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# Copyright (C) 2023 Suchinton Chakravarty
# Copyright (C) 2024 Konsulko Group
#
# SPDX-License-Identifier: Apache-2.0
import logging
import math
import random
import time
import threading
from PyQt5.QtCore import QObject, pyqtSignal
from extras.KuksaClient import KuksaClient
class VehicleSimulator(QObject):
# Define signals for updating speed and rpm
speed_changed = pyqtSignal(int)
rpm_changed = pyqtSignal(int)
DEFAULT_IDLE_RPM = 1000
# NOTE: Highway by Nuremberg Messe
DEFAULT_STARTING_LAT = 49.416410
DEFAULT_STARTING_LON = 11.110604
def __init__(self):
super().__init__()
self.running = False
self.lock = threading.Lock()
self.thread = None
self.kuksa_client = KuksaClient()
self.freq = 10
self.vehicle_speed = 0
self.engine_speed = self.DEFAULT_IDLE_RPM
self.latitude = self.DEFAULT_STARTING_LAT
self.longitude = self.DEFAULT_STARTING_LON
self.count = 0
random.seed()
def start(self):
if not self.running:
self.kuksa_client.set_instance()
self.reset()
self.running = True
if not self.thread.is_alive():
self.thread.start()
def stop(self):
self.running = False
def reset(self):
with self.lock:
self.vehicle_speed = 0
self.engine_speed = self.DEFAULT_IDLE_RPM
self.latitude = self.DEFAULT_STARTING_LAT
self.longitude = self.DEFAULT_STARTING_LON
self.count = 0
self.thread = threading.Thread(target=self.run)
def run(self):
while self.running:
if not self.running:
break
self.set_signal("Vehicle.Powertrain.Transmission.SelectedGear", 127)
# Simulate acceleration and update speed and rpm
self.accelerate(60, 1800, 3)
self.accelerate(65, 1700, 1)
self.accelerate(80, 2500, 6)
self.accelerate(100, 3000, 4)
self.brake(80, 3000, 3)
self.accelerate(104, 4000, 6)
self.brake(40, 2000, 4)
self.accelerate(90, 3000, 5)
self.brake(1, 650, 5)
self.set_signal("Vehicle.Powertrain.Transmission.SelectedGear", 126)
# Ensure reset is called when not in cruise mode
if not self.running:
self.reset()
time.sleep(5)
def accelerate(self, target_speed, target_rpm, duration):
if target_speed <= self.vehicle_speed:
return
v = (target_speed - self.vehicle_speed) / (duration * self.freq)
r = (target_rpm - self.engine_speed) / (duration * self.freq)
while self.vehicle_speed < target_speed and self.running:
with self.lock:
self.vehicle_speed += v
self.engine_speed += r
self.speed_changed.emit(int(self.vehicle_speed))
self.rpm_changed.emit(int(self.engine_speed))
updates = {}
updates["Vehicle.Speed"] = self.vehicle_speed
updates["Vehicle.Powertrain.CombustionEngine.Speed"] = self.engine_speed
self.simulate_position(self.vehicle_speed, v, False, updates)
self.count = self.count + 1
if self.count > 1:
self.set_signals(updates)
self.count = 0
time.sleep(1 / self.freq)
def brake(self, target_speed, target_rpm, duration):
if target_speed >= self.vehicle_speed:
return
v = (self.vehicle_speed - target_speed) / (duration * self.freq)
r = (self.engine_speed - target_rpm) / (duration * self.freq)
while self.vehicle_speed > target_speed and self.running:
with self.lock:
self.vehicle_speed -= v
self.engine_speed -= r
self.speed_changed.emit(int(self.vehicle_speed))
self.rpm_changed.emit(int(self.engine_speed))
updates = {}
updates["Vehicle.Speed"] = self.vehicle_speed
updates["Vehicle.Powertrain.CombustionEngine.Speed"] = self.engine_speed
self.simulate_position(self.vehicle_speed, v, True, updates)
self.count = self.count + 1
if self.count > 1:
self.set_signals(updates)
self.count = 0
time.sleep(1 / self.freq)
def increase(self, bycruise=True):
if self.CRUISEACTIVE:
target_speed = self.vehicle_speed + 5
target_rpm = self.engine_speed * 1.1
self.accelerate(target_speed, target_rpm, 2, bycruise)
def decrease(self, bycruise=True):
if self.CRUISEACTIVE:
target_speed = self.vehicle_speed - 5
target_rpm = self.engine_speed * 0.9
self.brake(target_speed, target_rpm, 2, bycruise)
def resume(self, bycruise=True):
target_speed = self.CRUISESPEED
target_rpm = self.CRUISERPM
current_speed = self.get_vehicle_speed()
if target_speed > current_speed:
self.accelerate(target_speed, target_rpm, 2, bycruise)
else:
self.brake(target_speed, target_rpm, 2, bycruise)
def set_signal(self, signal, value):
try:
self.kuksa_client.set(signal, value, 'value')
except Exception as e:
logging.error(f"Error sending value to kuksa {e}")
def set_signals(self, values):
try:
self.kuksa_client.setValues(values)
except Exception as e:
logging.error(f"Error sending values to kuksa {e}")
def simulate_position(self, speed_current, speed_delta, braking, updates):
# From https://stackoverflow.com/questions/1253499/simple-calculations-for-working-with-lat-lon-and-km-distance
latKmPerDegree = 110.574
lonKmPerDegree = 111.320 * math.cos((self.latitude * math.pi) / (180))
time_seconds = 1 / self.freq
self.latitude += (speed_current * 0.7 * time_seconds / 3600) / latKmPerDegree
self.longitude += (speed_current * 0.3 * time_seconds / 3600) / lonKmPerDegree
accelX = (speed_delta * 1000 / 3600) * self.freq
throttlePosition = accelX / 6 * 100
brakePosition = 0
if throttlePosition > 100:
throttlePosition = 100
if braking:
brakePosition = throttlePosition
throttlePosition = 0
accelX = -accelX
accelY = random.randrange(-150, 150) / 100.0
accelZ = random.randrange(-100, 100) / 100.0
pitch = random.randrange(-1000, 1000) / 300.0
roll = random.randrange(-1000, 1000) / 300.0
yaw = random.randrange(-1000, 1000) / 300.0
steeringAngle = random.randrange(-90, 90)
updates["Vehicle.OBD.ThrottlePosition"] = throttlePosition
updates["Vehicle.Chassis.Brake.PedalPosition"] = brakePosition
updates["Vehicle.Chassis.SteeringWheel.Angle"] = steeringAngle
updates["Vehicle.CurrentLocation.Latitude"] = self.latitude
updates["Vehicle.CurrentLocation.Longitude"] = self.longitude
updates["Vehicle.Acceleration.Lateral"] = accelX
updates["Vehicle.Acceleration.Longitudinal"] = accelY
updates["Vehicle.Acceleration.Vertical"] = accelZ
updates["Vehicle.AngularVelocity.Pitch"] = pitch
updates["Vehicle.AngularVelocity.Roll"] = roll
updates["Vehicle.AngularVelocity.Yaw"] = yaw
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