make_environment.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 83,
   "metadata": {},
   "outputs": [],
   "source": [
    "using AutomotiveDrivingModels\n",
    "using AutoViz"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 84,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "((roadway[1]).lanes[1]).curve = CurvePt{Float64}[CurvePt({0.000, 0.000, 0.000}, 0.000, NaN, NaN), CurvePt({200.000, 0.000, 0.000}, 200.000, NaN, NaN)]\n",
      "((roadway[1]).lanes[2]).curve = CurvePt{Float64}[CurvePt({0.000, 3.000, 0.000}, 0.000, NaN, NaN), CurvePt({200.000, 3.000, 0.000}, 200.000, NaN, NaN)]\n",
      "((roadway[1]).lanes[3]).curve = CurvePt{Float64}[CurvePt({0.000, 6.000, 0.000}, 0.000, NaN, NaN), CurvePt({200.000, 6.000, 0.000}, 200.000, NaN, NaN)]\n",
      "((roadway[1]).lanes[4]).curve = CurvePt{Float64}[CurvePt({0.000, 9.000, 0.000}, 0.000, NaN, NaN), CurvePt({200.000, 9.000, 0.000}, 200.000, NaN, NaN)]\n",
      "get_posG(car.state.posF, roadway) = VecSE2({30.000, 9.000}, 0.000)\n"
     ]
    },
    {
     "data": {
      "image/png": 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      "text/plain": [
       "Cairo.CairoSurfaceBase{UInt32}(Ptr{Nothing} @0x00007ff0f7123b00, 1000.0, 100.0)"
      ]
     },
     "execution_count": 84,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "nlanes = 4\n",
    "road_length = 200.0 # [meters]\n",
    "roadway = gen_straight_roadway(nlanes, road_length)\n",
    "\n",
    "# Define car state\n",
    "posG = VecSE2(30.0, 0.0, 0.0)\n",
    "v = 10.0\n",
    "lanetag = LaneTag(1,4) # 1st (and only currently) road segment and 2nd lane\n",
    "# lanetag = roadway[1].lanes[2].tag\n",
    "curve = roadway[1].lanes[1].curve\n",
    "lane= Lane(lanetag, curve)\n",
    "posF = Frenet(posG, lane, roadway)\n",
    "\n",
    "car_initial_state = VehicleState(posF, roadway, v)\n",
    "car = Vehicle(car_initial_state, VehicleDef(), 1)\n",
    "@show roadway[1].lanes[1].curve\n",
    "lane = get_lane(roadway, car)\n",
    "# @show lane.tag\n",
    "@show get_posG(car.state.posF, roadway)\n",
    "# car.state.posF.roadind.tag = LaneTag(1,2)\n",
    "scene = Scene()\n",
    "push!(scene, car)\n",
    "\n",
    "cam = StaticCamera(VecE2(100.0,0.0), 4.75)\n",
    "render(scene, roadway, cam=cam, canvas_height=100)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 85,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Scene(with 4 cars)"
      ]
     },
     "execution_count": 85,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "scene = Scene()\n",
    "\n",
    "# car 1 - lane 1\n",
    "posG1 = VecSE2(50.0, 0.0, 0.0)\n",
    "posF1 = Frenet(posG1, Lane(LaneTag(1,1), curve), roadway)\n",
    "v1 = 20.0\n",
    "initial_state_1 = VehicleState(posF1, roadway, v1)\n",
    "car1 = Vehicle(initial_state_1, VehicleDef(), 1)\n",
    "\n",
    "# car 2 - lane 2\n",
    "posG2 = VecSE2(30.0, 0.0, 0.0)\n",
    "posF2 = Frenet(posG2, Lane(LaneTag(1,2), curve), roadway)\n",
    "v2 = 18.0\n",
    "initial_state_2 = VehicleState(posF2, roadway, v2)\n",
    "car2 = Vehicle(initial_state_2, VehicleDef(), 2)\n",
    "\n",
    "# car 3 - lane 3\n",
    "posG3 = VecSE2(15.0, 0.0, 0.0)\n",
    "posF3 = Frenet(posG3, Lane(LaneTag(1,3), curve), roadway)\n",
    "v3 = 32.0\n",
    "initial_state_3 = VehicleState(posF3, roadway, v3)\n",
    "car3 = Vehicle(initial_state_3, VehicleDef(), 3)\n",
    "\n",
    "# car 4 - lane 4\n",
    "posG4 = VecSE2(40.0, 0.0, 0.0)\n",
    "posF4 = Frenet(posG4, Lane(LaneTag(1,4), curve), roadway)\n",
    "v4 = 24.0\n",
    "initial_state_4 = VehicleState(posF4, roadway, v4)\n",
    "car4 = Vehicle(initial_state_4, VehicleDef(), 4)\n",
    "\n",
    "push!(scene, car1)\n",
    "push!(scene, car2)\n",
    "push!(scene, car3)\n",
