hw1 part1.3 finished

Author: joe-hung

GEMstack/knowledge/defaults/computation_graph.yaml

@@ -44,7 +44,7 @@ components:
       inputs: [vehicle, roadgraph, mission]
       outputs: route
   - driving_logic:
-      inputs: all
+      inputs: 
       outputs: intent
   - motion_planning:
       inputs: all

GEMstack/onboard/planning/blink_component.py

@@ -22,11 +22,6 @@ def __init__(self, vehicle_interface : GEMHardwareInterface):
         self.prev_time = time.time()
         self.curr_time = time.time()
 
-        # while True :
-        #     self.curr_time = time.time()
-        #     if (self.curr_time - self.prev_time > 2):
-        #         self.update()
-        #         self.prev_time = self.curr_time
 
     def rate(self):
         """Requested update frequency, in Hz"""
@@ -59,30 +54,28 @@ def update(self, *args):
         # self.vehicle_interface.send_command(command)
         self.curr_time = time.time()
 
-        print("====================")
-        print(args)
-        print("====================")
+        intent = args[0]
 
-        
-        if(self.curr_time - self.prev_time > 2):
-            if command.left_turn_signal is True:
-                # print("code goes if")
-                command.left_turn_signal = False
-                command.right_turn_signal = True
-                
-            elif command.right_turn_signal is True:
-                # print("code goes elif")
-                command.left_turn_signal = False
-                command.right_turn_signal = False
+        if(intent == 2):
+            if(self.curr_time - self.prev_time > 2):
+                if command.left_turn_signal is True:
+                    # print("code goes if")
+                    command.left_turn_signal = False
+                    command.right_turn_signal = True
+                    
+                elif command.right_turn_signal is True:
+                    # print("code goes elif")
+                    command.left_turn_signal = False
+                    command.right_turn_signal = False
+                    
+                else:
+                    # print("code goes else")
+                    command.left_turn_signal = True
+                    command.right_turn_signal = False
 
-            else:
-                # print("code goes else")
-                command.left_turn_signal = True
-                command.right_turn_signal = False
+                self.prev_time = self.curr_time
+                self.command = command
 
-            self.prev_time = self.curr_time
-            self.command = command
-        
         self.vehicle_interface.send_command(command)
         # print(command.left_turn_signal, command.right_turn_signal)
 

GEMstack/onboard/planning/driving_logic_component.py

@@ -0,0 +1,13 @@
+from ..component import Component
+from typing import List
+
+class Driving_Logic(Component):
+    def __init__(self):
+        self.intent = 2 # halting
+
+    def state_outputs(self) -> List[str]:
+        """Returns the list of AllState outputs this component generates."""
+        return ['intent']
+    def update(self, *args, **kwargs):
+        """Update the component."""
+        return self.intent

launch/blink_launch.yaml

@@ -9,6 +9,7 @@ recovery:
         state_estimation : GNSSStateEstimator
         perception_normalization : StandardPerceptionNormalizer
     planning: 
+        driving_logic : driving_logic_component.Driving_Logic
         signaling : blink_component.BlinkDistress
         # trajectory_tracking : blink_component.BlinkDistress
 # Driving behavior for the GEM vehicle.  Runs perception and planner but doesn't execute anything (no controller).
@@ -17,6 +18,7 @@ drive:
         state_estimation : GNSSStateEstimator
         perception_normalization : StandardPerceptionNormalizer
     planning:
+        driving_logic : driving_logic_component.Driving_Logic
         signaling : blink_component.BlinkDistress
         # trajectory_tracking : blink_component.BlinkDistress
 log: