public static void Main(string[] args)
{
var circuitName = "simple-circuit";
var circuitPath = Path.GetFullPath($"{assetsDirectoryPath}/tracks/{circuitName}");
var perceptionPeriod = TimeSpan.FromSeconds(0.4);
var simulationStep = perceptionPeriod / 8;
var track = Track.Load($"{circuitPath}/circuit_definition.json");
var world = new StandardWorld(track, simulationStep);
var planner = new HybridAStarPlanner(perceptionPeriod, world, world.WayPoints);
//var planner = new WayPointFollowingRRTPlannerRRTPlanner(
// goalBias: 0.3,
// maximumNumberOfIterations: 100000,
// realVehicleModel,
// realMotionModel,
// track,
// new Random(),
// perceptionPeriod,
// actions,
// wayPoints);
//var planner = new RRTPlanner(
// goalBias: 0.05,
// maximumNumberOfIterations: 20000,
// world,
// new Random(),
// perceptionPeriod,
// wayPoints.Last());
var exploredStates = new List <VehicleState>();
var lastFlush = DateTimeOffset.Now;
void flush()
{
Console.WriteLine($"Explored {exploredStates.Count} states");
lastFlush = DateTimeOffset.Now;
var data = JsonConvert.SerializeObject(exploredStates, new JsonSerializerSettings
{
Formatting = Formatting.Indented,
ContractResolver = new CamelCasePropertyNamesContractResolver()
});
File.WriteAllText("C:/Users/simon/Projects/racer-experiment/simulator/src/progress.json", data);
}
flush();
planner.ExploredStates.Subscribe(state =>
{
exploredStates.Add(state);
if (DateTimeOffset.Now - lastFlush > TimeSpan.FromSeconds(10))
{
flush();
}
});
var stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Restart();
var plan = planner.FindOptimalPlanFor(world.InitialState);
stopwatch.Stop();
flush();
if (plan == null)
{
Console.WriteLine("Couldn't find any plan.");
return;
}
Console.WriteLine($"Found a plan in {stopwatch.ElapsedMilliseconds}ms");
var detailedPlan = plan.ToDetailedPlan(world);
Plans.Store(detailedPlan, $"{assetsDirectoryPath}/plans/plan-{planner.GetType().Name}-{DateTimeOffset.Now.ToUnixTimeSeconds()}-{detailedPlan.TimeToGoal.TotalMilliseconds}.json");
// store the result in a file so it can be replayed
var summary = log(detailedPlan);
//File.Copy($"{circuitPath}/visualization.svg", "C:/Users/simon/Projects/racer-experiment/simulator/src/visualization.svg", overwrite: true);
IO.Simulation.StoreResult(track, world.VehicleModel, summary, $"{circuitPath}/visualization.svg", "C:/Users/simon/Projects/racer-experiment/simulator/src/report.json");
Console.WriteLine($"Time to finish: {detailedPlan.TimeToGoal.TotalSeconds}s");
}
