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controller_client.py
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controller_client.py
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#!/usr/bin/env python3
#
#mk
#v8.14
#
# controller_client for carla simulator
# This work is licensed under the terms of the MIT license
# see <https://opensource.org/licenses/MIT>
from __future__ import print_function
from __future__ import division
MOD_VERSION="8.14"
# System level imports
import sys
import os
import argparse
import logging
import time
import math
import numpy as np
import csv
import time
#import matplotlib.pyplot as plt
#from controllers import controller2d
#longitudinal & lateral controllers in this module
import controllers
import configparser
#import path_generator now in local
import local_planner
# script level imports
sys.path.append(os.path.abspath(sys.path[0] + '/..'))
import runtime_display as rd #runtime display module
from carla import sensor
from carla.client import make_carla_client, VehicleControl
from carla.settings import CarlaSettings
from carla.tcp import TCPConnectionError
from carla.controller import utils
SAVE_ANALYSIS = True
SAVE_TRAJECTORY=False
print()
print("Starting up controller client version "+str(MOD_VERSION)+"...")
print()
# simulation parameters
ITER_FOR_SIM_TIMESTEP = 10 # no. iterations to compute approx sim timestep
WAIT_TIME_BEFORE_START = 15.00 # game seconds (time before controller start)
TOTAL_RUN_TIME = 200.00 # game seconds (total runtime before sim end)
TOTAL_FRAME_BUFFER = 300 # number of frames to buffer after total runtime
NUM_PEDESTRIANS = 0 # total number of pedestrians to spawn
NUM_VEHICLES = 0 # total number of vehicles to spawn
SEED_PEDESTRIANS = 0 # seed for pedestrian spawn randomizer
SEED_VEHICLES = 0 # seed for vehicle spawn randomizer
WEATHERID = {
"DEFAULT": 0,
"CLEARNOON": 1,
"CLOUDYNOON": 2,
"WETNOON": 3,
"WETCLOUDYNOON": 4,
"MIDRAINYNOON": 5,
"HARDRAINNOON": 6,
"SOFTRAINNOON": 7,
"CLEARSUNSET": 8,
"CLOUDYSUNSET": 9,
"WETSUNSET": 10,
"WETCLOUDYSUNSET": 11,
"MIDRAINSUNSET": 12,
"HARDRAINSUNSET": 13,
"SOFTRAINSUNSET": 14,
}
#SIMWEATHER = WEATHERID["CLEARNOON"] # set simulation weather
SIMWEATHER = WEATHERID["CLEARSUNSET"]
PLAYER_START_INDEX = 1 # spawn index for player (keep to 1)
WAYPOINTS_FILENAME = 'racetrack_waypoints.txt' # waypoint file to load
#DIST_THRESHOLD_TO_LAST_WAYPOINT = 2.0 # some distance from last position before
# simulation ends
DIST_THRESHOLD_TO_LAST_WAYPOINT = 10.0
INTERP_MAX_POINTS_PLOT = 5 # number of waypoints used for displaying
# controller output directory
RUNTIME_OUTPUT_FOLDER = os.path.dirname(os.path.realpath(__file__)) +\
'/runtime_output' #/controller_output/'
# not for unix
#RUNTIME_OUTPUT_FOLDER = os.path.dirname(os.path.realpath(__file__)) +\
# '\\controller_output\\'
# create the path generator object from local planner
path_generator = local_planner.Path_generator(WAYPOINTS_FILENAME, \
resolution=0.01)
def make_carla_settings(args):
# carla settings object to set parameters for the simulation run
settings = CarlaSettings()
# dont make non-agent info requests if there
# are no pedestrians or other vehicles
get_non_player_agents_info = False
if (NUM_PEDESTRIANS > 0 or NUM_VEHICLES > 0):
get_non_player_agents_info = True
# base level settings
settings.set(
SynchronousMode=True,
SendNonPlayerAgentsInfo=get_non_player_agents_info,
NumberOfVehicles=NUM_VEHICLES,
NumberOfPedestrians=NUM_PEDESTRIANS,
SeedVehicles=SEED_VEHICLES,
SeedPedestrians=SEED_PEDESTRIANS,
WeatherId=SIMWEATHER,
QualityLevel=args.quality_level)
return settings
