA blueprint library...')
print('\nobject: %s\n\nblueprint methods: %s\n\nblueprint list:' % (type(blueprint_library), dir(blueprint_library)) )
for blueprint in blueprint_library:
print(blueprint)
audi_blueprint = blueprint_library.find('vehicle.audi.tt')
print('\n%s\n' % audi_blueprint)
color = '191,191,191'
audi_blueprint.set_attribute('color', color)
transform = carla.Transform(
carla.Location(
x=10.5, y=-1.8,
z=38.5),carla.Rotation(yaw=0.0)
)
vehicleEgo = world.spawn_actor(audi_blueprint, transform)
actor_list.append(vehicleEgo)
print('created %s' % vehicleEgo.type_id)
color = random.choice(audi_blueprint.get_attribute('color').recommended_values)
audi_blueprint.set_attribute('color', color)
"""
Section for initializing the PID testing
"""
spd_profile = SpeedProfile()
spd_data = spd_profile.input_file()
print('\nStarting test:\n\n' + 'Time(s) current_vel(m/s) setpoint_vel(m/s) throttle(%) pid_demand')
time.sleep(1.25)
print('.................................................................\n')
time.sleep(.5)
input_sp = 0
data = TestData(DataInit.total_duration, DataInit.sampling_period, spd_data)
pid = 0
cycle_counter = 1
init_index = 0
moving_list = []
p = PID(
DataInit.K['Kp'],
DataInit.K['Ki'],
DataInit.K['Kd']
)
p.setPoint(input_sp)
p.setWindup(*DataInit.windup_values)
start = time.time()
for _ in range(int(DataInit.total_duration / DataInit.sampling_period) + 1):
measurement_value = vehicleEgo.get_velocity().x
current_time = time.time()
init_index = apply_dynamic_sp(
p,
cycle_counter,
spd_data,
current_time,
start,
init_index,
moving_list,
DataInit.response_time_offset
)
apply_control(pid, vehicleEgo)
pid = p.update(measurement_value)
data.append_data(round(current_time - start, 2), p.getSetPoint(), round(vehicleEgo.get_velocity().x, 5), p.getError())
print('%0.3f\t%0.2f\t\t\t%0.2f\t\t%0.2f\t%0.2f' % (time.time() - start,
vehicleEgo.get_velocity().x,
p.set_point,
vehicleEgo.get_control().throttle,
pid))
if DataInit.force_sampling_period:
time.sleep(DataInit.sampling_period)
cycle_counter += 1
data.plot()
# print('\nError Mean (if Steady State):\n' +
# str(round(np.absolute(np.mean(data.error[data.error.shape[0]/2:data.error.shape[0]])), 5)) +
# '%\n')
finally:
print('destroying actors')
for actor in actor_list:
actor.destroy()
print('done.')
