simulation.src.simulation_evaluation.src.referee package

Submodules

simulation.src.simulation_evaluation.src.referee.node module

Classes:

RefereeNode()

Evaluate the drive.

class RefereeNode

Bases: simulation.utils.ros_base.node_base.NodeBase

Evaluate the drive.

Keep track of the state machines and the broadcast speaker to calculate a score.

Methods:

start()	Called when activating the node.
stop()	Called when deactivating or shutting down the node.
_connect_state_machine(sm_topics)
update(broadcast)	Update referee output with new broadcast msg.
reset_cb(msg)	Reset the referee.

start()

Called when activating the node.

stop()

Called when deactivating or shutting down the node.

_connect_state_machine(sm_topics) → Tuple[rospy.topics.Subscriber, rospy.topics.Publisher, simulation.src.simulation_evaluation.src.referee.referee.StateMachineConnector]

update(broadcast: simulation_evaluation.msg._Broadcast.Broadcast)

Update referee output with new broadcast msg.

reset_cb(msg: std_msgs.msg._Bool.Bool)

Reset the referee.

Parameters

msg – Reset observation’s or only the state.

simulation.src.simulation_evaluation.src.referee.referee module

Definition of the Referee class.

The referee is used to provide a score and other metrics to a simulated drive.

Classes:

StateMachineConnector(state, set_state, None])	Helper class to store states and manipulate corresponding state machine.
Observation(start_time, current_time, …)	Track what happens while driving and calculate a score.
Referee(lane, progress, overtaking, parking, …)	Class to evaluate a drive by keeping track of the state_machines.

class StateMachineConnector(state: int, set_state: Callable[[int], None])

Bases: object

Helper class to store states and manipulate corresponding state machine.

Parameters

• state – State of the state machine.

• set_state – Call to change the state of the state_machine.

Attributes:

previous_state	State the state machine was in before the current state.
set_state	Change the state of the state_machine.
state	State of the state machine.

previous_state: int

State the state machine was in before the current state.

_state: int

set_state: Callable[[int], None]

Change the state of the state_machine.

property state

State of the state machine.

class Observation(start_time: float = 0, current_time: float = 0, start_distance: float = 0, current_distance: float = 0, multiplicator: float = 1, mistakes: float = 0, parking_successes: int = 0)

Bases: object

Track what happens while driving and calculate a score.

Attributes:

start_time	Time [s] when the car left the start zone.
current_time	Current time [s].
start_distance	Distance [m] already driven in start zone.
current_distance	Distance [m] already driven.
multiplicator	Multiplicator used to calculate the score.
mistakes	Mistakes [point] made by the car.
parking_successes	Number of successful parking attempts.
score	Score calculated from other attributes.
distance	Difference between start and current distance.
duration	Difference between start and current time.

start_time: float = 0

Time [s] when the car left the start zone.

current_time: float = 0

Current time [s].

start_distance: float = 0

Distance [m] already driven in start zone.

current_distance: float = 0

Distance [m] already driven.

multiplicator: float = 1

Multiplicator used to calculate the score.

mistakes: float = 0

Mistakes [point] made by the car.

parking_successes: int = 0

Number of successful parking attempts.

property score: float

Score calculated from other attributes.

property distance: float

Difference between start and current distance.

property duration: float

Difference between start and current time.

class Referee(lane: simulation.src.simulation_evaluation.src.referee.referee.StateMachineConnector, progress: simulation.src.simulation_evaluation.src.referee.referee.StateMachineConnector, overtaking: simulation.src.simulation_evaluation.src.referee.referee.StateMachineConnector, parking: simulation.src.simulation_evaluation.src.referee.referee.StateMachineConnector, priority: simulation.src.simulation_evaluation.src.referee.referee.StateMachineConnector, speed: simulation.src.simulation_evaluation.src.referee.referee.StateMachineConnector, initial_observation: Optional[simulation.src.simulation_evaluation.src.referee.referee.Observation] = None)

Bases: object

Class to evaluate a drive by keeping track of the state_machines.

Parameters

• lane – Connector to lane state machine.

• progress – Connector to progress state machine.

• overtaking – Connector to overtaking state machine.

• parking – Connector to parking state machine.

• priority – Connector to priority state machine.

• initial_observation – Referee’s observation initialization value.

• reset_callback – Function to reset the referee.

Methods:

update(time, distance)	Update the referee’s observation.
reset([initial_observation])	Reset referee observations, state and state machines.

update(time: float, distance: float)

Update the referee’s observation.

Parameters

• time – Current time in seconds.

• distance – Distance driven in meters.

reset(initial_observation: Optional[simulation.src.simulation_evaluation.src.referee.referee.Observation] = None)

Reset referee observations, state and state machines.

Module contents

Referee class and node definition.