cppautopilot.json 7.52 KB
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{
    "name": "new_basic",
    "map_name": "aachen",
    "cars": [
        {
            "name": "TestVehicle",
            "start_coords": [
                0,
                0
            ],
            "end_coords": [
                -63.83,
                -171.96
            ],
            "body": {
                "mass": 1642.0,
                "length": 4.971,
                "width": 1.87,
                "height": 1.383,
                "center_of_gravity_height": 0.34575
            },
            "wheels": {
                "diameter": 0.6612,
                "width": 0.255,
                "front_wheel_axis_offset": 1.0,
                "max_turning_angle": 30.0,
                "front_track_width": 1.57988,
                "back_track_dist": 1.60274,
                "wheelbase": 2.812,
                "wheelbase_offset": 0.0
            },
            "powertrain": {
                "type": "electrical",
                "traction": "rear",
                "braking": "front",
                "max_braking_force": 5000.0,
                "motor": {
                    "motor_efficiency": 0.7,
                    "regen_efficiency": 0.5,
                    "motor_peek_torque": 450.0
                },
                "battery": {
                    "type": "infinite",
                    "capacity": 1.8E8,
                    "critical_charge": 10.0
                },
                "transmission_ratio": 9.0
            },
            "physics": {
                "type": "rigidbody"
            },
            "components": [
                {
                    "type": "actuator",
                    "name": "SteeringActuator",
                    "priority": {},
                    "buses": [
                        "DefaultBus"
                    ],
                    "physical_value_name": "steering",
                    "change_rate": 60.0,
                    "sensor": {
                        "type": "sensor",
                        "name": "UnnamedComponent",
                        "priority": {},
                        "buses": [
                            "DefaultBus"
                        ],
                        "update_interval": [
                            0,
                            100000000
                        ],
                        "read_time": [
                            0,
                            1000000
                        ],
                        "send_only_changed": false
                    }
                },
                {
                    "type": "actuator",
                    "name": "BrakingActuator",
                    "priority": {},
                    "buses": [
                        "DefaultBus"
                    ],
                    "physical_value_name": "braking",
                    "change_rate": 10.0,
                    "sensor": {
                        "type": "sensor",
                        "name": "UnnamedComponent",
                        "priority": {},
                        "buses": [
                            "DefaultBus"
                        ],
                        "update_interval": [
                            0,
                            100000000
                        ],
                        "read_time": [
                            0,
                            1000000
                        ],
                        "send_only_changed": false
                    }
                },
                {
                    "type": "actuator",
                    "name": "GasActuator",
                    "priority": {},
                    "buses": [
                        "DefaultBus"
                    ],
                    "physical_value_name": "gas",
                    "change_rate": "Infinity",
                    "sensor": {
                        "type": "sensor",
                        "name": "UnnamedComponent",
                        "priority": {},
                        "buses": [
                            "DefaultBus"
                        ],
                        "update_interval": [
                            0,
                            100000000
                        ],
                        "read_time": [
                            0,
                            1000000
                        ],
                        "send_only_changed": false
                    }
                },
                {
                    "type": "sensor",
                    "name": "TrueVelocitySensor",
                    "priority": {},
                    "buses": [
                        "DefaultBus"
                    ],
                    "physical_value_name": "true_velocity",
                    "update_interval": [
                        0,
                        100000000
                    ],
                    "read_time": [
                        0,
                        10000000
                    ],
                    "send_only_changed": false
                },
                {
                    "type": "sensor",
                    "name": "TruePositionSensor",
                    "priority": {},
                    "buses": [
                        "DefaultBus"
                    ],
                    "physical_value_name": "true_position",
                    "update_interval": [
                        0,
                        100000000
                    ],
                    "read_time": [
                        0,
                        10000000
                    ],
                    "send_only_changed": false
                },
                {
                    "type": "sensor",
                    "name": "TrueCompassSensor",
                    "priority": {},
                    "buses": [
                        "DefaultBus"
                    ],
                    "physical_value_name": "true_compass",
                    "update_interval": [
                        0,
                        100000000
                    ],
                    "read_time": [
                        0,
                        10000000
                    ],
                    "send_only_changed": false
                },
                {
                    "type": "navigation",
                    "name": "Navigation",
                    "priority": {},
                    "buses": [
                        "DefaultBus"
                    ]
                },
                {
                    "type": "constant_bus",
                    "name": "DefaultBus",
                    "priority": {},
                    "mode": "instant",
                    "rate": 0.0
                },
                {
                    "type": "hardware_emulator",
                    "software_name": "cppautopilotzigzag",
                    "emulator_type": "emu",
                    "os": "windows",
                    "time_model": {
                        "type": "models",
                        "cpu_frequency": 4000000000,
                        "memory_frequency": 2500000000,
                        "caches": [
                            {"type": "I", "level": 1, "size": 262144, "read_ticks": 4, "write_ticks": 4},
                            {"type": "D", "level": 1, "size": 262144, "read_ticks": 4, "write_ticks": 4},
                            {"type": "shared", "level": 2, "size": 2097152, "read_ticks": 6, "write_ticks": 6},
                            {"type": "shared", "level": 3, "size": 12582912, "read_ticks": 40, "write_ticks": 40}
                        ]
                    }
                }
            ]
        }
    ]
}