public override void OnBridgeSetup(BridgeInstance bridge)
{
if (bridge.Plugin.GetBridgeNameAttribute().Type == "ROS")
{
bridge.AddSubscriber <VehicleControlData>(Topic, data =>
{
if (Time.timeScale == 0f)
{
return;
}
controlData = data;
LastControlUpdate = SimulatorManager.Instance.CurrentTime;
float wheelAngle = data.SteerAngle.GetValueOrDefault();
wheelAngle = UnityEngine.Mathf.Clamp(wheelAngle, -Dynamics.MaxSteeringAngle, Dynamics.MaxSteeringAngle);
var k = (float)(wheelAngle + Dynamics.MaxSteeringAngle) / (Dynamics.MaxSteeringAngle * 2);
ADSteerInput = UnityEngine.Mathf.Lerp(-1f, 1f, k);
ADAccelInput = data.Acceleration.GetValueOrDefault() - data.Braking.GetValueOrDefault();
});
}
else if (bridge.Plugin.GetBridgeNameAttribute().Type == "ROS2")
{
bridge.AddSubscriber <VehicleControlData>(Topic, data =>
{
if (Time.timeScale == 0f)
{
return;
}
controlData = data;
LastControlUpdate = SimulatorManager.Instance.CurrentTime;
float wheelAngle = data.SteerAngle.GetValueOrDefault();
ADSteerInput = wheelAngle;
ADAccelInput = data.Acceleration.GetValueOrDefault() - data.Braking.GetValueOrDefault();
if (data.TargetGear == GearPosition.Reverse)
{
Dynamics.ShiftReverseAutoGearBox();
}
else if (data.TargetGear == GearPosition.Drive)
{
Dynamics.ShiftFirstGear();
}
});
}
}
public override void OnBridgeSetup(BridgeInstance bridge)
{
var subscriber = BridgeMessageDispatcher.Instance.GetSynchronousSubscriber <VehicleControlData>(data =>
{
if (!IsControlReceived)
{
IsControlReceived = true;
if (ApiManager.Instance != null)
{
var jsonData = new JSONObject();
ApiManager.Instance.AddCustom(transform.parent.gameObject, "checkControl", jsonData);
}
}
controlData = data;
LastControlUpdate = SimulatorManager.Instance.CurrentTime;
if (double.IsInfinity(data.Acceleration.GetValueOrDefault()) || double.IsInfinity(data.Braking.GetValueOrDefault()) ||
double.IsNaN(data.Acceleration.GetValueOrDefault()) || double.IsNaN(data.Braking.GetValueOrDefault()))
{
return;
}
var timeStamp = data.TimeStampSec.GetValueOrDefault();
var dt = (float)(timeStamp - LastTimeStamp);
LastTimeStamp = timeStamp;
Debug.Assert(data.Acceleration.GetValueOrDefault() >= 0 && data.Acceleration.GetValueOrDefault() <= 1);
Debug.Assert(data.Braking.GetValueOrDefault() >= 0 && data.Braking.GetValueOrDefault() <= 1);
var linearAccel = AccelerationInputCurve.Evaluate(data.Acceleration.GetValueOrDefault()) - BrakeInputCurve.Evaluate(data.Braking.GetValueOrDefault());
var steeringTarget = -data.SteerTarget.GetValueOrDefault();
var steeringAngle = Controller.SteerInput;
var sgn = Mathf.Sign(steeringTarget - steeringAngle);
var steeringRate = data.SteerRate.GetValueOrDefault() * sgn;
steeringAngle += steeringRate * dt;
if (sgn != steeringTarget - steeringAngle) // prevent oversteering
{
steeringAngle = steeringTarget;
}
ADSteerInput = steeringAngle;
ADAccelInput = linearAccel;
if (data.CurrentGear == GearPosition.Reverse)
{
Dynamics.ShiftReverseAutoGearBox();
}
else if (data.CurrentGear == GearPosition.Drive)
{
Dynamics.ShiftFirstGear();
}
});
bridge.AddSubscriber(Topic, subscriber);
}
public override void OnBridgeSetup(BridgeInstance bridge)
{
Bridge = bridge;
Bridge.AddSubscriber <VehicleControlData>(Topic, data =>
{
if (Time.timeScale == 0f)
{
return;
}
LastControlUpdate = SimulatorManager.Instance.CurrentTime;
ADSteerInput = data.SteerInput.GetValueOrDefault();
InferenceTime = data.TimeStampSec.GetValueOrDefault();
ControlMessages++;
TotalInferenceTime += InferenceTime;
AverageInferenceTime = TotalInferenceTime / (float)ControlMessages;
});
}
public override void OnBridgeSetup(BridgeInstance bridge)
{
bridge.AddSubscriber <VehicleStateData>(Topic, data =>
{
if (Time.timeScale == 0f)
{
return;
}
if (data != null)
{
if (StateData.Blinker != data.Blinker)
{
if (data.Blinker == 0)
{
if (Actions.LeftTurnSignal)
{
Actions.LeftTurnSignal = false;
}
if (Actions.RightTurnSignal)
{
Actions.RightTurnSignal = false;
}
if (Actions.HazardLights)
{
