代码重构、注释标准化与性能监控优化

wangadsa · wangadsa · commit ea5273aaf061 · 2026-03-06T18:01:53.000+08:00
diff --git a/src/CARLA_AutoVision_Navigator/config.py b/src/CARLA_AutoVision_Navigator/config.py
@@ -1,47 +1,47 @@
 # -*- coding: utf-8 -*-
 """
-项目全局配置模块
-包含 CARLA 服务器连接设置、传感器参数以及 YOLO 模型路径
+Global Configuration for CARLA AutoVision Navigator.
 """
 
-# CARLA 服务器设置
+# ==============================================================================
+# -- CARLA Server Settings ----------------------------------------------------
+# ==============================================================================
 CARLA_HOST = '127.0.0.1'
 CARLA_PORT = 2000
 TIMEOUT = 10.0
 
-# 传感器设置
+# ==============================================================================
+# -- Vehicle & Sensor Settings ------------------------------------------------
+# ==============================================================================
+VEHICLE_FILTER = 'vehicle.tesla.model3'
+SPAWN_POINT_INDEX = 1
+
 CAMERA_WIDTH = 800
 CAMERA_HEIGHT = 600
 CAMERA_FOV = 90
 
-# 自动驾驶主车设置
-VEHICLE_FILTER = 'vehicle.tesla.model3'  # 默认生成特斯拉 Model 3
-SPAWN_POINT_INDEX = 1                    # 默认出生点索引
-
-# YOLO 模型配置 (预留)
+# ==============================================================================
+# -- YOLOv3 Model Settings ----------------------------------------------------
+# ==============================================================================
 MODEL_CFG = "models/yolov3.cfg"
 MODEL_WEIGHTS = "models/yolov3.weights"
 CONFIDENCE_THRESHOLD = 0.5
 NMS_THRESHOLD = 0.4
 
-# 路径设置
-OUTPUT_PATH = "output/"
-
-# --- 新增：车辆控制参数 (PID Controller) ---
-# 纵向控制 (速度)
-TARGET_SPEED = 20.0  # 目标时速 km/h
-K_P_SPEED = 1.0      # 比例系数
-K_I_SPEED = 0.0      # 积分系数
-K_D_SPEED = 0.1      # 微分系数
+# ==============================================================================
+# -- Control & Decision Parameters --------------------------------------------
+# ==============================================================================
+# Longitudinal Control (PID)
+TARGET_SPEED = 20.0
+K_P_SPEED = 1.0
+K_I_SPEED = 0.0
+K_D_SPEED = 0.1
 
-# 横向控制 (转向 - 预留)
+# Lateral Control (PID)
 K_P_STEER = 0.5
 K_I_STEER = 0.0
-K_D_STEER = 0.0
+K_D_STEER = 0.05
 
-# --- 决策层参数 (Decision Layer) ---
-# 触发紧急制动的检测框面积占比阈值 (0.0 到 1.0)
-# 如果目标框占画面高度的 30% 以上，说明距离非常近
+# Decision Making
 DANGER_THRESHOLD_HEIGHT = 0.35
-# 避障检测的关注类别
 OBSTACLE_CLASSES = ['car', 'truck', 'bus', 'person', 'bicycle', 'motorcycle']
diff --git a/src/CARLA_AutoVision_Navigator/src/carla_client.py b/src/CARLA_AutoVision_Navigator/src/carla_client.py
@@ -1,58 +1,66 @@
 # -*- coding: utf-8 -*-
+"""
+Main entry point for the CARLA AutoVision Navigator system.
+Integrated Perception, Decision, and Control loops.
+"""
+
 import carla
 import sys
 import os
 import cv2
-import math
+import time
 import random
 
-# 将根目录加入系统路径
 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
 import config
 from utils.geometry import get_speed, get_steer_angle
 
 
 class CarlaClient:
-    """负责管理与 CARLA 服务器的通信以及车辆实体的生命周期"""
+    """Manages CARLA server connection and vehicle actor lifecycle."""
 
     def __init__(self):
+        """Initializes the client attributes."""
         self.client = None
         self.world = None
         self.blueprint_library = None
         self.ego_vehicle = None
 
     def connect(self):
+        """Establishes connection to the CARLA simulator server."""
         try:
-            print(f"正在尝试连接至 CARLA Server: {config.CARLA_HOST}:{config.CARLA_PORT}...")
+            print(f"Connecting to CARLA Server: {config.CARLA_HOST}:{config.CARLA_PORT}")
             self.client = carla.Client(config.CARLA_HOST, config.CARLA_PORT)
             self.client.set_timeout(config.TIMEOUT)
             self.world = self.client.get_world()
             self.blueprint_library = self.world.get_blueprint_library()
-            print("连接状态: 成功!")
+            print("Connected successfully.")
         except Exception as e:
-            print(f"连接状态: 失败! {e}")
+            print(f"Failed to connect: {e}")
             sys.exit(1)
 
