(self,
model: Model,
predictor: AbstractPredictor = None,
ego_decision: AbstractEgoDecisionMaker = None,
ego_planner: AbstractEgoPlanner = None,
multi_decision=None,
multi_veh_planner: AbstractMultiPlanner = None,
config_file_path="{}/config.yaml".format(os.path.dirname(__file__)))
| 53 | """ |
| 54 | |
| 55 | def __init__(self, |
| 56 | model: Model, |
| 57 | predictor: AbstractPredictor = None, |
| 58 | ego_decision: AbstractEgoDecisionMaker = None, |
| 59 | ego_planner: AbstractEgoPlanner = None, |
| 60 | multi_decision=None, |
| 61 | multi_veh_planner: AbstractMultiPlanner = None, |
| 62 | config_file_path="{}/config.yaml".format(os.path.dirname(__file__))): |
| 63 | self.sumo_model = model |
| 64 | self.time_step = 0 |
| 65 | self.lastseen_vehicles = {} |
| 66 | self.config = load_config(config_file_path) |
| 67 | self.last_decision_time = -self.config["DECISION_INTERVAL"] |
| 68 | self.mul_decisions =None |
| 69 | self._set_up_keyboard_listener() |
| 70 | |
| 71 | self.predictor = predictor if predictor is not None else UncontrolledPredictor() |
| 72 | self.ego_decision = ego_decision if ego_decision is not None else EgoDecisionMaker() |
| 73 | self.ego_planner = ego_planner if ego_planner is not None else EgoPlanner() |
| 74 | self.multi_decision = multi_decision if multi_decision is not None else MultiDecisionMaker() |
| 75 | self.multi_veh_planner = multi_veh_planner if multi_veh_planner is not None else MultiVehiclePlanner() |
| 76 | |
| 77 | def _set_up_keyboard_listener(self): |
| 78 |
nothing calls this directly
no test coverage detected