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Consequences of modifying the ca2 debug file format - DebugData class
As you can imagine, the parsing of the debug file is strongly dependent on its format. This means that if you change the name of the attributes written in the file for example, the scripts might not work as expected. The parsing does not depend on the order of the attributes so it is safe to change it.
All the script rely on the class DebugData in "scripts/util/parser.py". This design makes it easy to make adjustments in case the file format changes. However, if you modify the internal data structure of DebugData (e.g. change the name of one of its member variables) you will have to modify the scripts that access to that data. Che the documentation in the code for more information.
plot_trajectory.py
This script allows to analyze offline the data of an experiment. The program ca2 saves a file in the same folder of the executable called "data_carX.txt" which contains lots of data describing position, speed, heading, etc. of the car in each car cycle. Similarly, the simulator produces a file called "debug_sim.txt". The main difference between the two files is that the first one reports values of the physical quantities that are affected by measurement noise while the second one report also the real state of the system. Moreover, the car can records the status of the internal variables which are unknown to the simulator.
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The little red crosses show the value of the specified attribute at the current step.
Command line options
- -b:
- meas counts possono essere saltati
util/predictor.py
This is a reimplementation in Python of the supervisor algorithms in "src/car_src/supervisor.c". It is very helpful for testing the supervisor offline instead of running the experiment on the test-bed over and over. This speed up considerably the debugging of the supervisor.
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