Self driving car working on Linux, not yet tested on windows

Author: geatec

simpylc/engine.py

@@ -430,12 +430,19 @@ def run (self):
         cs.wrapper (self.main)
 
     def main (self, window):
-        def _print (*args):
+        def print (*args):
             window.addstr (' '.join (str (arg) for arg in args) + '\n')
+            
+        def getKey ():
+            try:
+                return window.getkey ()
+            except:
+                return ''
 
+        window.nodelay (True)
         agentModule = ss.modules [self.Agent.__module__]
-        agentModule.sp.getKey = window.getkey    # No typo
-        agentModule.print = _print
+        agentModule.print = print
+        agentModule.sp.getKey = getKey
         self.Agent ()
 
 finity = 1e20

simpylc/simulations/car/keyboard_pilot.py

@@ -1,15 +1,18 @@
+import time as tm
+
 import simpylc as sp
 
 class KeyboardPilot:
     def __init__ (self):
-        print ('test', 1, 2, 3, 4)
+        print ('Use arrow keys to control speed and direction')
 
         while True:
-            self.readInputs ()
+            self.input ()
             self.sweep ()
-            self.writeOutputs ()
+            self.output ()
+            tm.sleep (0.02)
 
-    def readInputs (self):
+    def input (self):
         key = sp.getKey ()
 
         self.leftKey = key == 'KEY_LEFT'
@@ -34,7 +37,7 @@ def sweep (self):
             self.targetVelocityStep -= 1
             print ('Target velocity step: ', self.targetVelocityStep)
 
-    def writeOutputs (self):
+    def output (self):
         sp.world.control.steeringAngleStep.set (self.steeringAngleStep)
         sp.world.control.targetVelocityStep.set (self.targetVelocityStep)
 

simpylc/simulations/car/lidar_pilot.py

@@ -5,34 +5,37 @@
 
 class LidarPilot:
     def __init__ (self):
-        print ('Press enter to start or stop...')
+        print ('Use up arrow to start, down arrow to stop')
 
-        '''
         self.driveEnabled = False
 
         while True:
             self.input ()
             self.sweep ()
             self.output ()
             tm.sleep (0.02)
-        '''
 
     def input (self):
         key = sp.getKey ()
 
-        if key == 'KEY_ENTER':
-            self.driveEnabled = not self.driveEnabled
+        if key == 'KEY_UP':
+            self.driveEnabled = True
+        elif key == 'KEY_DOWN':
+            self.driveEnabled = False
 
+        self.lidarDistances = sp.world.visualisation.lidar.distances
+        self.lidarHalfApertureAngle = sp.world.visualisation.lidar.halfApertureAngle
+        
+        
+    def sweep (self):
         self.nearestObstacleDistance = sp.finity
         self.nearestObstacleAngle = 0
 
         self.nextObstacleDistance = sp.finity
         self.nextObstacleAngle = 0
 
-        self.lidar = sp.world.visualisation.lidar
-        
-        for lidarAngle in range (-self.lidar.halfApertureAngle, self.lidar.halfApertureAngle):
-            lidarDistance = self.lidar.distances [lidarAngle]
+        for lidarAngle in range (-self.lidarHalfApertureAngle, self.lidarHalfApertureAngle):
+            lidarDistance = self.lidarDistances [lidarAngle]
 
             if lidarDistance < self.nearestObstacleDistance:
                 self.nextObstacleDistance =  self.nearestObstacleDistance
@@ -48,10 +51,9 @@ def input (self):
         self.targetObstacleDistance = (self.nearestObstacleDistance + self.nextObstacleDistance) / 2
         self.targetObstacleAngle = (self.nearestObstacleAngle + self.nextObstacleAngle) / 2
 
-    def sweep (self):
         self.steeringAngle = self.targetObstacleAngle
-        self.targetVelocity = (sp.abs (90 - self.steeringAngle) / 65) if self.driveEnabled else 0
-        
+        self.targetVelocity = (sp.abs (90 - self.steeringAngle) / 80) if self.driveEnabled else 0
+    
     def output (self):
         sp.world.physics.steeringAngle.set (self.steeringAngle)
         sp.world.physics.targetVelocity.set (self.targetVelocity)

simpylc/simulations/car/world.py

@@ -42,11 +42,11 @@
 import timing as tm
 
 sp.World (
-    ct.Control,
-    kp.KeyboardPilot,
-    #lp.LidarPilot,
-    #ls.LidarPilotSp,
+    # ct.Control,
+    # kp.KeyboardPilot,
+    lp.LidarPilot,
+    # ls.LidarPilotSp,
     ps.Physics,
     vs.Visualisation,
-    tm.Timing
+    # tm.Timing
 )