class Timer(object):
# timer to calculate FPS, while the lap or seconds since lap is
# begun? used to compute elapsed time
def __init__(self, period):
self.step = 0
self._lap_step = 0
self._lap_time = time.time()
self._period_for_lap = period
def tick(self):
self.step += 1
def has_exceeded_lap_period(self):
if self.elapsed_seconds_since_lap() >= self._period_for_lap:
return True
else:
return False
def lap(self):
self._lap_step = self.step
self._lap_time = time.time()
def ticks_per_second(self):
return float(self.step - self._lap_step) /\
self.elapsed_seconds_since_lap()
def elapsed_seconds_since_lap(self):
return time.time() - self._lap_time
def get_current_pose(measurement):
"""
get current x,y,yaw pose from the client measurements
Args:
measurement: CARLA client measurements (from read_data())
Returns: (x, y, yaw)
x: x position in meters
y: y position in meters
yaw: yaw position in radians
"""
x = measurement.player_measurements.transform.location.x
y = measurement.player_measurements.transform.location.y
yaw = math.radians(measurement.player_measurements.transform.rotation.yaw)
return (x, y, yaw)
def get_start_pos(scene):
"""
get vehicle start x,y, yaw pose from the scene
Args:
scene: CARLA scene object
Returns: (x, y, yaw)
x: X position in meters
y: Y position in meters
yaw: Yaw position in radians
"""
x = scene.player_start_spots[0].location.x
y = scene.player_start_spots[0].location.y
yaw = math.radians(scene.player_start_spots[0].rotation.yaw)
return (x, y, yaw)
###
def send_control_command(client, throttle, steer, brake,
hand_brake=False, reverse=False):
"""
send control command to simulator
Args:
client: The CARLA client object
throttle: Throttle command for the sim car [0, 1]
steer: Steer command for the sim car [-1, 1]
brake: Brake command for the sim car [0, 1]
hand_brake: Whether the hand brake is engaged
reverse: Whether the sim car is in the reverse gear
"""
#
control = VehicleControl()
# clamp to bounds
steer = np.fmax(np.fmin(steer, 1.0), -1.0)
throttle = np.fmax(np.fmin(throttle, 1.0), 0)
brake = np.fmax(np.fmin(brake, 1.0), 0)
control.steer = steer
control.throttle = throttle
control.brake = brake
control.hand_brake = hand_brake
control.reverse = reverse
client.send_control(control)
def create_controller_output_dir(output_folder):
if not os.path.exists(output_folder):
os.makedirs(output_folder)
def store_trajectory_plot(graph, fname):
# save graphic
create_controller_output_dir(RUNTIME_OUTPUT_FOLDER)
file_name = os.path.join(RUNTIME_OUTPUT_FOLDER, fname)
graph.savefig(file_name)
def write_trajectory_file(x_list, y_list, v_list, t_list):
create_controller_output_dir(RUNTIME_OUTPUT_FOLDER)
#file_name = os.path.join(RUNTIME_OUTPUT_FOLDER, 'trajectory.txt')
file_name = os.path.join(RUNTIME_OUTPUT_FOLDER, 'trajectory_data.txt')
with open(file_name, 'w') as trajectory_file:
for i in range(len(x_list)):
trajectory_file.write('%3.3f, %3.3f, %2.3f, %6.3f\n' %\
(x_list[i], y_list[i], v_list[i], t_list[i]))
##############################################
# main() calls exec to kick off simualtion run
##############################################
def exec_waypoint_nav_demo(args):
# connect to server and keep line open until...
with make_carla_client(args.host, args.port) as client:
print();print('CARLA client connected...')
settings = make_carla_settings(args)
# Now we load these settings into the server. The server replies
# with a scene description containing the available start spots for
# the player. Here we can provide a CarlaSettings object or a
# CarlaSettings.ini file as string.
scene = client.load_settings(settings)
