import numpy as np
from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
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class Maneuver:
def __init__(self, title, duration, **kwargs):
# Was tempted to make a builder class
self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
self.speed = kwargs.get("initial_speed", 0.0)
self.lead_relevancy = kwargs.get("lead_relevancy", 0)
self.breakpoints = kwargs.get("breakpoints", [0.0, duration])
self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))])
self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))])
self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))])
self.only_lead2 = kwargs.get("only_lead2", False)
self.only_radar = kwargs.get("only_radar", False)
self.ensure_start = kwargs.get("ensure_start", False)
self.enabled = kwargs.get("enabled", True)
self.e2e = kwargs.get("e2e", False)
self.personality = kwargs.get("personality", 0)
self.force_decel = kwargs.get("force_decel", False)
self.duration = duration
self.title = title
[docs]
def evaluate(self):
plant = Plant(
lead_relevancy=self.lead_relevancy,
speed=self.speed,
distance_lead=self.distance_lead,
enabled=self.enabled,
only_lead2=self.only_lead2,
only_radar=self.only_radar,
e2e=self.e2e,
personality=self.personality,
force_decel=self.force_decel,
)
valid = True
logs = []
while plant.current_time < self.duration:
speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values)
log = plant.step(speed_lead, prob, cruise)
d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
log['d_rel'] = d_rel
log['v_rel'] = v_rel
logs.append(np.array([plant.current_time,
log['distance'],
log['distance_lead'],
log['speed'],
speed_lead,
log['acceleration']]))
if d_rel < .4 and (self.only_radar or prob > 0.5):
print("Crashed!!!!")
valid = False
if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
print('LongitudinalPlanner not starting!')
valid = False
if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
print('Not stopping with force decel')
valid = False
print("maneuver end", valid)
return valid, np.array(logs)