def run_sim(street_1: DecalRoad):
brewer = BeamNGBrewer(street_1.nodes)
waypoint_goal = BeamNGWaypoint('waypoint_goal', get_node_coords(street_1.nodes[-1]))
vehicle = brewer.setup_vehicle()
camera = brewer.setup_scenario_camera()
beamng = brewer.beamng
brewer.setup_road_nodes(street_1.nodes)
maps.beamng_map.generated().write_items(brewer.decal_road.to_json() + '\n' + waypoint_goal.to_json())
cameras = BeamNGCarCameras()
brewer.vehicle_start_pose = brewer.road_points.vehicle_start_pose()
#brewer.vehicle_start_pose = BeamNGPose()
sim_data_collector = TrainingDataCollectorAndWriter(vehicle, beamng, street_1, cameras)
brewer.bring_up()
print('bring up ok')
script = calculate_script(brewer.road_points.middle)
# Trick: we start from the road center
vehicle.ai_set_script(script[4:])
#vehicle.ai_drive_in_lane(True)
beamng.pause()
beamng.step(1)
def start():
for idx in range(1000):
if (idx * 0.05 * STEPS) > 3.:
sim_data_collector.collect_and_write_current_data()
dist = distance(sim_data_collector.last_state.pos, waypoint_goal.position)
if dist < 15.0:
beamng.resume()
break
# one step is 0.05 seconds (5/100)
beamng.step(STEPS)
try:
start()
finally:
beamng.close()
def run_sim(nodes):
print(nodes)
brewer = BeamNGBrewer(road_nodes=nodes)
beamng = brewer.beamng
waypoint_goal = BeamNGWaypoint('waypoint_goal', get_node_coords(nodes[-1]))
maps.install_map_if_needed()
maps.beamng_map.generated().write_items(brewer.decal_road.to_json() +
'\n' + waypoint_goal.to_json())
vehicle = brewer.setup_vehicle()
brewer.vehicle_start_pose = brewer.road_points.vehicle_start_pose()
#camera = brewer.setup_scenario_camera()
street_1 = brewer.decal_road
sim_data_collector = TrainingDataCollectorAndWriter(
vehicle, beamng, street_1)
brewer.bring_up()
steps = 5
def start():
for idx in range(1000):
if (idx * 0.05 * steps) > 3.:
sim_data_collector.collect_and_write_current_data()
dist = points_distance(sim_data_collector.last_state.pos,
waypoint_goal.position)
if dist < 15.0:
beamng.resume()
break
# one step is 0.05 seconds (5/100)
beamng.step(steps)
try:
start()
finally:
beamng.close()