# Refer to the player start folder in the WorldOutliner to see the
# player start information
player_start = PLAYER_START_INDEX
# Notify the server that we want to start the episode at the
# player_start index. This function blocks until the server is ready
# to start the episode.
print('Starting episode in %r...' % scene.map_name)
client.start_episode(player_start)
#############################################
# Load Configuration parameters
#############################################
# Load configuration file options.cfg and parse out the options
# runtime_plotting - used as a flag to run plotting code or not
# runtime_plotting_interval - how frequently the runtime plotting updates
config = configparser.ConfigParser()
config.read(os.path.join(
os.path.dirname(os.path.realpath(__file__)), 'options.cfg'))
#demo_opt = config['Demo Parameters']
sim_opt = config['Simulation Parameters']
# Get options
show_runtime_displays = sim_opt.get('show_runtime_displays', 'true').capitalize()
#enable_runtime_plot = enable_runtime_plot == 'True' # ok, but
show_runtime_displays = (show_runtime_displays == 'True') # logic
runtime_plot_period = float(sim_opt.get('runtime_plotting_interval', 0))
#print();print("plotting delay: "+str(runtime_plot_period))
runtime_plot_timer = Timer(runtime_plot_period)
#mk
# selectively choose which runtime displays to generate
# can make minimal or none, too many can slow down
# some systems depending on cpu/gpu capability
#display_runtime_trajectory
show_trajectory_display = sim_opt.get('show_trajectory_display', 'true').capitalize()
show_trajectory_display = (show_trajectory_display == 'True')
# display sizes are now selectable
# portrait mode better for trajectory
trajectory_panel_x_inches = sim_opt.getfloat('trajectory_panel_x_inches', 2)
trajectory_panel_y_inches = sim_opt.getfloat('trajectory_panel_y_inches', 3)
# all on or off
show_control_display = sim_opt.get('show_control_display', 'true').capitalize()
show_control_display = (show_control_display == 'True')
# control panel can be vertical or horizontal
control_display_orientation = sim_opt.get('control_display_orientation', 'vertical')#.capitalize()
#control_display_orientation = sim_opt.get('control_display_orientation', 'horizontal')#.capitalize()
"""
print()
print("options.cfg orientation: ",control_display_orientation )
print()
input("Press Enter to continue...
"""
# now selectable
# size of individual mini displays
runtime_plot_x_inches = sim_opt.getfloat('runtime_plot_x_inches', 3)
runtime_plot_y_inches = sim_opt.getfloat('runtime_plot_y_inches', 2.25)
#show_runtime_throttle
show_runtime_throttle = sim_opt.get('show_runtime_throttle', 'true').capitalize()
show_runtime_throttle = (show_runtime_throttle == 'True')
#show_runtime_brake
show_runtime_brake = sim_opt.get('show_runtime_brake', 'true').capitalize()
show_runtime_brake = (show_runtime_brake == 'True')
#show_runtime_steering
show_runtime_steering = sim_opt.get('show_runtime_steering', 'true').capitalize()
show_runtime_steering = (show_runtime_steering == 'True')
#runtime_velocity
show_runtime_velocity_track = sim_opt.get('show_runtime_velocity_track', 'true').capitalize()
show_runtime_velocity_track = (show_runtime_velocity_track == 'True')
#runtime_crosstrack error
show_runtime_cte = sim_opt.get('show_runtime_cte', 'true').capitalize()
show_runtime_cte = (show_runtime_cte == 'True')
#runtime_crosstrack error avg
show_runtime_cte_avg = sim_opt.get('show_runtime_cte_avg', 'true').capitalize()
show_runtime_cte_avg = (show_runtime_cte_avg == 'True')
#runtime_crosstrack error avg
show_runtime_velocity_err= sim_opt.get('show_runtime_velocity_err', 'true').capitalize()
show_runtime_velocity_err = (show_runtime_velocity_err == 'True')
show_runtime_velocity_avg= sim_opt.get('show_runtime_velocity_avg', 'true').capitalize()
show_runtime_velocity_avg = (show_runtime_velocity_avg == 'True')
#default is mps, does not effect readouts,
velocity_display_units = sim_opt.get('velocity_display_units', 'mps')
#wait to reposition panels, useful for video recording of simulation
panels_repositioned = False
#TESTING THIS
# throttle & brake overlapping
show_runtime_throttle_brake = True
#### END GET CONFIG ################33
#############################################
# load waypoints
#############################################
#mk ok
waypoints = None
waypoints = path_generator.get_all_waypoints() #in init WAYPOINTS_FILENAME)
#mk aok
#waypoints = waypoints_np # TESTING NEED FOR FOR DISPLAY PANEL CODE
#mk aok
#wp_distances = path_generator.get_wp_distances()
#mk
#wp_interp = path_generator.get_wp_interp()
#mk AOK
#wp_interp_hash = []
#wp_interp_hash = path_generator.get_wp_interp_hash()
#############################################
# Instantiate Controller Object
#############################################
controller = controllers.Controller2d(waypoints)
