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100 lines
2.1 KiB
100 lines
2.1 KiB
import math
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import multiprocessing
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import numpy as np
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from abc import ABC, abstractmethod
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from collections import namedtuple
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W, H = 1928, 1208
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vec3 = namedtuple("vec3", ["x", "y", "z"])
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class GPSState:
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def __init__(self):
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self.latitude = 0
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self.longitude = 0
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self.altitude = 0
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def from_xy(self, xy):
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"""Simulates a lat/lon from an xy coordinate on a plane, for simple simulation. TODO: proper global projection?"""
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BASE_LAT = 32.75308505188913
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BASE_LON = -117.2095393365393
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DEG_TO_METERS = 100000
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self.latitude = float(BASE_LAT + xy[0] / DEG_TO_METERS)
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self.longitude = float(BASE_LON + xy[1] / DEG_TO_METERS)
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self.altitude = 0
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class IMUState:
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def __init__(self):
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self.accelerometer: vec3 = vec3(0,0,0)
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self.gyroscope: vec3 = vec3(0,0,0)
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self.bearing: float = 0
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class SimulatorState:
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def __init__(self):
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self.valid = False
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self.is_engaged = False
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self.ignition = True
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self.velocity: vec3 = None
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self.bearing: float = 0
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self.gps = GPSState()
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self.imu = IMUState()
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self.steering_angle: float = 0
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self.user_gas: float = 0
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self.user_brake: float = 0
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self.user_torque: float = 0
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self.cruise_button = 0
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self.left_blinker = False
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self.right_blinker = False
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@property
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def speed(self):
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return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)
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class World(ABC):
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def __init__(self, dual_camera):
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self.dual_camera = dual_camera
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self.image_lock = multiprocessing.Semaphore(value=0)
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self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
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self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)
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self.exit_event = multiprocessing.Event()
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@abstractmethod
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def apply_controls(self, steer_sim, throttle_out, brake_out):
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pass
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@abstractmethod
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def tick(self):
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pass
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@abstractmethod
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def read_state(self):
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pass
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@abstractmethod
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def read_sensors(self, simulator_state: SimulatorState):
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pass
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@abstractmethod
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def read_cameras(self):
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pass
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@abstractmethod
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def close(self, reason: str):
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pass
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@abstractmethod
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def reset(self):
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pass
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