120 lines
3.4 KiB
Python
Executable File
120 lines
3.4 KiB
Python
Executable File
#!/usr/bin/env python3
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import pygame # pylint: disable=import-error
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from selfdrive.test.longitudinal_maneuvers.plant import Plant
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from selfdrive.car.honda.values import CruiseButtons
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import numpy as np
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import cereal.messaging as messaging
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import math
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CAR_WIDTH = 2.0
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CAR_LENGTH = 4.5
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METER = 8
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def rot_center(image, angle):
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"""rotate an image while keeping its center and size"""
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orig_rect = image.get_rect()
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rot_image = pygame.transform.rotate(image, angle)
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rot_rect = orig_rect.copy()
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rot_rect.center = rot_image.get_rect().center
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rot_image = rot_image.subsurface(rot_rect).copy()
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return rot_image
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def car_w_color(c):
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car = pygame.Surface((METER*CAR_LENGTH, METER*CAR_LENGTH)) # pylint: disable=too-many-function-args
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car.set_alpha(0)
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car.fill((10,10,10))
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car.set_alpha(128)
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pygame.draw.rect(car, c, (METER*1.25, 0, METER*CAR_WIDTH, METER*CAR_LENGTH), 1)
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return car
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if __name__ == "__main__":
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pygame.init()
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display = pygame.display.set_mode((1000, 1000))
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pygame.display.set_caption('Plant UI')
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car = car_w_color((255,0,255))
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leadcar = car_w_color((255,0,0))
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carx, cary, heading = 10.0, 50.0, 0.0
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plant = Plant(100, distance_lead = 40.0)
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control_offset = 2.0
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control_pts = list(zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10))
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def pt_to_car(pt):
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x,y = pt
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x -= carx
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y -= cary
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rx = x * math.cos(-heading) + y * -math.sin(-heading)
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ry = x * math.sin(-heading) + y * math.cos(-heading)
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return rx, ry
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def pt_from_car(pt):
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x,y = pt
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rx = x * math.cos(heading) + y * -math.sin(heading)
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ry = x * math.sin(heading) + y * math.cos(heading)
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rx += carx
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ry += cary
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return rx, ry
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while 1:
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if plant.rk.frame%100 >= 20 and plant.rk.frame%100 <= 25:
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cruise_buttons = CruiseButtons.RES_ACCEL
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else:
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cruise_buttons = 0
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md = messaging.new_message('model')
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md.model.frameId = 0
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for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
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x.points = [0.0]*50
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x.prob = 0.0
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x.std = 1.0
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car_pts = [pt_to_car(pt) for pt in control_pts]
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print(car_pts)
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car_poly = np.polyfit([x[0] for x in car_pts], [x[1] for x in car_pts], 3)
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md.model.path.points = np.polyval(car_poly, np.arange(0, 50)).tolist()
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md.model.path.prob = 1.0
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Plant.model.send(md.to_bytes())
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plant.step(cruise_buttons = cruise_buttons, v_lead = 2.0, publish_model = False)
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display.fill((10,10,10))
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carx += plant.speed * plant.ts * math.cos(heading)
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cary += plant.speed * plant.ts * math.sin(heading)
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# positive steering angle = steering right
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print(plant.angle_steer)
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heading += plant.angle_steer * plant.ts
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print(heading)
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# draw my car
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display.blit(pygame.transform.rotate(car, 90-math.degrees(heading)), (carx*METER, cary*METER))
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# draw control pts
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for x,y in control_pts:
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pygame.draw.circle(display, (255,255,0), (int(x * METER),int(y * METER)), 2)
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# draw path
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path_pts = zip(np.arange(0, 50), md.model.path.points)
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for x,y in path_pts:
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x,y = pt_from_car((x,y))
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pygame.draw.circle(display, (0,255,0), (int(x * METER),int(y * METER)), 1)
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"""
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# draw lead car
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dl = (plant.distance_lead - plant.distance) + 4.5
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lx = carx + dl * math.cos(heading)
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ly = cary + dl * math.sin(heading)
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display.blit(pygame.transform.rotate(leadcar, 90-math.degrees(heading)), (lx*METER, ly*METER))
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"""
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pygame.display.flip()
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