#mk
# simulation average timestep & total frames
num_iterations = ITER_FOR_SIM_TIMESTEP
# why check a define for this?
if (ITER_FOR_SIM_TIMESTEP < 1): # at least! one timestep
num_iterations = 1
#mk
# get current current data from the simulator server
# and calc starting time
# then ACK since in synchronous mode
measurement_data, sensor_data = client.read_data()
sim_start_stamp = measurement_data.game_timestamp / 1000.0
# since in sync mode, send control command to ACK OK
# to continue to next iteration
send_control_command(client, throttle=0.0, steer=0, brake=1.0)
# approximate average timestep? based on some initial iterations
############################################################
####### INTERATION LOOP STARTS HERE ########################
############################################################
sim_duration = 0
for i in range(num_iterations):
# get current measurement & perception data
measurement_data, sensor_data = client.read_data()
# ACK to get more data for next iteration
send_control_command(client, throttle=0.0, steer=0, brake=1.0)
# calc when found last timestamp
if i == num_iterations - 1:
sim_duration = (measurement_data.game_timestamp / 1000.0) \
- sim_start_stamp
# use average simulation timestep to calc number of frames
# until approximate end of the simulation
SIMULATION_TIME_STEP = sim_duration / float(num_iterations)
# show this?
apx_ts = round(SIMULATION_TIME_STEP,3)
print("Apx simulation timestep: " + \
str(apx_ts))
TOTAL_EPISODE_FRAMES = \
int((TOTAL_RUN_TIME + WAIT_TIME_BEFORE_START)\
/ SIMULATION_TIME_STEP) \
+ TOTAL_FRAME_BUFFER
#############################################
# Initialization of run
#############################################
# get current pose, state...
measurement_data, sensor_data = client.read_data()
start_x, start_y, start_yaw = get_current_pose(measurement_data)
send_control_command(client, throttle=0.0, steer=0, brake=1.0) #AOK
# init runtime history lists
x_history = [start_x]
y_history = [start_y]
yaw_history = [start_yaw]
time_history = [0]
velocity_history = [0]
#############################################
# create & setup simulation displays
#############################################
# so far... Panels are:
# 1) trajectory, 2) vehicle state & controler output signals & other
if show_runtime_displays:
#create the main display panels
if show_trajectory_display:
trajectory_display = rd.DisplayPanel(tk_title="Trajectory",\
orientation=control_display_orientation)#'portrait')
# if any of the state & controller signal
#mk use || ?
if (show_runtime_throttle == True or \
show_runtime_brake == True or \
show_runtime_velocity_track == True or \
show_runtime_steering == True or \
show_runtime_cte == True or \
show_runtime_velocity_avg == True or \
show_runtime_velocity_err == True or \
show_runtime_throttle_brake == True):
# create the display panel
control_display = rd.DisplayPanel(tk_title="Control Monitor",\
orientation=control_display_orientation)
# 2D surface map position trajectory display
# for trajectory panel cropping
PLOT_LEFT = 0.1 # in fractions of figure width and height
PLOT_BOT = 0.1
PLOT_WIDTH = 0.9#0.8
PLOT_HEIGHT = 0.8
if show_trajectory_display:
trajectory_fig = trajectory_display.plot_new_dynamic_2d_figure(
title='Vehicle Trajectory',
figsize=(trajectory_panel_x_inches, trajectory_panel_y_inches),
edgecolor="black",
rect=[PLOT_LEFT, PLOT_BOT, PLOT_WIDTH, PLOT_HEIGHT])
# since UE4 uses left-handed coordinate system the x-axis
# in the graph is reversed
trajectory_fig.set_invert_x_axis()
# keep x to y spacing equal size
trajectory_fig.set_axis_equal()
# waypoint markers
trajectory_fig.add_graph("waypoints", window_size=waypoints.shape[0],
x0=waypoints[:,0], y0=waypoints[:,1],
linestyle="-", marker="", color='g')
# trajectory markers
trajectory_fig.add_graph("trajectory", window_size=TOTAL_EPISODE_FRAMES,
x0=[start_x]*TOTAL_EPISODE_FRAMES,
y0=[start_y]*TOTAL_EPISODE_FRAMES,
color=[1, 0.5, 0])
# lookahead path
trajectory_fig.add_graph("lookahead_path",
window_size=INTERP_MAX_POINTS_PLOT,
x0=[start_x]*INTERP_MAX_POINTS_PLOT,
y0=[start_y]*INTERP_MAX_POINTS_PLOT,
color=[0, 0.7, 0.7],
linewidth=4)
# starting position marker
trajectory_fig.add_graph("start_pos", window_size=1,
x0=[start_x], y0=[start_y],
marker=11, color=[1, 0.5, 0],
markertext="", marker_text_offset=0)
# end position marker
trajectory_fig.add_graph("end_pos", window_size=1,
x0=[waypoints[-1, 0]],
y0=[waypoints[-1, 1]],
#marker="D", color='r',
marker="", color='k',
markertext="", marker_text_offset=1)
