def process_imu(self, imu_msg):
"""Invoked when an IMU message is received from the simulator.
Sends IMU measurements to downstream operators.
Args:
imu_msg (carla.IMUMeasurement): IMU reading.
"""
game_time = int(imu_msg.timestamp * 1000)
timestamp = erdos.Timestamp(coordinates=[game_time])
watermark_msg = erdos.WatermarkMessage(timestamp)
with erdos.profile(self.config.name + '.process_imu',
self,
event_data={'timestamp': str(timestamp)}):
with self._lock:
msg = IMUMessage(
timestamp,
Transform.from_carla_transform(imu_msg.transform),
Vector3D.from_carla_vector(imu_msg.accelerometer),
Vector3D.from_carla_vector(imu_msg.gyroscope),
imu_msg.compass)
self._imu_stream.send(msg)
# Note: The operator is set not to automatically propagate
# watermark messages received on input streams. Thus, we can
# issue watermarks only after the Carla callback is invoked.
self._imu_stream.send(watermark_msg)
def test_negative_vector_from_carla():
""" Tests that Vector3D throws a ValueError if incorrect vector is
passed. """
DummyType = namedtuple("DummyType", "x, y, z")
dummy_instance = DummyType(0, 0, 0)
with pytest.raises(ValueError):
Vector3D.from_carla_vector(dummy_instance)
def process_collision(self, collision_event):
""" Invoked when a collision event is received from the simulation.
Args:
collision_event (:py:class:`carla.CollisionEvent`): A collision
event that contains the impulse, location and the object with
which the ego-vehicle collided.
"""
game_time = int(collision_event.timestamp * 1000)
self._logger.debug(
"@[{}]: Received a collision event from the simulator.".format(
game_time))
# Create a CollisionMessage.
timestamp = erdos.Timestamp(coordinates=[game_time])
msg = CollisionMessage(
collision_event.other_actor,
Vector3D.from_carla_vector(collision_event.normal_impulse),
timestamp)
# Send the CollisionMessage.
self._collision_stream.send(msg)
# TODO(ionel): This code will fail if process_collision is called twice
# for the same timestamp (i.e., if the vehicle collides with two other
# actors)
self._collision_stream.send(erdos.WatermarkMessage(timestamp))
def test_from_carla_vector(x, y, z):
""" Tests the creation of Vector3D from Carla. """
carla_vector3d = carla.Vector3D(x, y, z)
vector3d = Vector3D.from_carla_vector(carla_vector3d)
assert isinstance(vector3d, Vector3D), "The returned object is not of type"
"Vector3D"
assert np.isclose(carla_vector3d.x, vector3d.x), "X value is not the same"
assert np.isclose(carla_vector3d.y, vector3d.y), "Y value is not the same"
assert np.isclose(carla_vector3d.z, vector3d.z), "Z value is not the same"