(self)
| 374 | self.sr.outOfRange.add(veh.id) |
| 375 | |
| 376 | def plotVState(self): |
| 377 | if self.ego.speedQ: |
| 378 | laneID = self.ego.laneID |
| 379 | if ':' in laneID: |
| 380 | lane = self.rb.getJunctionLane(laneID) |
| 381 | else: |
| 382 | lane = self.rb.getLane(laneID) |
| 383 | laneMaxSpeed = lane.speed_limit |
| 384 | dpg.set_axis_limits('v_y_axis', 0, laneMaxSpeed) |
| 385 | if len(self.ego.speedQ) >= 50: |
| 386 | vx = list(range(-49, 1)) |
| 387 | vy = list(self.ego.speedQ)[-50:] |
| 388 | else: |
| 389 | vy = list(self.ego.speedQ) |
| 390 | vx = list(range(-len(vy)+1, 1)) |
| 391 | dpg.set_value('v_series_tag', [vx, vy]) |
| 392 | |
| 393 | if self.ego.accelQ: |
| 394 | if len(self.ego.accelQ) >= 50: |
| 395 | ax = list(range(-49, 1)) |
| 396 | ay = list(self.ego.accelQ)[-50:] |
| 397 | else: |
| 398 | ay = list(self.ego.accelQ) |
| 399 | ax = list(range(-len(ay)+1, 1)) |
| 400 | dpg.set_value('a_series_tag', [ax, ay]) |
| 401 | |
| 402 | if self.ego.plannedTrajectory: |
| 403 | if self.ego.plannedTrajectory.velQueue: |
| 404 | vfy = list(self.ego.plannedTrajectory.velQueue) |
| 405 | vfy = list(self.ego.plannedTrajectory.velQueue) |
| 406 | vfx = list(range(1, len(vfy)+1)) |
| 407 | dpg.set_value('v_series_tag_future', [vfx, vfy]) |
| 408 | if self.ego.plannedTrajectory.accQueue: |
| 409 | afy = list(self.ego.plannedTrajectory.accQueue) |
| 410 | afx = list(range(1, len(afy)+1)) |
| 411 | dpg.set_value('a_series_tag_future', [afx, afy]) |
| 412 | else: |
| 413 | if self.ego.dbTrajectory: |
| 414 | if self.ego.dbTrajectory.velQueue: |
| 415 | vfy = list(self.ego.dbTrajectory.velQueue) |
| 416 | vfx = list(range(1, len(vfy)+1)) |
| 417 | dpg.set_value('v_series_tag_future', [vfx, vfy]) |
| 418 | if self.ego.dbTrajectory.accQueue: |
| 419 | afy = list(self.ego.dbTrajectory.accQueue) |
| 420 | afx = list(range(1, len(afy)+1)) |
| 421 | dpg.set_value('a_series_tag_future', [afx, afy]) |
| 422 | |
| 423 | def drawSce(self): |
| 424 | node = dpg.add_draw_node(parent="Canvas") |
no test coverage detected