def runSim():
print('sim started')
## SET-UP SIM ##
# Spawn a trike
batch = []
blueprint = random.choice(blueprints)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
blueprint.set_attribute('role_name', 'autopilot')
random.shuffle(spawn_points)
batch.append(SpawnActor(blueprint, spawn_points[0]))
for response in client.apply_batch_sync(batch):
if response.error:
logging.error(response.error)
else:
vehicle = response.actor_id
# Attach nmeaSensor to trike (speed directly taken from trike actor)
actor = world.get_actors().find(vehicle)
for x in world.get_actors():
if vehicle == x.id:
actor = x
#print(vehicle)
#print(world.get_actors())
#next((x for x in world.get_actors() if x.id == vehicle), None)
logger = DataLogger(actor)
blueprint = world.get_blueprint_library().find('sensor.other.gnss')
transform = carla.Transform(carla.Location(x=0.8, z=1.7))
nmeaSensor = world.spawn_actor(blueprint, transform, actor)
sensors.append(nmeaSensor)
#speedSensor = world.spawn_actor(blueprint,transform,actor)
### SET SIM VIEWPOINT TO VEHICLE ####
world.get_spectator().set_transform(actor.get_transform())
#################
## RUN SIM ##
try:
ser.write('f'.encode('utf-8')) #Notify Due that system is starting
##### FOR GPS SENSOR USAGE ####
logger.setListen()
logger.setNmea('Test@') # Fill private member to avoid error
nmeaSensor.listen(lambda data: nmeaGPS.consoleout(data, logger))
##########################
while True:
# Wait for ready queue from due
if ser.in_waiting:
### FOR GPS SENSOR USAGE (Set the stop variable to short the listener func) ###
logger.setStopListen()
#nmeaSensor.stop()
###########
'''
ADD SERIAL READS FOR ACTUATION HERE
Currently just clears an arbitrary char in buffer sent from
router Due
'''
## Receive in order: throttle, steer, brake
t = float(ser.readline().decode('ASCII'))
s = float(ser.readline().decode('ASCII'))
b = float(ser.readline().decode('ASCII'))
actor.apply_control(
carla.VehicleControl(throttle=t, steer=s, brake=b))
'''
Finish processing actuation commands here
Here's how data is sent from Due:
- Throttle : float (-1 to 1)
- Steering : float (-1 to 1)
- Brakes : float (0 for off 0.3 for on) <- because current implementation of brake
is siimply on/off. Feel free to change on value of 0.3.
'''
### ACCESS/SEND LAT/LONG FROM LAST TICK ###
### Can use for location if disabling GPS Sensor
#geo = world.get_map().transform_to_geolocation(logger.actorId.get_location())
#msg = geo.__str__() + '@'
#logger.setNmea(msg)
###########
### ACCESS/SEND X/Y/Z FROM LAST TICK #####
### Can use for location if disabling GPS Sensor
#msg = logger.actorId.get_location().__str__() + '@'
#logger.setNmea(msg)
########
# Get the speed of Trike
getSpeed(logger.actorId, logger)
# Send most current data
# ORDER MATTERS FOR ARDUINO CODE
logger.sendCyclometer(ser)
logger.sendNmea(ser)
### FOR SENSOR USAGE ###
logger.setListen()
#nmeaSensor.listen(lambda data: nmeaGPS.consoleout(data,logger))
#############
except KeyboardInterrupt:
print('\ndestroying %d sensors' % len(sensors))
for x in sensors:
carla.command.DestroyActor(x)
print('\ndestroying vehicle')
actor.destroy()
return