# Add car marker, what do you think its called?!!
#trajectory_fig.add_graph("car", window_size=1,
#marker="s", color='b', markertext="", #markertext="Car",
# marker_text_offset=1)
# Add car marker, what do you think its called!!
trajectory_fig.add_graph("car", window_size=1,
marker=".", color='r', markertext="", #markertext="Car",
marker_text_offset=0)
MINI_DISPLAY_SIZE=(runtime_plot_x_inches,runtime_plot_y_inches)
#mk not "forward speed", it is velocity,
#can move or bounce backwards so has both magnitude (speed) and direction (+/-)
if show_control_display:
#mk *here
if show_runtime_velocity_track:
# fig size is PRESET IN CLASS AS 2,3
velocity_fig = control_display.plot_new_dynamic_figure(\
title='Velocity Tracking',figsize=MINI_DISPLAY_SIZE)
velocity_fig.add_graph("velocity",
label="velocity",
window_size=TOTAL_EPISODE_FRAMES)
velocity_fig.add_graph("reference_signal",
label="reference_signal",
window_size=TOTAL_EPISODE_FRAMES)
# show throttle signals
if show_runtime_throttle:
throttle_fig = control_display.plot_new_dynamic_figure(\
title="Throttle", figsize=MINI_DISPLAY_SIZE )
throttle_fig.add_graph("throttle",
label="throttle",
window_size=TOTAL_EPISODE_FRAMES)
# show brake signals
if show_runtime_brake:
brake_fig = control_display.plot_new_dynamic_figure(\
title="Brake", figsize=MINI_DISPLAY_SIZE )
brake_fig.add_graph("brake",
label="brake",
window_size=TOTAL_EPISODE_FRAMES)
#mk new
# show throttle & brake both on one graph
if show_runtime_throttle_brake:
throttle_brake_fig = control_display.plot_new_dynamic_figure(\
title="Throttle & Brake", figsize=MINI_DISPLAY_SIZE )
throttle_brake_fig.add_graph("throttle",
label="throttle",
window_size=TOTAL_EPISODE_FRAMES)
throttle_brake_fig.add_graph("brake",
label="brake",
window_size=TOTAL_EPISODE_FRAMES)
# velocity stuff here
if show_runtime_velocity_err:
velocity_err_fig = control_display.plot_new_dynamic_figure(\
title="Velocity Err", figsize=MINI_DISPLAY_SIZE )
velocity_err_fig.add_graph("v_err",
label="v_err",
window_size=TOTAL_EPISODE_FRAMES)
if show_runtime_velocity_avg:
velocity_avg_fig = control_display.plot_new_dynamic_figure(\
title="Velocity Avg", figsize=MINI_DISPLAY_SIZE )
velocity_avg_fig.add_graph("v_avg",
label="v_avg",
window_size=TOTAL_EPISODE_FRAMES)
# show steering signals
if show_runtime_steering:
steer_fig = control_display.plot_new_dynamic_figure(\
title="Steering", figsize=MINI_DISPLAY_SIZE )
steer_fig.add_graph("steer",
label="steer",
window_size=TOTAL_EPISODE_FRAMES)
#if plot_crosstrack_error:
if show_runtime_cte:
cte_fig = control_display.plot_new_dynamic_figure(\
title="CTE", figsize=MINI_DISPLAY_SIZE )
cte_fig.add_graph("cte",
label="CTE",
window_size=TOTAL_EPISODE_FRAMES)
#if plot_crosstrack_error running avg
if show_runtime_cte_avg:
cte_avg_fig = control_display.plot_new_dynamic_figure(\
title="CTE avg", figsize=MINI_DISPLAY_SIZE )
cte_avg_fig.add_graph("CTE_avg",
label="CTE_avg",
window_size=TOTAL_EPISODE_FRAMES)
# if not show_runtime_displays: #mk fixed this hack
# trajectory_display._root.withdraw()
# control_display._root.withdraw()
#############################################
# start frame iteration loop
#############################################
reached_the_end = False
skip_first_frame = True
#################### TESTING PUT BACK IN ############################
# closest_index = 0 # Index of waypoint that is currently closest to
# the car (assumed to be the first index)
# closest_distance = 0 # Closest distance of closest waypoint to car
#####################################################################
#mk which reference point is used for these buitlins?
