def generate_perception(perception_description, prev_perception):
"""
Generate perception data
"""
perceptions = PerceptionObstacles()
perceptions.header.sequence_num = get_seq_num()
perceptions.header.module_name = "perception"
perceptions.header.timestamp_sec = time.time()
if not perception_description:
return perceptions
if prev_perception is None:
for description in perception_description:
p = perceptions.perception_obstacle.add()
p.CopyFrom(init_perception(description))
return perceptions
else: # Linear projection
description_dict = {}
for desc in perception_description:
description_dict[desc["id"]] = desc
for obstacle in prev_perception.perception_obstacle:
description = description_dict[obstacle.id]
p = perceptions.perception_obstacle.add()
next_obstacle = linear_project_perception(description, obstacle)
p.CopyFrom(next_obstacle)
return perceptions
def on_tick(self, world_snapshot):
"""
Get a cyber PerceptionObstacles message including all actors within range, except the ego
"""
self.seconds_since_write += world_snapshot.delta_seconds
if self.seconds_since_write >= self.tick_rate:
self.seconds_since_write -= self.tick_rate
obstacles = PerceptionObstacles()
obstacles.header.CopyFrom(self.bridge.get_cyber_header())
for actor in self.bridge.child_actors.values():
if actor.carla_actor is not self.parent_actor:
if actor.carla_actor.get_location().distance(
self.parent_actor.get_location()) <= self.range:
if isinstance(actor.carla_actor, carla.Vehicle):
obstacles.perception_obstacle.append(
actor.get_cyber_obstacle_msg())
elif isinstance(actor.carla_actor, carla.Walker):
msg = actor.get_cyber_obstacle_msg()
msg.type = PerceptionObstacle.Type.PEDESTRIAN
obstacles.perception_obstacle.append(msg)
self.bridge.write_cyber_message(self.channel_name, obstacles)
def receiver(data):
"""receiver"""
perception = PerceptionObstacles()
perception.ParseFromString(data.data)
print str(perception)
"""
this module creates a node and fake prediction data based
on json configurations
"""
import argparse
import math
import time
import numpy
import simplejson
from cyber_py import cyber
from cyber_py import cyber_time
from modules.prediction.proto.prediction_obstacle_pb2 import PredictionObstacles
from modules.perception.proto.perception_obstacle_pb2 import PerceptionObstacles
obstacles_=PerceptionObstacles()
def receive_perception_obstacles(perception_obstacles):
obstacles_=perception_obstacles
def prediction_publisher(prediction_channel, rate):
"""publisher"""
cyber.init()
node = cyber.Node("prediction")
writer = node.create_writer(prediction_channel, PredictionObstacles)
prediction = PredictionObstacles()
prediction.header.sequence_num = seq_num
prediction.header.timestamp_sec = cyber_time.Time.now().to_sec()
prediction.header.module_name = "prediction"
i=0
writer.write(prediction)
seq_num += 1
time.sleep(sleep_time)