void SendTelemetry()
{
if (client == null)
{
return;
}
JSONObject json = new JSONObject(JSONObject.Type.OBJECT);
json.AddField("msg_type", "telemetry");
json.AddField("steering_angle", car.GetSteering() / steer_to_angle);
json.AddField("throttle", car.GetThrottle());
json.AddField("speed", car.GetVelocity().magnitude);
json.AddField("image", Convert.ToBase64String(camSensor.GetImageBytes()));
if (camSensorB != null && camSensorB.gameObject.activeInHierarchy)
{
json.AddField("imageb", Convert.ToBase64String(camSensorB.GetImageBytes()));
}
if (lidar != null && lidar.gameObject.activeInHierarchy)
{
json.AddField("lidar", lidar.GetOutputAsJson());
}
if (odom.Length > 0)
{
JSONObject odom_arr = JSONObject.Create();
foreach (Odometry o in odom)
{
odom_arr.Add(o.GetOutputAsJson());
}
json.AddField("odom", odom_arr);
}
json.AddField("hit", car.GetLastCollision());
car.ClearLastCollision();
json.AddField("time", Time.timeSinceLevelLoad);
Vector3 accel = car.GetAccel();
json.AddField("accel_x", accel.x);
json.AddField("accel_y", accel.y);
json.AddField("accel_z", accel.z);
Quaternion gyro = car.GetGyro();
json.AddField("gyro_x", gyro.x);
json.AddField("gyro_y", gyro.y);
json.AddField("gyro_z", gyro.z);
json.AddField("gyro_w", gyro.w);
// not intended to use in races, just to train
if (extendedTelemetry)
{
Transform tm = car.GetTransform();
json.AddField("pos_x", tm.position.x);
json.AddField("pos_y", tm.position.y);
json.AddField("pos_z", tm.position.z);
Vector3 velocity = car.GetVelocity();
json.AddField("vel_x", velocity.x);
json.AddField("vel_y", velocity.y);
json.AddField("vel_z", velocity.z);
if (pm != null)
{
float cte = 0.0f;
if (pm.path.GetCrossTrackErr(tm.position, ref cte))
{
json.AddField("cte", cte);
}
else
{
pm.path.ResetActiveSpan();
json.AddField("cte", 0.0f);
}
json.AddField("activeNode", pm.path.iActiveSpan);
json.AddField("totalNodes", pm.path.nodes.Count);
}
if (pm.path.nodes.Count > 10)
{
NavMeshHit hit = new NavMeshHit();
Vector3 position = carObj.transform.position;
bool onNavMesh = NavMesh.SamplePosition(position, out hit, 5, NavMesh.AllAreas);
json.AddField("on_road", onNavMesh ? 1 : 0);
if (onNavMesh)
{
Vector3 target = pm.path.nodes[(pm.path.iActiveSpan + pm.path.nodes.Count + pm.path.nodes.Count / 3) % (pm.path.nodes.Count)].pos;
double currentDistance = pm.path.getDistance(position, target);
double distanceToLastTarget = pm.path.getDistance(position, this.lastTarget);
if (this.lastTarget.x == 0 || Math.Abs(currentDistance) < 0.001 || Math.Abs(distanceToLastTarget) < 0.001 || Math.Abs(this.lastDistance) < 0.001)
{
this.lastDistance = currentDistance;
}
json.AddField("progress_on_shortest_path", (float)(this.lastDistance - distanceToLastTarget));
this.lastDistance = currentDistance;
this.lastTarget = target;
}
else
{
this.lastTarget = new Vector3(0, 0, 0);
this.lastDistance = 0.0;
json.AddField("progress_on_shortest_path", 0.0f);
}
}
}
client.SendMsg(json);
}
void SendTelemetry()
{
if (client == null)
{
return;
}
JSONObject json = new JSONObject(JSONObject.Type.OBJECT);
json.AddField("msg_type", "telemetry");
json.AddField("steering_angle", car.GetSteering() / steer_to_angle);
json.AddField("throttle", car.GetThrottle());
json.AddField("image", Convert.ToBase64String(camSensor.GetImageBytes()));
if (camSensorB != null && camSensorB.gameObject.activeInHierarchy)
{
json.AddField("imageb", Convert.ToBase64String(camSensorB.GetImageBytes()));
}
if (lidar != null && lidar.gameObject.activeInHierarchy)
{
json.AddField("lidar", lidar.GetOutputAsJson());
}
foreach (Odometry o in odom)
{
json.AddField(o.Label, o.GetNumberRotations());
}
json.AddField("hit", car.GetLastCollision());
car.ClearLastCollision();
json.AddField("time", Time.timeSinceLevelLoad);
Vector3 velocity = car.GetVelocity() / 8.0f;
json.AddField("speed", velocity.magnitude);
Vector3 accel = car.GetAccel() / 8.0f;
json.AddField("accel_x", accel.x);
json.AddField("accel_y", accel.y);
json.AddField("accel_z", accel.z);
Vector3 gyro = car.GetGyro();
json.AddField("gyro_x", gyro.x);
json.AddField("gyro_y", gyro.y);
json.AddField("gyro_z", gyro.z);
Transform tm = car.GetTransform();
Vector3 eulerAngles = tm.rotation.eulerAngles;
json.AddField("pitch", eulerAngles.x);
json.AddField("yaw", eulerAngles.y);
json.AddField("roll", eulerAngles.z);
if (pm != null)
{
float cte = 0.0f;
pm.carPath.GetCrossTrackErr(tm.position, ref iActiveSpan, ref cte); // get distance to closest node
if (GlobalState.extendedTelemetry)
{
json.AddField("cte", cte);
}
json.AddField("activeNode", iActiveSpan);
json.AddField("totalNodes", pm.carPath.nodes.Count);
}
// not intended to use in races, just to train
if (GlobalState.extendedTelemetry)
{
Vector3 pos = tm.position / 8.0f;
json.AddField("pos_x", pos.x);
json.AddField("pos_y", pos.y);
json.AddField("pos_z", pos.z);
json.AddField("vel_x", velocity.x);
json.AddField("vel_y", velocity.y);
json.AddField("vel_z", velocity.z);
}
client.SendMsg(json);
}