# note this assumes the closest is the 1st index at 0
# lateral controller can calculate this differently for CTE
# and lookahead distance to start of trajectory incomming stream
################################################
###########B FRAME LOOP ########################
################################################
# iterate over frames until end of waypoints
# or TOTAL_EPISODE_FRAMES reached
for frame in range(TOTAL_EPISODE_FRAMES):
# update current pose, state,etc
measurement_data, sensor_data = client.read_data()
# update pose, timestamp
#mk note sim calls velocity the forward "speed"
current_x, current_y, current_yaw = \
get_current_pose(measurement_data)
current_speed = measurement_data.player_measurements.forward_speed
current_timestamp = float(measurement_data.game_timestamp) / 1000.0
# wait some initial time before starting the demo
if current_timestamp <= WAIT_TIME_BEFORE_START:
#### PAUSE HERE TO MOVE/ALIGN PANELS
#mk
if (panels_repositioned == False):
print();print("Position panels now...")
input("Press Enter to continue...")
panels_repositioned = True
send_control_command(client, throttle=0.0, steer=0, brake=1.0)
continue
else:
current_timestamp = current_timestamp - WAIT_TIME_BEFORE_START
# save runtime pose, state
x_history.append(current_x)
y_history.append(current_y)
yaw_history.append(current_yaw)
velocity_history.append(current_speed)
time_history.append(current_timestamp)
#mk aok
# get a new incomming stream of higher res waypoints
new_waypoints = \
path_generator.get_new_waypoints(current_x, current_y)
#print("=======================")
#print("len new waypoints:",len(new_waypoints))
# send the controller the interpolated waypoint stream
# along with the pose, velocity, runtime stamp, etc
controller.update_waypoints(new_waypoints)
controller.update_values(current_x, current_y, current_yaw,
current_speed,
current_timestamp, frame)
# AND get back the latest control signals FROM the controller(s)
controller.update_controls()
#mk new
#cmd_throttle, cmd_steer, cmd_brake = controller.get_commands()
#mk new
cmd_throttle, cmd_steer, cmd_brake, cmd_reverse = controller.get_commands()
# skip the first frame when starting the controller
if skip_first_frame and frame == 0:
pass
else:
#mk only if flag set, cleaner this way,
# no flashing panel startup as with deleting a tk root
if show_runtime_displays:
if show_trajectory_display:
trajectory_fig.roll("trajectory", current_x, current_y)
trajectory_fig.roll("car", current_x, current_y)
# when plotting lookahead path use only
# (INTERP_MAX_POINTS_PLOT amount of points) to
# decrease load when generating the runtime display
new_waypoints = np.array(new_waypoints)
path_indices = np.floor(np.linspace(0,
new_waypoints.shape[0]-1,
INTERP_MAX_POINTS_PLOT))
trajectory_fig.update("lookahead_path",
new_waypoints[path_indices.astype(int), 0],
new_waypoints[path_indices.astype(int), 1],
new_colour=[0, 0.7, 0.7])
## advance displays ######################
if show_control_display:
# convert to units specified in config for velocity
if (velocity_display_units == 'mph'):
# in mph
v_current = controller.mps2mph(current_speed)
v_desired = controller.mps2mph(controller._desired_speed)
current_v_avg =controller.mps2mph(controller.vars.current_v_avg)
current_v_err=controller.mps2mph(controller.vars.current_v_err)
elif (velocity_display_units == 'kmph'):
v_current = controller.mps2kmph(current_speed)
v_desired = controller.mps2kmph(controller._desired_speed)
current_v_avg =controller.mps2kmph(controller.vars.current_v_avg)
current_v_err=controller.mps2kmph(controller.vars.current_v_err)
else: #vehicle physics already in mps
v_current = current_speed
v_desired = controller._desired_speed
current_v_avg =controller.vars.current_v_avg
current_v_err=controller.vars.current_v_err
# velocity
if show_runtime_velocity_track:
