-
Notifications
You must be signed in to change notification settings - Fork 4
Expand file tree
/
Copy pathconfig.py
More file actions
239 lines (239 loc) · 14.8 KB
/
Copy pathconfig.py
File metadata and controls
239 lines (239 loc) · 14.8 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
''' This is not the prettyiest way to do this but this class allows
for the definition and slection of multiple simulation/physical
settings for the 1/10 scale setup '''
class Setting:
def __init__(self, setting = "two_cav_simulation"):
if "two_cav_physical" == setting:
print(" Config: two_cav_physical selected")
# Working 2 CAV Real
self.cav = [[-0.75, 0.0, 0, False],
[-1.5, 0.0, 0, False]]
self.cis = [[-0.75, 0.75, -0.785398163, False]]
self.rsu_ip = '192.168.0.103' #'127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 0.5
self.simulation = False
self.debug = True
self.unit_test = False
self.unit_test_config = None
self.gui_interval = 100 # 1 hz to slow down the toll on the RSU
self.data_collect_mode = True
self.use_global_fusion = False
self.cooperative_monitoring = False
self.test_one_step_kalman = False
elif "four_cav_simulation" == setting:
print(" Config: four_cav_simulation selected")
# Working 4 CAV simulation
self.cav = [[-0.75, 0.0, 0, True],
[-1.5, 0.0, 0, True],
[0.0, 0.75, 4.71238898038469, True],
[0.0, 1.75, 4.71238898038469, True]]
self.cis = [[-1.5, 1.5, -0.785398163, True],
[1.5, -1.5, 2.35619, True]]
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 1.0
self.simulation = True
self.debug = False
self.data_collect_mode = False
self.unit_test = False
self.unit_test_config = None
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = False
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
elif "one_cav_simulation" == setting:
print(" Config: one_cav_simulation selected")
# Working 4 CAV simulation
self.cav = [[-0.75, 0.0, 0, True]]
self.cis = []
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 1.0
self.simulation = True
self.debug = False
self.data_collect_mode = False
self.unit_test = False
self.unit_test_config = None
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = False
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
elif "two_cav_simulation_unit_test" == setting:
print(" Config: two_cav_simulation_unit_test selected")
# Working 4 CAV simulation
self.cav = [[-0.75, 0.0, 0, True],
[0.0, 0.75, 4.71238898038469, True]]
self.cis = []#[[-0.75, 0.75, -0.785398163, True]]#,
#[0.75, -0.75, -0.785398163, True]]
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 1.0
self.simulation = True
self.debug = False
self.unit_test = True
self.unit_test_speed_target = .4
self.unit_test_time = 120.0
self.unit_test_config = [[0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False],
[0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True]]
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = True
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
elif "two_cav_simulation_unit_test_2" == setting:
print(" Config: two_cav_simulation_unit_test selected")
# Working 4 CAV simulation
self.cav = [[-0.75, 0.0, 0, True],
[0.0, 0.75, 4.71238898038469, True]]
self.cis = []#[[-0.75, 0.75, -0.785398163, True]]#,
#[0.75, -0.75, -0.785398163, True]]
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 2.0
self.simulation = True
self.debug = False
self.unit_test = True
self.unit_test_speed_target = .4
self.unit_test_time = 120.0
self.unit_test_config = [[0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False],
[0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True]]
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = True
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
elif "two_cav_simulation_unit_test_3" == setting:
print(" Config: two_cav_simulation_unit_test selected")
# Working 4 CAV simulation
self.cav = [[-0.75, 0.0, 0, True],
[0.0, 0.75, 4.71238898038469, True]]
self.cis = [[-0.75, 0.75, -0.785398163, True]]#,
#[0.75, -0.75, -0.785398163, True]]
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 1.0
self.simulation = True
self.debug = False
self.unit_test = True
self.unit_test_speed_target = .4
self.unit_test_time = 120.0
self.unit_test_config = [[0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False],
[0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True]]
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = True
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
elif "two_cav_simulation_unit_test_4" == setting:
print(" Config: two_cav_simulation_unit_test selected")
# Working 4 CAV simulation
self.cav = [[-0.75, 0.0, 0, True],
[0.0, 0.75, 4.71238898038469, True]]
self.cis = [[-0.75, 0.75, -0.785398163, True]]#,
#[0.75, -0.75, -0.785398163, True]]
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 2.0
self.simulation = True
self.debug = False
self.unit_test = True
self.unit_test_speed_target = .4
self.unit_test_time = 120.0
self.unit_test_config = [[0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False],
[0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True]]
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = True
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
elif "four_cav_simulation_unit_test" == setting:
print(" Config: four_cav_simulation_unit_test selected")
# Working 4 CAV simulation
self.cav = [[-0.75, 0.0, 0, True],
[-1.5, 0.0, 0, True],
[0.0, 0.75, 4.71238898038469, True],
[0.0, 1.75, 4.71238898038469, True]]
self.cis = [[-0.75, 0.75, -0.785398163, True],
[0.75, -0.75, -0.785398163, True]]
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 2.0
self.simulation = True
self.debug = False
self.data_collect_mode = False
self.unit_test = True
self.unit_test_speed_target = .4
self.unit_test_time = 120.0
self.unit_test_config = [[0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False], [0,0,False],
[0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True], [0,0,True]]
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = False
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
else:
print(" Config: two_cav_simulation selected")
# Working 2 CAV simulation
self.cav = [[-0.75, 0.0, 0, True],
[0.0, 0.75, 4.71238898038469, True]]
self.cis = [[-.75, .75, -0.785398163, True]]
self.rsu_ip = '127.0.0.1'
self.interval = 0.125
self.offset_interval = 0.0
self.fallthrough_delay = 0.100
self.init_time = 10.0 # Seconds to wait for the system to initialize before starting
self.map = 0
self.map_length = 2.0
self.simulation = True
self.debug = False
self.unit_test = False
self.unit_test_config = None
self.gui_interval = 100 # 10 hz, hopefully this is fast enough
self.data_collect_mode = False
self.use_global_fusion = True
self.cooperative_monitoring = False
self.cooperative_monitoring_update = 8 # cycles
self.test_one_step_kalman = False
print(" Config complete, using map: ", self.map)