     def spawn_ego_vehicle(self):
+        """Spawns the ego vehicle at the configured spawn point."""
         bp = self.blueprint_library.find(config.VEHICLE_FILTER)
         bp.set_attribute('role_name', 'ego')
         spawn_points = self.world.get_map().get_spawn_points()
         spawn_point = spawn_points[config.SPAWN_POINT_INDEX] if config.SPAWN_POINT_INDEX < len(
             spawn_points) else random.choice(spawn_points)
         self.ego_vehicle = self.world.spawn_actor(bp, spawn_point)
-        print(f"车辆生成成功: ID[{self.ego_vehicle.id}]")
         return self.ego_vehicle
 
     def cleanup(self):
+        """Destroys actors and cleans up the simulation environment."""
         if self.ego_vehicle and self.ego_vehicle.is_alive:
             self.ego_vehicle.destroy()
-            print("已销毁主车，资源清理完毕。")
+            print("Environment cleaned up.")
+
 
 if __name__ == "__main__":
     from sensor_manager import SensorManager
     from object_detector import YOLOv3Detector
     from pid_controller import PIDController
-    from decision_maker import DecisionMaker  # 引入决策器
+    from decision_maker import DecisionMaker
 
     connector = CarlaClient()
     sensors = None
@@ -64,56 +72,53 @@ def cleanup(self):
         sensors = SensorManager(connector.world, vehicle)
         sensors.attach_camera()
         detector = YOLOv3Detector()
-        decision = DecisionMaker()  # 初始化决策器
+        decision = DecisionMaker()
 
         speed_pid = PIDController(config.K_P_SPEED, config.K_I_SPEED, config.K_D_SPEED)
         steer_pid = PIDController(config.K_P_STEER, config.K_I_STEER, config.K_D_STEER)
 
-        print("全系统启动：感知+决策+控制。按下 'q' 键退出...")
+        last_time = time.time()
+        print("System fully integrated. Monitoring performance...")
+
         while True:
-            frame = sensors.get_current_frame()
-            current_speed = get_speed(vehicle)
+            # Performance Monitoring (FPS)
+            start_time = time.time()
+            fps = 1.0 / (start_time - last_time + 1e-6)
+            last_time = start_time
 
-            # 1. 感知与检测
-            detections = []
-            if frame is not None:
-                detections = detector.detect(frame)
-                frame = detector.draw_labels(frame, detections)
+            # 1. Perception
+            frame = sensors.get_current_frame()
+            detections = detector.detect(frame) if frame is not None else []
 
-            # 2. 决策层分析
-            # 根据检测结果判断是否需要紧急刹车
+            # 2. Decision
             is_emergency = decision.process_detections(detections, config.CAMERA_HEIGHT)
 
-            # 3. 控制信号计算
+            # 3. Control
+            current_speed = get_speed(vehicle)
             waypoint = carla_map.get_waypoint(vehicle.get_location()).next(8.0)[0]
             angle_error = get_steer_angle(vehicle, waypoint)
 
-            # 如果是紧急情况，目标速度设为 0
             target_v = 0.0 if is_emergency else config.TARGET_SPEED
             speed_signal = speed_pid.run_step(target_v, current_speed)
             steer_signal = steer_pid.run_step(0, -angle_error)
 
-            # 4. 应用控制
             control = vehicle.get_control()
             if is_emergency:
-                control.throttle = 0.0
-                control.brake = 1.0  # 全力刹车
-            elif speed_signal >= 0:
-                control.throttle = speed_signal
-                control.brake = 0.0
+                control.throttle, control.brake = 0.0, 1.0
             else:
-                control.throttle = 0.0
-                control.brake = abs(speed_signal)
+                control.throttle = max(0, speed_signal)
+                control.brake = abs(min(0, speed_signal))
 
             control.steer = steer_signal
             vehicle.apply_control(control)
 
-            # 5. UI 显示
+            # 4. Visualization & UI
             if frame is not None:
+                frame = detector.draw_labels(frame, detections)
+                cv2.putText(frame, f"FPS: {int(fps)}", (10, 90), 1, 1.5, (255, 0, 0), 2)
                 if is_emergency:
-                    cv2.putText(frame, "EMERGENCY BRAKE!", (250, 300),
-                                cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 0, 255), 4)
-                cv2.imshow("CARLA Full System Integration", frame)
+                    cv2.putText(frame, "AEB ACTIVE", (250, 300), 1, 3, (0, 0, 255), 4)
+                cv2.imshow("CARLA AutoVision v1.0-RC", frame)
 
             if cv2.waitKey(1) & 0xFF == ord('q'):
                 break