velocity_fig.roll("velocity",
current_timestamp,
v_current)
velocity_fig.roll("reference_signal",
current_timestamp,
v_desired)
# throttle
if show_runtime_throttle:
throttle_fig.roll("throttle", current_timestamp, cmd_throttle)
#brake
if show_runtime_brake:
brake_fig.roll("brake", current_timestamp, cmd_brake)
#steering
if show_runtime_steering:
steer_fig.roll("steer", current_timestamp, cmd_steer)
#ct error
current_cte=controller.vars.current_cte
if show_runtime_cte:
cte_fig.roll("cte", current_timestamp, current_cte)
#ct error avg
current_cte_avg=controller.vars.current_cte_avg
if show_runtime_cte_avg:
cte_avg_fig.roll("CTE_avg", current_timestamp, current_cte_avg)
if show_runtime_velocity_avg:
velocity_avg_fig.roll("v_avg", current_timestamp, current_v_avg)
if show_runtime_velocity_err:
velocity_err_fig.roll("v_err", current_timestamp, current_v_err)
#*here
if show_runtime_throttle_brake:
throttle_brake_fig.roll("throttle", \
current_timestamp, \
cmd_throttle)
throttle_brake_fig.roll("brake", \
current_timestamp, \
cmd_brake)
# update runtime plot with refresh rate set in options config
# why called "lap"?
if show_runtime_displays and \
runtime_plot_timer.has_exceeded_lap_period():
if show_trajectory_display == True:
trajectory_display.refresh()
if show_control_display:
if (show_runtime_throttle == True or \
show_runtime_brake == True or \
show_runtime_velocity_track == True or \
show_runtime_steering == True or \
show_runtime_cte == True or \
show_runtime_cte_avg == True or \
show_runtime_velocity_avg == True or \
show_runtime_velocity_err == True or \
show_runtime_throttle_brake == True):
control_display.refresh()
runtime_plot_timer.lap()
#############################################
# SEND updated controller signals to simulator
#############################################
# reverse can be added here
#mk testing
#cmd_reverse = True
send_control_command(client,
throttle=cmd_throttle,
steer=cmd_steer,
brake=cmd_brake,
reverse=cmd_reverse)
# end simulation if vehicle is withing
# DIST_THRESHOLD_TO_LAST_WAYPOINT to the last waypoint,
dist_to_last_waypoint = np.linalg.norm(np.array([
waypoints[-1][0] - current_x,
waypoints[-1][1] - current_y]))
if dist_to_last_waypoint < DIST_THRESHOLD_TO_LAST_WAYPOINT:
reached_the_end = True
if reached_the_end:
break
############# END FRAME LOOP ###############
#############################################
#############################################
# simulation run ENDED - start saving results
#############################################
if reached_the_end:
print("Vehicle at end of path")
print()
print("Saving simulation runtime results...")
else:
print("Never reached end of path. Dump results to file anyway...")
#". Writing to controller_output...")
# stop the car
send_control_command(client, throttle=0.0, steer=0.0, brake=1.0)
# again
send_control_command(client, throttle=0.0, steer=0.0, brake=1.0)
#############################################
# save runtime display graphics
#############################################
if (show_runtime_displays):
# only save if plotted
if show_trajectory_display:
store_trajectory_plot(trajectory_fig.fig, 'trajectory.png')
if show_runtime_velocity_track:
store_trajectory_plot(velocity_fig.fig, 'velocity_tracking.png')
if show_runtime_throttle:
store_trajectory_plot(throttle_fig.fig, 'throttle.png')
if show_runtime_brake:
store_trajectory_plot(brake_fig.fig, 'brake.png')
if show_runtime_steering:
store_trajectory_plot(steer_fig.fig, 'steering.png')
if show_runtime_cte:
store_trajectory_plot(cte_fig.fig, 'cte.png')
if show_runtime_cte_avg:
store_trajectory_plot(cte_avg_fig.fig, 'cte_avg.png')
if show_runtime_velocity_avg:
store_trajectory_plot(velocity_avg_fig.fig, 'velocity_avg.png')
if show_runtime_velocity_err:
store_trajectory_plot(velocity_err_fig.fig, 'velocity_err.png')