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ControlCalibrationSensor.cs
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/**
* Copyright (c) 2019-2021 LG Electronics, Inc.
*
* This software contains code licensed as described in LICENSE.
*
*/
using UnityEngine;
using Simulator.Bridge;
using Simulator.Utilities;
using System.Collections.Generic;
using Simulator.Sensors.UI;
namespace Simulator.Sensors
{
public class CriteriaState
{
public float max_velocity;
public float min_velocity;
public float throttle;
public float brakes;
public float steering;
public string gear;
public float duration;
};
[SensorType("Control Calibration", new System.Type[]{})]
public class ControlCalibrationSensor : SensorBase, IVehicleInputs
{
public enum Stage
{
Init,
Apply,
DeInit,
End
}
public enum VelocityState
{
Increasing,
Decreasing,
Stay
}
public enum WhatToTest
{
ForwardThrottle,
ForwardBrake,
ReverseThrottle,
ReverseBrake,
None
}
[SensorParameter]
public List<CriteriaState> States;
private SimulatorControls Controls;
private IVehicleDynamics Dynamics;
private VehicleActions Actions;
public Stage stage = Stage.Init;
private int? seq = 0;
private int? idxApply = 0;
private float StartTime = 0f;
private float ElapsedTime = 0f;
private bool firstRun = true;
CriteriaState state = null;
float duration = 0f;
float upperBound = 0f;
float lowerBound = 0f;
float maxVelocity = 0f;
float minVelocity = 0f;
private VelocityState velocityState = VelocityState.Increasing;
private WhatToTest whatToTest = WhatToTest.None;
public float SteerInput { get; private set; } = 0f;
public float AccelInput { get; private set; } = 0f;
public float BrakeInput { get; private set; } = 0f;
private Vector2 keyboardInput = Vector2.zero;
public override SensorDistributionType DistributionType => SensorDistributionType.MainOrClient;
public override float PerformanceLoad { get; } = 0.05f;
protected override void Initialize()
{
Dynamics = GetComponentInParent<IVehicleDynamics>();
}
protected override void Deinitialize()
{
}
private void Update()
{
var currentSpeed = Dynamics.Velocity.magnitude;
if (seq == null)
{
stage = Stage.End;
}
if (stage == Stage.End)
{
return;
}
if (firstRun && seq != null)
{
state = States[seq.Value];
duration = States[seq.Value].duration;
state.throttle = state.throttle * 0.01f;
state.brakes = state.brakes * 0.01f;
state.steering = state.steering * 0.01f;
upperBound = States[seq.Value].max_velocity * 0.9f;
lowerBound = States[seq.Value].min_velocity * 1.1f;
maxVelocity = States[seq.Value].max_velocity;
minVelocity = States[seq.Value].min_velocity;
AccelInput = 0f;
SteerInput = 0f;
if (States[seq.Value].gear == "forward")
{
whatToTest = (States[seq.Value].throttle > 0) ? WhatToTest.ForwardThrottle
: (States[seq.Value].brakes > 0) ? WhatToTest.ForwardBrake : WhatToTest.None;
}
else if (States[seq.Value].gear == "reverse")
{
whatToTest = (States[seq.Value].throttle > 0) ? WhatToTest.ReverseThrottle
: (States[seq.Value].brakes > 0) ? WhatToTest.ReverseBrake : WhatToTest.None;
}
firstRun = false;
}
if (stage == Stage.Init)
{
if (whatToTest == WhatToTest.ForwardThrottle || whatToTest == WhatToTest.ForwardBrake)
{
if (whatToTest == WhatToTest.ForwardThrottle && velocityState == VelocityState.Decreasing)
{
AccelInput = -1.0f;
if (currentSpeed < lowerBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
else if (whatToTest == WhatToTest.ForwardThrottle && velocityState == VelocityState.Increasing)
{
AccelInput = 1.0f;
if (currentSpeed > lowerBound && currentSpeed < upperBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
if (whatToTest == WhatToTest.ForwardBrake && velocityState == VelocityState.Decreasing)
{
AccelInput = -1.0f;
if (currentSpeed < upperBound && currentSpeed > lowerBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
else if (whatToTest == WhatToTest.ForwardBrake && velocityState == VelocityState.Increasing)
