Commit eaf7e059 authored by Robert Meyer's avatar Robert Meyer
Browse files

hardcoded config + bugfix

parent 8cf5820a
Pipeline #185664 failed with stage
in 32 seconds
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...@@ -24,6 +24,12 @@ import java.time.Instant; ...@@ -24,6 +24,12 @@ import java.time.Instant;
import java.util.*; import java.util.*;
public class VehicleBuilder { public class VehicleBuilder {
//hardcoded config
private final String AUTOPILOT_CONFIG = "autopilot=AutopilotAdapter\n"+
"os=windows\n" +
"no_time=true";
public static class VehicleTrajectory { public static class VehicleTrajectory {
Point2D[] trajectory; Point2D[] trajectory;
Point2D start; Point2D start;
...@@ -38,11 +44,6 @@ public class VehicleBuilder { ...@@ -38,11 +44,6 @@ public class VehicleBuilder {
} }
} }
HardwareEmulatorInterface model_server; HardwareEmulatorInterface model_server;
SimulationResult result; SimulationResult result;
...@@ -60,7 +61,7 @@ public class VehicleBuilder { ...@@ -60,7 +61,7 @@ public class VehicleBuilder {
EEVehicleBuilder eeVehicleBuilder = new EEVehicleBuilder(eeSim); EEVehicleBuilder eeVehicleBuilder = new EEVehicleBuilder(eeSim);
InstantBus bus = new InstantBus(eeSim); InstantBus bus = new InstantBus(eeSim);
eeVehicleBuilder.createAllSensorsNActuators(bus); eeVehicleBuilder.createAllSensorsNActuators(bus);
eeVehicleBuilder.createController(model_server, config.autopilot_config, bus).get(); eeVehicleBuilder.createController(model_server, AUTOPILOT_CONFIG, bus);
PhysicalVehicleBuilder physicalVehicleBuilder = getVehicleBuilder(config.physics_model); PhysicalVehicleBuilder physicalVehicleBuilder = getVehicleBuilder(config.physics_model);
Vehicle simVehicle = new Vehicle(physicalVehicleBuilder ,eeVehicleBuilder); Vehicle simVehicle = new Vehicle(physicalVehicleBuilder ,eeVehicleBuilder);
...@@ -81,7 +82,7 @@ public class VehicleBuilder { ...@@ -81,7 +82,7 @@ public class VehicleBuilder {
StaticPlannedTrajectoryXSensor plannedX = (StaticPlannedTrajectoryXSensor) simVehicle.getEEVehicle().getSensorByType(BusEntry.PLANNED_TRAJECTORY_X).get(); StaticPlannedTrajectoryXSensor plannedX = (StaticPlannedTrajectoryXSensor) simVehicle.getEEVehicle().getSensorByType(BusEntry.PLANNED_TRAJECTORY_X).get();
plannedX.initializeTrajectory(trajectoryCoordinates.get("x")); plannedX.initializeTrajectory(trajectoryCoordinates.get("x"));
StaticPlannedTrajectoryXSensor plannedY = (StaticPlannedTrajectoryXSensor) simVehicle.getEEVehicle().getSensorByType(BusEntry.PLANNED_TRAJECTORY_Y).get(); StaticPlannedTrajectoryYSensor plannedY = (StaticPlannedTrajectoryYSensor) simVehicle.getEEVehicle().getSensorByType(BusEntry.PLANNED_TRAJECTORY_Y).get();
plannedY.initializeTrajectory(trajectoryCoordinates.get("Y")); plannedY.initializeTrajectory(trajectoryCoordinates.get("Y"));
result.register_car(physicalVehicle.getId(), config.name, config.config, trajectory); result.register_car(physicalVehicle.getId(), config.name, config.config, trajectory);
......
...@@ -60,7 +60,11 @@ public class VehicleConfig { ...@@ -60,7 +60,11 @@ public class VehicleConfig {
for (Map.Entry<String, JsonValue> entry : auto.entrySet()){ for (Map.Entry<String, JsonValue> entry : auto.entrySet()){
if (entry.getValue().getValueType() == JsonValue.ValueType.STRING){ if (entry.getValue().getValueType() == JsonValue.ValueType.STRING){
autopilot_config += entry.getKey() + "=" + ((JsonString) entry.getValue()).getString() + "\n"; autopilot_config += entry.getKey() + "=" + ((JsonString) entry.getValue()).getString() + "\n";
} else { }
// else if(entry.getValue().getValueType() == JsonValue.ValueType.TRUE) {
// autopilot_config += entry.getKey() + "=true\n";
// }
else {
autopilot_config += entry.getKey() + "\n"; autopilot_config += entry.getKey() + "\n";
} }
} }
......
usage-2.png

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