Add Python Script to Convert CARLA data into CAN messagessalmon_18.90.0salmon/18.90.018.90.0

V1:
    - Add carla_to_CAN.py script to convert CARLA data into CAN messages
    - Add README and requirements.txt

V2:
    - Add script to record and playback messages from can interface
    - Fix mappings to agl-vcar.dbc file

V3:
    - Fix playback feature for record_playback.py
    - Update requirements.txt
    - Update README to explain setup and usage of Scripts with CARLA

V4:
    - Add file playback feature to Demo Control Panel
    - Remove dependency on numpy to calculate vehicle speed, use math lib instead
    - record_playback.py can now be imported and also be used in standalone mode
    - Fix: Now data is sent to CAN interface only when it is updated
    - Fix: Delay is now based on previous timestamp and not the starting timestamp
    - Fix: Send correct Gear messages, compatible with the agl-vcar signals

Bug-AGL: SPEC-5161

Change-Id: I18a14e8e6ac4d24e6ed8774402fb93a36dec274e
Signed-off-by: Suchinton <suchinton.2001@gmail.com>

1 files changed, 84 insertions, 0 deletions

diff --git a/Scripts/README.md b/Scripts/README.md
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+## Setting up CARLA
+
+You can follow the steps provided in the [CARLA documentation](https://carla.readthedocs.io/en/latest/start_quickstart/#carla-installation) for installing CARLA.
+
+We recommend using the [latest release](https://github.com/carla-simulator/carla/releases/), and using the supported Python version to run the `carla_to_CAN.py` Script.
+
+1. Running the CARLA Server
+
+	```bash
+	# Move to the installation directory
+	$ cd /path/to/CARLA_<version>
+
+	# Start the CARLA Server
+	$ ./CarlaUE4.sh
+
+	# To run using minimum resources
+	$ ./CarlaUE4.sh -quality-level=Low -prefernvidia
+	```
+
+	You may also add the `-RenderOffScreen` flag to start CARLA in off-screen mode. Refer to the various [rendering options](https://carla.readthedocs.io/en/latest/adv_rendering_options/#no-rendering-mode) for more details.
+
+	Another way of running the CARLA server without a display is by using [CARLA in Docker](https://carla.readthedocs.io/en/latest/build_docker/).
+
+2. Starting a Manual Simulation
+
+	```bash
+	# Navigate to directory containing the demo python scripts
+	# 
+	$ cd /path/to/CARLA_<version>/PythonAPI/examples
+	```
+	
+	Create a Python virtual environment and resolve dependencies
+	```bash 
+	$ python3 -m venv carlavenv
+	$ source carlavenv/bin/activate
+	$ pip3 install -r requirements.txt
+
+	# Start the manual_control.py script
+	$ python3 manual_control.py
+	```
+
+## Converting CARLA data into CAN
+
+The `carla_to_CAN.py` script can be run run alongside an existing CARLA simulation to fetch data and convert it into CAN messages based on the [agl-vcar.dbc](https://git.automotivelinux.org/src/agl-dbc/plain/agl-vcar.dbc) file.
+
+While the `record_playback.py` script is responsible for recording amd playing back the CAN data for later sessions.
+
+_NOTE_: This does **not** require the CARLA server to be running.
+
+To access these scripts, clone the [AGL Demo Control Panel](https://gerrit.automotivelinux.org/gerrit/admin/repos/src/agl-demo-control-panel,general) project.
+
+```bash
+# Move to the Scripts directory
+$ cd /path/to//agl-demo-control-panel/Scripts
+
+# Fetch the agl-vcar.dbc file
+$ wget -nd -c "https://git.automotivelinux.org/src/agl-dbc/plain/agl-vcar.dbc"
+```
+
+Create a Python virtual environment and resolve dependencies
+```bash
+$ python3 -m venv carlavenv
+$ source carlavenv/bin/activate
+$ pip3 install -r requirements.txt
+
+# Optionally, set up the vcan0 interface
+$ ./vcan.sh
+```
+
+1. Converting CARLA Data into CAN
+
+	```bash
+	$ python -u carla_to_CAN.py
+	# OR
+	$ python -u carla_to_CAN.py --host <carla_server_ip> --port <carla_server_port>
+	```
+
+2. Recording and Playback of CAN messages
+
+	```bash
+	$ python -u record_playback.py
+	# OR
+	$ python -u record_playback.py --interface (or) -i can0 # default vcan0
+	```
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