class TestDrive(object):
def __init__(self):
self.map_data = None
self.simulator = None
self.restart_event = None
self.gui = None
self.ego_vehicle = None
self.client = None
def start_ego(self):
self.ego_vehicle.start()
def get_simulator(self):
return self.simulator
def step(self, control):
self.ego_vehicle.step(self.client, {
'forward': control[0],
'right': control[1]
})
return control
def run_setup(self):
from monodrive import SimulatorConfiguration, VehicleConfiguration, Simulator
from monodrive.ui import GUI
from monodrive.networking.client import Client
# Simulator configuration defines network addresses for connecting to the simulator and material properties
simulator_config = SimulatorConfiguration('simulator.json')
self.client = Client((simulator_config.configuration["server_ip"],
simulator_config.configuration["server_port"]))
if not self.client.isconnected():
self.client.connect()
# Vehicle configuration defines ego vehicle configuration and the individual sensors configurations
vehicle_config = VehicleConfiguration('demo.json')
self.simulator = Simulator(self.client, simulator_config)
self.simulator.send_configuration()
self.map_data = self.simulator.request_map()
from monodrive import VehicleConfiguration
from monodrive.vehicles import LV_Vehicle
# Setup Ego Vehicle
vehicle_config = VehicleConfiguration('demo.json')
self.ego_vehicle = LV_Vehicle(simulator_config, vehicle_config,
self.restart_event, self.map_data)
# Send Radar Waveform
self.ego_vehicle.update_fmcw_in_config()
#helper = InterruptHelper()
self.simulator.restart_event.clear()
self.simulator.send_vehicle_configuration(vehicle_config)
time.sleep(1)
return True
def start_sensor_streams(self):
if not self.client.isconnected():
self.client.connect()
self.ego_vehicle.start_sensor_streaming(self.client)
def stop_sensor_streams(self):
if not self.client.isconnected():
self.client.connect()
self.ego_vehicle.stop_sensor_streaming(self.client)
def close_connection(self):
if self.client.isconnected():
self.client.disconnect()
self.client.stop()
def start_sensor_listening(self):
self.ego_vehicle.start_sensor_listening()
def start_gui(self):
#self.gui = GUI(self.simulator)
pass
def stop_all(self):
self.simulator.stop()
# Setup Ego Vehicle
if ManualDriveMode == True:
ego_vehicle = TeleportVehicle(simulator_config, vehicle_config,
map_data)
else:
ego_vehicle = SimpleVehicle(simulator_config, vehicle_config, map_data)
# prctl.set_proctitle("monoDrive")
#
gui = None
while episodes > 0:
helper = InterruptHelper()
simulator.restart_event.clear()
simulator.send_vehicle_configuration(vehicle_config)
logging.getLogger("simulator").info('Starting vehicle')
ego_vehicle.update_fmcw_in_config()
ego_vehicle.start_sensor_streaming(client)
ego_vehicle.start_sensor_listening()
gui = GUI(ego_vehicle, simulator)
ego_vehicle.init_vehicle_loop(client)
# Waits for the restart event to be set in the control process
# time.sleep(100)
helper.wait(simulator.restart_event)
simulator.restart_event.wait()
gui.stop()