{
AccelInput = 1.0f;
if (currentSpeed > upperBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
}
else if (whatToTest == WhatToTest.ReverseThrottle || whatToTest == WhatToTest.ReverseBrake)
{
if (Dynamics.Reverse == true)
{
if (whatToTest == WhatToTest.ReverseThrottle || whatToTest == WhatToTest.ReverseBrake)
{
if (whatToTest == WhatToTest.ReverseThrottle && velocityState == VelocityState.Decreasing)
{
AccelInput = -1.0f;
if (currentSpeed < lowerBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
else if (whatToTest == WhatToTest.ReverseThrottle && velocityState == VelocityState.Increasing)
{
AccelInput = 1.0f;
if (currentSpeed > lowerBound && currentSpeed < upperBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
if (whatToTest == WhatToTest.ReverseBrake && velocityState == VelocityState.Decreasing)
{
AccelInput = -1.0f;
if (currentSpeed < upperBound && currentSpeed > lowerBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
else if (whatToTest == WhatToTest.ReverseBrake && velocityState == VelocityState.Increasing)
{
AccelInput = 1.0f;
if (currentSpeed > upperBound)
{
stage = Stage.Apply;
StartTime = Time.time;
velocityState = VelocityState.Stay;
AccelInput = state.throttle - state.brakes;
idxApply = 0;
}
}
}
}
else
{
Dynamics.ShiftReverseAutoGearBox();
}
}
}
else if (stage == Stage.Apply)
{
idxApply++;
ElapsedTime = Time.time - StartTime;
AccelInput = state.throttle - state.brakes;
SteerInput = -state.steering;
if (ElapsedTime > duration)
{
stage = Stage.DeInit;
ElapsedTime = 0f;
}
else if (currentSpeed > maxVelocity || currentSpeed < minVelocity)
{
stage = Stage.Init;
duration = duration - ElapsedTime;
ElapsedTime = 0f;
if (currentSpeed > maxVelocity)
{
velocityState= VelocityState.Decreasing;
AccelInput = 0f;
SteerInput = 0f;
}
else if (currentSpeed < minVelocity)
{
velocityState = VelocityState.Increasing;
AccelInput = 0f;
SteerInput = 0f;
}
}
}
else if (stage == Stage.DeInit)
{
AccelInput = -0.8f;
SteerInput = 0f;
if (currentSpeed < 0.5f)
{
stage = Stage.Init;
velocityState = VelocityState.Increasing;
seq = (seq < States.Count - 1) ? seq+1 : null;
firstRun = true;
}
}
//// Every 0.1 sec, it prints out debug msg.
//if ((int)((Time.time - StartTime) * 10.0f) % 10 == 0)
//{
// Debug.Log($"seq: {seq.Value}/{states.Count}, idxApply: {idxApply.Value}, stage: {stage.ToString()}, ElapsedTime: " +
// $"{ElapsedTime}, Duration: {duration}, curr_v: " +
// $"{currentSpeed} [max_v: {state.max_velocity}," +
// $" min_v: {state.min_velocity}, upper_v: {upperBound}, lower_v: {lowerBound}] AccelInput: {AccelInput} " +
// $"[throttle: {state.throttle}, brakes: {state.brakes}], " +
// $"SteerInput: {SteerInput} steer: [{state.steering}], gear: " +
// $"{dynamics.CurrentGear} [{state.gear}], whatToTest: {whatToTest}, " +
// $"velocityState: {velocityState}");
//}
}
public override void OnBridgeSetup(BridgeInstance bridge)
{
// TODO new base class?
}
//private float mphToMps(float mph)
//{
// return (float)(mph * 0.44704);
//}
public override void OnVisualize(Visualizer visualizer)
{
Debug.Assert(visualizer != null);
if (state == null)
{
return;
}
var graphData = new Dictionary<string, object>()
{
{"Seq", seq.Value/States.Count},
{"Idx Apply", idxApply.Value},
{"Stage", stage.ToString()},
{"Elapsed Time", ElapsedTime},
{"Duration", duration},
{"Current Velocity", Dynamics.Velocity.magnitude},
{"Max Velocity", state.max_velocity},
{"Min Velocity", state.min_velocity},
{"Upper Velocity", upperBound},
{"Lower Velocity", lowerBound},
{"Accel Input", AccelInput},
{"Throttle", state.throttle},
{"Brakes", state.brakes},
{"Steer Input", SteerInput},
{"Steer", state.steering},
{"Gear", Dynamics.CurrentGear},
{"State Gear", state.gear},
{"What To Test", whatToTest},
{"State Velocity", velocityState}
};
visualizer.UpdateGraphValues(graphData);
}
public override void OnVisualizeToggle(bool state)
{
//
}
}
}