Added the correct vehicle dynamics and made interface interaction wit…

…h unreal possible using the cloudiness settings

Former-commit-id: c5b796526c67ec9de91ebaa55896e6b542635017

main.py

@@ -16,13 +16,13 @@
  JOANHQACTION = HQManager()
 
  # adding modules (instantiates them too)
- #JOANHQACTION.add_module(JOANModules.TEMPLATE, time_step_in_ms=100)
+ # JOANHQACTION.add_module(JOANModules.TEMPLATE, time_step_in_ms=100)
  JOANHQACTION.add_module(JOANModules.HARDWARE_MANAGER, time_step_in_ms=10)
  JOANHQACTION.add_module(JOANModules.CARLA_INTERFACE, time_step_in_ms=10)
  JOANHQACTION.add_module(JOANModules.DATA_PLOTTER, time_step_in_ms=10)
- JOANHQACTION.add_module(JOANModules.HAPTIC_CONTROLLER_MANAGER, time_step_in_ms=10)
+ # JOANHQACTION.add_module(JOANModules.HAPTIC_CONTROLLER_MANAGER, time_step_in_ms=10)
  # JOANHQACTION.add_module(JOANModules.CONTROLLER_PLOTTER, time_step_in_ms=500)
- JOANHQACTION.add_module(JOANModules.DATA_RECORDER, time_step_in_ms=10)
- JOANHQACTION.add_module(JOANModules.EXPERIMENT_MANAGER, time_step_in_ms=500)
+ # JOANHQACTION.add_module(JOANModules.DATA_RECORDER, time_step_in_ms=10)
+ # JOANHQACTION.add_module(JOANModules.EXPERIMENT_MANAGER, time_step_in_ms=500)
 
  APP.exec_()

modules/carlainterface/carlainterface_agentclasses/ego_vehicle.py

@@ -153,28 +153,46 @@ def __init__(self, carla_mp, settings, shared_variables):
  self._BP = random.choice(self.carlainterface_mp.vehicle_blueprint_library.filter("vehicle." + self.settings.selected_car))
  self._control = carla.VehicleControl()
  self.world_map = self.carlainterface_mp.world.get_map()
+ self.weather = self.carlainterface_mp.world.get_weather()
+
  torque_curve = []
  gears = []
 
+ # JG
  torque_curve.append(carla.Vector2D(x=0, y=600))
  torque_curve.append(carla.Vector2D(x=14000, y=600))
  gears.append(carla.GearPhysicsControl(ratio=7.73, down_ratio=0.5, up_ratio=1))
 
+ #TM Same as peter
+ torque_curve_TM = []
+ gears_TM = []
+ torque_curve_TM.append(carla.Vector2D(x=0, y=600))
+ torque_curve_TM.append(carla.Vector2D(x=6000, y=600))
+ torque_curve_TM.append(carla.Vector2D(x=8000, y=0))
+ gears_TM.append(carla.GearPhysicsControl(ratio=7.73, down_ratio=0.5, up_ratio=1))
+
  if self.settings.selected_spawnpoint != 'None':
  if self.settings.selected_car != 'None':
  self.spawned_vehicle = self.carlainterface_mp.world.spawn_actor(self._BP, self.carlainterface_mp.spawn_point_objects[
  self.carlainterface_mp.spawn_points.index(self.settings.selected_spawnpoint)])
+
  physics = self.spawned_vehicle.get_physics_control()
- physics.torque_curve = torque_curve
+ physics.torque_curve = torque_curve_TM
  physics.max_rpm = 14000
- physics.moi = 1.5
- physics.final_ratio = 1
- physics.clutch_strength = 1000 # very big no clutch
+ physics.moi = 0.06 # 1.5
+ physics.clutch_strength = 1000 # very big no clutch
  physics.final_ratio = 1 # ratio from transmission to wheels
- physics.forward_gears = gears
+ physics.forward_gears = gears_TM
+ physics.gear_switch_time = 0
  physics.mass = 2316
  physics.drag_coefficient = 0.24
- physics.gear_switch_time = 0
+ physics.damping_rate_zero_throttle_clutch_engaged = True
+ physics.damping_rate_full_throttle = True
+
+ # TM added:
+ physics.use_gear_autobox = True
+ physics.damping_rate_full_throttle = 0.0
+ # TM added end
  self.spawned_vehicle.apply_physics_control(physics)
 
  def do(self):
@@ -183,6 +201,11 @@ def do(self):
  self._control.reverse = self.carlainterface_mp.shared_variables_hardware.inputs[self.settings.selected_input].reverse
  self._control.hand_brake = self.carlainterface_mp.shared_variables_hardware.inputs[self.settings.selected_input].handbrake
  self._control.brake = self.carlainterface_mp.shared_variables_hardware.inputs[self.settings.selected_input].brake
+
+ self.weather.cloudiness = self._control.brake*100
+ self.carlainterface_mp.world.set_weather(self.weather)
+
+
  if self.settings.set_velocity:
  vel_error = self.settings.velocity - (math.sqrt(
  self.spawned_vehicle.get_velocity().x ** 2 + self.spawned_vehicle.get_velocity().y ** 2 + self.spawned_vehicle.get_velocity().z ** 2) * 3.6)

modules/hardwaremanager/hardwaremanager_inputs/joanjoystick.py

@@ -43,10 +43,6 @@ def do(self):
  Processes all the inputs of the joystick and writes them to self._data which is then written to the news in the
  action class
  :return: self._data a dictionary containing :self._data['brake'] = self.brake
- self._data['throttle'] = self.throttle
- self._data['steering_angle'] = self.steer
- self._data['Handbrake'] = self.handbrake
- self._data['Reverse'] = self.reverse
  """
  if self._joystick_open:
  joystick_data = self._joystick.read(self.settings.degrees_of_freedom, 1)
@@ -55,8 +51,15 @@ def do(self):
 
  if joystick_data:
  if self.settings.use_separate_brake_channel:
- self.throttle = ((joystick_data[self.settings.gas_channel]) / 255)
- self.brake = - ((joystick_data[self.settings.brake_channel]) / 255)
+ #self.throttle = ((joystick_data[self.settings.gas_channel]) / 255)
+ #self.brake = - ((joystick_data[self.settings.brake_channel]) / 255)
+
+ #Thrustmaster settings
+ self.throttle = 1 - ((joystick_data[self.settings.gas_channel]+1) + (joystick_data[6]*256)) / 1024 #4*256 = 1020
+ self.brake = 1 - ((joystick_data[self.settings.brake_channel]+1) + (joystick_data[4]*256)) / 1024
+ #print(joystick_data[6])
+ #print(joystick_data[self.settings.gas_channel])
+ print(self.throttle)
  else:
  input_value = 1 - ((joystick_data[self.settings.gas_channel]) / 128)
  if input_value > 0:
@@ -82,6 +85,8 @@ def do(self):
  self.steer = ((joystick_data[self.settings.first_steer_channel]) / 255) * (
  self.settings.max_steer - self.settings.min_steer) - self.settings.max_steer
 
+
+
  self.shared_variables.brake = self.brake
  self.shared_variables.throttle = self.throttle
  self.shared_variables.steering_angle = self.steer