    "push!(scene, car4)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 86,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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0P002LdNNHNNzbnfww6Elm+sps03GGIIHFVqyTc3MeTzB//BaXsjt8T1FtpEJx4psGtJNOec9IV9GWj48Hq83NJvq/8nlbJOhBzyqvc9Vsi2uV7bRyPfbtHPOG5JtftGtWvLYe6r6PbtkzDoVabaZ2XlfyB/mhUWXaonHuzKb2t+nR9lsDuU9lYWQNXyNzMwu+EM6gpqy+Z4qm3XKGBPMpuVbZHp2PjSblvfU6/OHZvNoyzZuW5FNy9fvzNxC6IHH3IL6fnssm8b9NmpzKAexshB+taMdIcTM7Ips8+uWbdw2FWsM/t0MqB3tCCFm5hZCDyad84uRZtP+nkaazTm3KEvBF5rVkM3nf6ps9mlTSDbVIzEhxOzcwnDIV422bIEV2dSODZZMTM6YjMHhGNWjnaUwoS80q+HzFggERsYnlabqccujbPYpZWBCY5VzflFEnE16qmzTM7HB/aalam7lftPyHRIIBIbHJ5XrwHs1vDtCCOvkjHM2ODSp5ZMwv+BakU3D34WAJIVm0/Kpjgqd+lO0OVB/5kD9mWhtDQAAANgAmhsvNTdeisqmmOOOzaiiz/cHv3dFeOau4fxr5p5So/qzAQAA1gHrh2DTyR/xf+eX81k2rb12IYRekrNsge/8cj5vlEvMAgCA54OOOzad/R1eoVxW9knv1Ii3dwn947PIdLIs68T+Dk0T/QEAAKKOqTLYdFKcIWPtSSaxP2fFw6eKxDs14u+Oih9cER91ipBReYMkUmc0nUINAAAQdXTcsbmVpon/+/Yq91eki1+8Kf7phPjgqvhxu9CwrgUAAMC6YqoMAAAA8BJgxB2bW59DnPrpinu+XSPeqRE99ienygAAADxHdNyx6cwk6yW90C9Nfpn1iN/3r3g4K1Fcur9qlz2gF9Mp/EgFAACeDzru2HSu15oOtHlkndCtOpj+s1urVi09v2W3aV2zAQAArIXhQ2w6D3MMP3o7YTzDID2x5uNaJL1uPMPwo7cTHuYY1jUbAADAWhhxx2bUU2rkGqgAAODlErWOu9lsykxLidbWAAAAgA3AbI7aPNuoddwDXpfF4I/W1gAAAIANIOB1Pe8IAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA0ff/QbL7vhniAEcAAAAASUVORK5CYII=",
      "text/plain": [
       "Cairo.CairoSurfaceBase{UInt32}(Ptr{Nothing} @0x00007ff0f7090130, 1000.0, 100.0)"
      ]
     },
     "execution_count": 86,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "cam = StaticCamera(VecE2(100.0,0.0), 4.75)\n",
    "render(scene, roadway, cam=cam, canvas_height=100)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 87,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "IntelligentDriverModel\n",
       "  a: Float64 NaN\n",
       "  σ: Float64 NaN\n",
       "  k_spd: Float64 1.0\n",
       "  δ: Float64 4.0\n",
       "  T: Float64 1.5\n",
       "  v_des: Float64 24.0\n",
       "  s_min: Float64 5.0\n",
       "  a_max: Float64 3.0\n",
       "  d_cmf: Float64 2.0\n",
       "  d_max: Float64 9.0\n"
      ]
     },
     "execution_count": 87,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Define driving models\n",
    "models = Dict{Int, DriverModel}()\n",
    "models[1] = IntelligentDriverModel(v_des=car1.state.v) # go at same speed for time being\n",
    "models[2] = IntelligentDriverModel(v_des=car2.state.v)\n",
    "models[3] = IntelligentDriverModel(v_des=car3.state.v)\n",
    "models[4] = IntelligentDriverModel(v_des=car4.state.v)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 90,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "typeof(last(scenes)) = Frame{Entity{VehicleState,VehicleDef,Int64}}\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "Frame{Entity{VehicleState,VehicleDef,Int64}}"
      ]
     },
     "execution_count": 90,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# make simulation\n",
    "timestep = 0.1\n",
    "nticks = 100\n",
    "scenes = simulate!(scene, roadway, models, nticks, timestep)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 91,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "typeof(scenes) = Array{Frame{Entity{VehicleState,VehicleDef,Int64}},1}\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "animate_record (generic function with 6 methods)"
      ]
     },
     "execution_count": 91,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "using Reel\n",
    "function animate_record(scenes::Vector{Scene},dt::Float64, roadway::Roadway{Float64}, cam=FitToContentCamera(0.0))\n",
    "    duration =length(scenes)*dt::Float64\n",
    "    fps = Int(1/dt)\n",
    "    function render_rec(t, dt)\n",
    "        frame_index = Int(floor(t/dt)) + 1\n",
    "        return render(scenes[frame_index], roadway, cam=cam)\n",
    "    end\n",
    "    return duration, fps, render_rec\n",
    "end"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 94,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<video autoplay controls><source src=\"files/reel-10864949190439647311.webm?16067408636642969977\" type=\"video/webm\"></video>"
      ],
      "text/plain": [
       "Frames{MIME{Symbol(\"image/png\")}}(\"/var/folders/h0/cmfgfhjs1mjby7y0815l4rvm0000gn/T/jl_2Z3imG\", 0x0000000000000065, 10.0, nothing)"
      ]
     },
     "execution_count": 94,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "duration, fps, render_hist = animate_record(scenes, timestep, roadway)\n",
    "film = roll(render_hist, fps = fps, duration = duration)\n",
    "write(\"new.mp4\", film)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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   "language": "julia",
   "name": "julia-1.2"
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  "language_info": {
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