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CLEANUP 1 Exchanged underscore attributes like _max_speed with config.max_speed.
pedastrians/ sudden obstacle
sudden stop/ change in road
Daraan
requested changes
Mar 15, 2024
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| def main(): | ||
| global spawner, vehicles | ||
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| # Initialise the class for vehicle spawning | ||
| spawner = VehicleSpawner('VehicleSpawning/config/vehicle_spawn.yaml') | ||
| spawner.initialize_carla_service() | ||
| world, world_map = spawner.setup_world() | ||
| ego_bp, car_bp, driver1, spawn_points, rule_interpreter = spawner.prepare_vehicles(world) | ||
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| # Spawn vehicles and assign drivers | ||
| ego = spawner.spawn_vehicles(world, ego_bp, spawn_points) | ||
| ego_vehicle = spawner.assign_drivers(ego, driver1) | ||
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| # Spawn traffic | ||
| vehicles, tm = spawner.spawn_traffic(world, car_bp, spawn_points, driver1, ego.vehicle) | ||
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| # Initialize loop variables | ||
| world.tick() | ||
| road_lane_ids = get_all_road_lane_ids(world_map=world.get_map()) | ||
| t_end = time.time() + 10000 | ||
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| # Create a thread for the camera functionality | ||
| camera_thread = threading.Thread(target=camera_function, args=(ego_vehicle, world)) | ||
| camera_thread.start() | ||
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| # Initialize matrix thread | ||
| data_matrix = DataMatrix(ego_vehicle, world, world_map, road_lane_ids) | ||
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| while time.time() < t_end: | ||
| try: | ||
| pass | ||
| # Retrieve the latest matrix from the matrix thread | ||
| matrix = data_matrix.getMatrix() | ||
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| if matrix is None: | ||
| continue | ||
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| (i_car, j_car) = get_car_coords(matrix) | ||
| results = rule_interpreter.execute_all_functions(driver1, matrix, i_car, j_car, tm) | ||
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| overtake_direction = 0 | ||
| # Random lane change | ||
| overtake_choice = random.randint(1, 100) | ||
| if overtake_choice <= driver1.risky_overtake_chance: | ||
| if matrix[i_car + 1][j_car + 1] == 3 and matrix[i_car - 1][j_car + 1] == 3: | ||
| continue | ||
| elif matrix[i_car + 1][j_car + 1] == 3: | ||
| tm.force_overtake(100, -1) | ||
| elif matrix[i_car - 1][j_car + 1] == 3: | ||
| tm.force_overtake(100, 1) | ||
| else: | ||
| overtake_direction = random.choice([-1, 1]) | ||
| tm.force_overtake(100, overtake_direction) | ||
| print("Random lane change") | ||
| continue | ||
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| if matrix[i_car + 1][j_car + 1] == 0: | ||
| # print("can overtake on right") | ||
| overtake_direction = 1 | ||
| if matrix[i_car - 1][j_car + 1] == 0: | ||
| # print("can overtake on left") | ||
| overtake_direction = -1 | ||
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| # Overtake logic | ||
| if matrix[i_car][j_car + 1] == 2 or matrix[i_car][j_car + 2] == 2: | ||
| overtake_choice = random.randint(1, 100) | ||
| if overtake_choice >= driver1.overtake_mistake_chance: | ||
| tm.force_overtake(100, overtake_direction) | ||
| print("overtake!") | ||
| continue | ||
| else: | ||
| print("overtake averted by chance") | ||
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| # Brake logic | ||
| if matrix[i_car][j_car + 1] == 2: | ||
| # Check distance to obstacle | ||
| distance_to_obstacle = j_car + 1 | ||
| if distance_to_obstacle < MIN_DISTANCE_TO_BRAKE: | ||
| # Apply emergency braking | ||
| driver1.vehicle.setBrake(1) # Adjust brake intensity as needed | ||
| print("Emergency braking activated!") | ||
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| except Exception as e: | ||
| print(e.__str__()) | ||
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| input("press any key to end...") | ||
| data_matrix.stop() | ||
| camera_thread.join() | ||
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| if __name__ == '__main__': | ||
| try: | ||
| main() | ||
| finally: | ||
| try: | ||
| if spawner and spawner.client: | ||
| spawner.client.apply_batch([carla.command.DestroyActor(x.actor) for x in vehicles]) | ||
| except NameError: | ||
| pass |
There was a problem hiding this comment.
This code block is duplicated code is this wanted?
agents/lunatic_agent.py
Outdated
lunatic_agent.py
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I think this is an old file. Please do not reintroduce.
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| spawner = None | ||
| vehicles = [] | ||
| import random | ||
| import threading | ||
| import time | ||
| from asyncio import Queue | ||
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| import carla | ||
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| from DataGathering.informationUtils import get_all_road_lane_ids | ||
| from DataGathering.matrix_wrap import get_car_coords | ||
| from DataGathering.run_matrix import DataMatrix | ||
| from utils.Camera import camera_function | ||
| from VehicleSpawning.vehicle_spawner import VehicleSpawner | ||
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| spawner = None | ||
| vehicles = [] |
| print("overtake averted by chance") | ||
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| # Brake logic | ||
| if matrix[i_car][j_car + 1] == 2: |
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This could conflict with above code
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I would prefer if it is not in the top-level of the repository. Please move to examples (maybe change name).
| print("overtake averted by chance") | ||
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| # Brake logic for sudden stop of vehicle ahead or sudden change in road conditions | ||
| if matrix[i_car][j_car + 1] == 4 or matrix[i_car][j_car + 1] == 5: |
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What does the ==4 and ==5 represent?
To my knowledge these values do not exist.
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| distance_to_obstacle = j_car + 1 | ||
| if distance_to_obstacle < MIN_DISTANCE_TO_BRAKE: |
There was a problem hiding this comment.
See other review about this line. Makes no sense in my opinion.
| if distance_to_obstacle < MIN_DISTANCE_TO_BRAKE: | ||
| # Apply emergency braking | ||
| driver1.vehicle.setBrake(1) # Adjust brake intensity as needed | ||
| if matrix[i_car][j_car + 1] == 4: |
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See other review about entry 4 and 5
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Its okay to overwrite this file how you wish but make sure that it still works after merge, i.e. that the imports align with main.
NOTE: I have not updated this to the final version of Bogdan which introduces more changes.
Daraan
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