def test_should_init_with_expected_values(self):
subject = VehicleCtl(self.mock_config_handler)
# training manager, auto agent, etc...
self.assertIsInstance(subject._mode, Mode)
# Vehicle throttle,steering, etc...
self.assertTrue(subject._last_cmd_sent.equal(Command()))
self.assertEqual(Gear.DRIVE, subject._gear)
self.assertEqual(0, subject._target_acceleration)
self.assertEqual(subject._last_cmd_sent.get_steering(),
subject._target_steering)
def test_prepare_new_command_reverse_stationary(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.REVERSE
subject._target_steering = 0.0
subject._target_acceleration = 0.0
subject._last_cmd_sent = Command(0.0, 0.0)
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 0.0)
def test_prepare_new_command_park_outputs_stationary_command(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.PARK
subject._target_steering = 0.23
subject._target_acceleration = -0.34
subject._last_cmd_sent = Command(0.22, -1.0)
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 0.0)
def test_prepare_new_command_forward_max_at_1_point_0(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.DRIVE
subject._target_steering = 0.0
subject._target_acceleration = 1.0
subject._last_cmd_sent = Command(s=0.0, t=1.0)
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 1.0)
def test_prepare_new_command_forward_braking(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.DRIVE
subject._target_steering = 0.0
subject._target_acceleration = -1.0
subject._last_cmd_sent = Command(s=0.0, t=1.0)
expected_instant_acc = -1.0 * self.dt #this test verifies that instant_acc is not less than -1, before considering dt
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 1.0 + expected_instant_acc)
def test_prepare_new_command_forward_coasting(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.DRIVE
subject._target_steering = 0.0
subject._target_acceleration = 0.0
subject._last_cmd_sent = Command(s=0.0, t=1.0)
expected_instant_acc = (0.0 - VehicleCtl.degradation_factor) * self.dt
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), 1.0 + expected_instant_acc)
def test_prepare_new_command_reverse_coasting(self):
subject = VehicleCtl(self.mock_config_handler)
subject._gear = Gear.REVERSE
subject._target_steering = 0.0
subject._target_acceleration = 0.0
subject._last_cmd_sent = Command(0.0, -1.0)
expectedAcc = (0.0 + VehicleCtl.degradation_factor) * self.dt
new_cmd = subject.prepare_new_command(self.dt)
self.assertEqual(new_cmd.get_steering(), 0.0)
self.assertEqual(new_cmd.get_throttle(), -1.0 + expectedAcc)
from client.auto_agent import AutoAgent
from client.image_stream_server import ImageStreamServer
from client.telemetry_processor import TelemetryProcessor
if __name__ == "__main__":
# Set the log level
logger = logging.getLogger()
logger.setLevel(logging.INFO)
# Setup the image server to receive images from the vehicle. Needs to happen before creating the
image_stream_server = ImageStreamServer()
image_stream_server.start()
# Setup the primary vehicle control class and start it
vehicle_ctl = VehicleCtl(ConfigHandler.get_instance())
vehicle_ctl.start()
# Automatically start up the image stream
vehicle_ctl.request_stream_start()
# Create the auto agent
auto_agent = AutoAgent(vehicle_ctl)
auto_agent.start()
# Create the telemetry processor
telemetry_proc = TelemetryProcessor(auto_agent)
telemetry_proc.start()
# Create the Qt application and launch
app = QtWidgets.QApplication(sys.argv)
mainWin = MainWindow(vehicle_ctl, image_stream_server)