Initial commit

LaneFollowingSensor.cs

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+/**
+ * Copyright (c) 2020 LG Electronics, Inc.
+ *
+ * This software contains code licensed as described in LICENSE.
+ *
+ */
+
+using UnityEngine;
+using Simulator.Bridge;
+using Simulator.Utilities;
+using Simulator.Sensors.UI;
+using Simulator.Bridge.Ros;
+using System.Collections.Generic;
+
+namespace Simulator.Sensors
+{
+    [SensorType("Lane Following", new System.Type[] { })]
+    public class LaneFollowingSensor : SensorBase, IVehicleInputs
+    {
+        private float ADSteerInput = 0f;
+        private double LastControlUpdate = 0f;
+
+        public float SteerInput { get; private set; } = 0f;
+        public float AccelInput { get; private set; } = 0f;
+        public float BrakeInput { get; private set; } = 0f;
+
+        private void Awake()
+        {
+            LastControlUpdate = SimulatorManager.Instance.CurrentTime;
+        }
+
+        public override void OnBridgeSetup(IBridge bridge)
+        {
+            bridge.AddReader<TwistStamped>(Topic, data =>
+            {
+                LastControlUpdate = SimulatorManager.Instance.CurrentTime;
+                ADSteerInput = (float)data.twist.angular.x;
+            });
+        }
+
+        public void Update()
+        {
+            if (SimulatorManager.Instance.CurrentTime - LastControlUpdate >= 0.5)
+            {
+                ADSteerInput = SteerInput = 0f;
+            }
+        }
+
+        private void FixedUpdate()
+        {
+            if (SimulatorManager.Instance.CurrentTime - LastControlUpdate < 0.5f)
+            {
+                SteerInput = ADSteerInput;
+            }
+        }
+
+        public override void OnVisualize(Visualizer visualizer)
+        {
+            Debug.Assert(visualizer != null);
+            var graphData = new Dictionary<string, object>()
+            {
+                {"AD Steer Input", ADSteerInput},
+                {"Last Control Update", LastControlUpdate},
+            };
+
+            visualizer.UpdateGraphValues(graphData);
+        }
+
+        public override void OnVisualizeToggle(bool state)
+        {
+            //
+        }
+    }
+}

LaneFollowingSensor.prefab

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