From 54cc29fcaf3a5dbb9bddf1b8ea14fda6aae2d4c7 Mon Sep 17 00:00:00 2001
From: "temkei.kem" <1041084556@qq.com>
Date: Mon, 10 Jun 2024 14:48:25 +0900
Subject: [PATCH] update default cool down time.

---
 .../perception_reproducer_v2.py               | 36 +++++++++----------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer_v2.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer_v2.py
index 5da192c1..57c4df71 100755
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer_v2.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer_v2.py
@@ -37,21 +37,21 @@ def __init__(self, args):
         self.rosbag_ego_odom_search_radius = (
             args.search_radius
         )  # (m) the range of the ego odom to search,
-        self.reproduce_cooldown = (
-            args.reproduce_cooldown
-        )  # (sec) the cooldown time for republishing published data, please make sure that it's greater than the ego's stopping time.
+        self.reproduce_cool_down = (
+            args.reproduce_cool_down
+        )  # (sec) the cool down time for republishing published data, please make sure that it's greater than the ego's stopping time.
 
         self.rosbag_ego_odom_search_radius = (
             args.search_radius
         )  # (m) the range of the ego odom to search,
-        self.reproduce_cooldown = (
-            args.reproduce_cooldown
-        )  # (sec) the cooldown time for republishing published data, please make sure that it's greater than the ego's stopping time.
+        self.reproduce_cool_down = (
+            args.reproduce_cool_down
+        )  # (sec) the cool down time for republishing published data, please make sure that it's greater than the ego's stopping time.
 
         super().__init__(args, "perception_reproducer_v2")
 
         self.reproduce_sequence_indices = deque()  # contains ego_odom_idx
-        self.cooldown_indices = deque()  # contains ego_odom_idx
+        self.cool_down_indices = deque()  # contains ego_odom_idx
         self.ego_odom_id2last_published_timestamp = dict()  # for checking last published timestamp.
 
         self.prev_ego_pos = None
@@ -134,17 +134,17 @@ def on_timer(self):
             )
             self.stopwatch.toc("find_nearby_ego_odom_indies")
 
-            # update reproduce_sequence with those data not in cooldown list.
-            while self.cooldown_indices:
-                last_timestamp = self.ego_odom_id2last_published_timestamp[self.cooldown_indices[0]]
-                if (timestamp - last_timestamp).nanoseconds / 1e9 > self.reproduce_cooldown:
-                    self.cooldown_indices.popleft()
+            # update reproduce_sequence with those data not in cool down list.
+            while self.cool_down_indices:
+                last_timestamp = self.ego_odom_id2last_published_timestamp[self.cool_down_indices[0]]
+                if (timestamp - last_timestamp).nanoseconds / 1e9 > self.reproduce_cool_down:
+                    self.cool_down_indices.popleft()
                 else:
                     break
 
             self.stopwatch.tic("update reproduce_sequence")
             self.reproduce_sequence_indices = deque(
-                [idx for idx in ego_odom_indices if idx not in self.cooldown_indices]
+                [idx for idx in ego_odom_indices if idx not in self.cool_down_indices]
             )
             self.stopwatch.toc("update reproduce_sequence")
 
@@ -210,9 +210,9 @@ def on_timer(self):
                 else self.prev_traffic_signals_msg
             )
 
-            # update cooldown info.
+            # update cool down info.
             self.ego_odom_id2last_published_timestamp[ego_odom_idx] = timestamp
-            self.cooldown_indices.append(ego_odom_idx)
+            self.cool_down_indices.append(ego_odom_idx)
 
             self.stopwatch.toc("total on_timer")
 
@@ -260,10 +260,10 @@ def find_nearby_ego_odom_indies(self, ego_pose, search_radius: float):
     )
     parser.add_argument(
         "-c",
-        "--reproduce-cooldown",
-        help="The cooldown time for republishing published messages (default is 40.0 seconds)",
+        "--reproduce-cool-down",
+        help="The cool down time for republishing published messages (default is 15.0 seconds)",
         type=float,
-        default=40.0,
+        default=15.0,
     )
     args = parser.parse_args()