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