Actions.HazardLights = false;
}
}
else if (data.Blinker == 1)
{
Actions.LeftTurnSignal = true;
}
else if (data.Blinker == 2)
{
Actions.RightTurnSignal = true;
}
else if (data.Blinker == 3)
{
Actions.HazardLights = true;
}
}
if (StateData.HeadLight != data.HeadLight)
{
if (data.HeadLight == 0)
{
Actions.CurrentHeadLightState = HeadLightState.OFF;
}
else if (data.HeadLight == 1)
{
Actions.CurrentHeadLightState = HeadLightState.LOW;
}
else if (data.HeadLight == 2)
{
Actions.CurrentHeadLightState = HeadLightState.HIGH;
}
}
if (StateData.Gear != data.Gear)
{
if (data.Gear == (byte)GearPosition.Reverse)
{
Dynamics.ShiftReverseAutoGearBox();
}
else if (data.Gear == (byte)GearPosition.Drive)
{
Dynamics.ShiftFirstGear();
}
}
if (StateData.HandBrake != data.HandBrake)
{
if (data.HandBrake == true)
{
Dynamics.SetHandBrake(true);
}
else
{
Dynamics.SetHandBrake(false);
}
}
StateData = data;
}
});
}
public override void OnBridgeSetup(BridgeInstance bridge)
{
bridge.AddSubscriber <Detected3DObjectArray>(Topic, data => Detected = data.Data);
}
public override void OnBridgeSetup(BridgeInstance bridge)
{
bridge.AddSubscriber <VehicleControlData>(Topic, data =>
{
controlData = data;
LastControlUpdate = SimulatorManager.Instance.CurrentTime;
if (data.Velocity.HasValue) // autoware
{
controlType = ControlType.AutowareAi;
if (data.ShiftGearUp || data.ShiftGearDown)
{
if (data.ShiftGearUp)
{
Dynamics.GearboxShiftUp();
}
if (data.ShiftGearDown)
{
Dynamics.GearboxShiftDown();
}
ADAccelInput = data.Acceleration.GetValueOrDefault() - data.Braking.GetValueOrDefault(); // converted from lin accel
ADSteerInput = data.SteerAngle.GetValueOrDefault(); // angle should be in degrees
}
else
{
if (Dynamics.Reverse)
{
return; // TODO move?
}
var linMag = Mathf.Clamp(Mathf.Abs(data.Velocity.GetValueOrDefault() - ActualLinVel), 0f, 1f);
ADAccelInput = ActualLinVel < data.Velocity.GetValueOrDefault() ? linMag : -linMag;
ADSteerInput = -Mathf.Clamp(data.SteerAngularVelocity.GetValueOrDefault() / (29 * (float)System.Math.PI / 180), -1f, 1f);
//ADASTEC 0.506 radian for 29 degrees
//Dividing with 0.506 radian is for normalizing -0.506,+0.506 radians to -1,1 unity values.
}
}
else if (data.SteerRate.HasValue) // apollo
{
if (double.IsInfinity(data.Acceleration.GetValueOrDefault()) || double.IsInfinity(data.Braking.GetValueOrDefault()) ||
double.IsNaN(data.Acceleration.GetValueOrDefault()) || double.IsNaN(data.Braking.GetValueOrDefault()))
{
return;
}
controlType = ControlType.Apollo;
var timeStamp = data.TimeStampSec.GetValueOrDefault();
var dt = (float)(timeStamp - LastTimeStamp);
LastTimeStamp = timeStamp;
Debug.Assert(data.Acceleration.GetValueOrDefault() >= 0 && data.Acceleration.GetValueOrDefault() <= 1);
Debug.Assert(data.Braking.GetValueOrDefault() >= 0 && data.Braking.GetValueOrDefault() <= 1);
var linearAccel = AccelerationInputCurve.Evaluate(data.Acceleration.GetValueOrDefault()) - BrakeInputCurve.Evaluate(data.Braking.GetValueOrDefault());
var steeringTarget = -data.SteerTarget.GetValueOrDefault();
var steeringAngle = Controller.SteerInput;
var sgn = Mathf.Sign(steeringTarget - steeringAngle);
var steeringRate = data.SteerRate.GetValueOrDefault() * sgn;
steeringAngle += steeringRate * dt;
if (sgn != steeringTarget - steeringAngle) // to prevent oversteering
{
steeringAngle = steeringTarget;
}
ADSteerInput = steeringAngle;
ADAccelInput = linearAccel;
if (data.CurrentGear == GearPosition.Reverse)
{
Dynamics.ShiftReverseAutoGearBox();
}
else if (data.CurrentGear == GearPosition.Drive)
{
Dynamics.ShiftFirstGear();
}
}
else if (data.SteerInput.HasValue) // lgsvl
{
controlType = ControlType.LGSVL;
ADSteerInput = data.SteerInput.GetValueOrDefault();
}
else if (data.Acceleration.HasValue)
{
controlType = ControlType.AutowareAuto;
ADAccelInput = data.Acceleration.GetValueOrDefault() - data.Braking.GetValueOrDefault();
ADSteerInput = data.SteerAngle.GetValueOrDefault();
}
else
{
controlType = ControlType.None;
}
});
}