Major API Update

AmirmohammadZarif · AmirmohammadZarif · commit c44f933033e6 · 2022-01-18T03:24:06.000+03:30
diff --git a/AVISEngine.py b/AVISEngine.py
@@ -1,48 +1,98 @@
-# @ 2020, Copyright Amirmohammad Zarif
-# AVIS Engine
+'''
+@ 2022, Copyright AVIS Engine
+'''
+
 import cv2
-import os
-import io
 import re
-import time
-import math
 import base64
+import time
 import socket
 import numpy as np
-from PIL import Image
-from array import array
+import utils
 
-#Take in base64 string and return PIL image
-def stringToImage(base64_string):
-    imgdata = base64.b64decode(base64_string)
-    return Image.open(io.BytesIO(imgdata))
+__author__ = "Amirmohammad Zarif"
+__email__ = "amirmohammadzarif@avisengine.com"
 
-#convert PIL Image to an RGB image( technically a numpy array ) that's compatible with opencv
-def toRGB(image):
-    return cv2.cvtColor(np.array(image), cv2.COLOR_BGR2RGB)
 
-class car():
+class Car():
+    '''
+    AVIS Engine Main car class
+    
+    Attributes
+    ----------
+
+    Private:
+        steering_value
+        speed_value
+        sensor_status
+        image_mode
+        get_Speed
+        data_arr
+        data_str
+        sock
+        image
+        sensors
+        current_speed
+        sensor_angle
+    '''
+
+    #Attributes to kind of replicate a Pub-sub pattern messaging to request data  
     steering_value = 0
     speed_value = 0
     sensor_status = 1
     image_mode = 1
     get_Speed = 1
+    sensor_angle = 30
+    
     sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    data_arr = [speed_value,steering_value,image_mode,sensor_status,get_Speed]
-    data_str = "Speed:" + str(data_arr[0]) + ",Steering:" + str(data_arr[1]) + ",ImageStatus:" + str(data_arr[2]) + ",SensorStatus:" + str(data_arr[3]) + ",GetSpeed:" + str(data_arr[4])
+
+    #Data format for request
+    data_arr = [speed_value, steering_value, image_mode, sensor_status, get_Speed, sensor_angle]
+    _data_format = "Speed:{},Steering:{},ImageStatus:{},SensorStatus:{},GetSpeed:{},SensorAngle:{}"
+    data_str = _data_format.format(data_arr[0], data_arr[1], data_arr[2], data_arr[3], data_arr[4], data_arr[5])
+    
     image = None
     sensors = None
     current_speed = None
+
     def connect(self,server,port):
+        '''
+        Connecting to the simulator (server)
+        '''
         try:
             self.sock.connect((server, port))
             self.sock.settimeout(5.0)
+            
             print("connected to ", server, port)
             return True
         except:
             print("Failed to connect to ", server, port)
             return False
+
+    def recvall(self, socket):
+        '''
+        Function to receive all the data chunks
+        '''
+        BUFFER_SIZE = 131072
+        data = ""
+        while True:
+            part = socket.recv(BUFFER_SIZE).decode("utf-8")
+            data += part
+            # Use KMP search to find the <EOF>, KMPSearch() returns -1 if the pattern was not found
+            if(utils.KMPSearch("<EOF>", data) > -1):
+                break
+            
+        return data
+        
     def setSteering(self,steering):
+        '''
+        Setting the steering of the car
+        
+        Parameters
+        ----------
+            steering : int
+                Steering value in degree
+        '''
         self.steering_value = steering
         self.image_mode = 0
         self.sensor_status = 0
@@ -51,27 +101,50 @@ def setSteering(self,steering):
         time.sleep(0.01)
 
     def setSpeed(self,speed):
+        '''
+        Setting the speed of the car
+        
+        Parameters
+        ----------
+            speed : int
+        '''
         self.speed_value = speed
         self.image_mode = 0
         self.sensor_status = 0
         self.updateData()
         self.sock.sendall(self.data_str.encode("utf-8"))
         time.sleep(0.01)
-    
-    def move(self):
+
+    def setSensorAngle(self, angle):
+        '''
+        Setting the angle between each sensor ray
+        
+        Parameters
+        ----------
+            angle : int
+                In degrees
+        '''
+
+        self.image_mode = 0
+        self.sensor_status = 0
+        self.sensor_angle = angle
         self.updateData()
         self.sock.sendall(self.data_str.encode("utf-8"))
-         
+        
     def getData(self):
+        '''
+        Requesting for the data from the simulator
+        '''
         self.image_mode = 1
         self.sensor_status = 1
         self.updateData()
         self.sock.sendall(self.data_str.encode("utf-8"))
-        recive = self.sock.recv(131072).decode("utf-8")
-        imageTagCheck = re.search('<image>(.*?)<\/image>', recive)
-        sensorTagCheck = re.search('<sensor>(.*?)<\/sensor>', recive)
-        speedTagCheck = re.search('<speed>(.*?)<\/speed>', recive)
-        
+
+        receive = self.recvall(self.sock)
+
+        imageTagCheck = re.search('<image>(.*?)<\/image>', receive)
+        sensorTagCheck = re.search('<sensor>(.*?)<\/sensor>', receive)
+        speedTagCheck = re.search('<speed>(.*?)<\/speed>', receive)            
         
         try:
             if(imageTagCheck):
@@ -88,36 +161,52 @@ def getData(self):
                 self.sensors = sensor_int_arr
             else:
                 self.sensors = [1500,1500,1500]
+
             if(speedTagCheck):
                 current_sp = speedTagCheck.group(1)
                 self.current_speed = int(current_sp)
             else:
                 self.current_speed = 0
-            
-            
         except:
-            pass
-            
+            print("Failed to receive data")
+
 
     def getImage(self):
+        '''
+        Returns the image from the camera
+        '''
         return self.image
 
     def getSensors(self):
+        '''
+        Returns the sensor data
+            A List: 
+                [Left Sensor: int, Middle Sensor: int, Right Sensor: int]
+        '''
         return self.sensors
     
     def getSpeed(self):
+        '''
+        Returns the speed of the car
+        '''
         return self.current_speed
     
     def updateData(self):
-        data = [self.speed_value,self.steering_value,self.image_mode,self.sensor_status,self.get_Speed]
-        self.data_str = "Speed:" + str(data[0]) + ",Steering:" + str(data[1]) + ",ImageStatus:" + str(data[2]) + ",SensorStatus:" + str(data[3]) + ",GetSpeed:" + str(data[4])
-    
+        '''
+        Updating the request data array and data string
+        '''
+        data = [self.speed_value,self.steering_value,self.image_mode,self.sensor_status,self.get_Speed, self.sensor_angle]
+        self.data_str = self._data_format.format(data[0], data[1], data[2], data[3], data[4], data[5])
+        
     def stop(self):
+        '''
+        Stoping the car and closing the socket
+        '''
         self.setSpeed(0)
         self.setSteering(0)
         self.sock.sendall("stop".encode("utf-8"))
         self.sock.close()
-        print("done")
+        print("Process stopped successfully!")
     
     def __del__(self):
         self.stop()
diff --git a/Example.py b/Example.py
@@ -1,21 +1,26 @@
-# @ 2020, Copyright Amirmohammad Zarif
-# Compatible with AVISEngine version 1.0.1 or higher
+'''
+@ 2022, Copyright AVIS Engine
+Example Compatible with AVISEngine version 2.0.1 or higher
+''' 
 import AVISEngine
+import config
 import time
 import cv2
 
 #Calling the class
-car = AVISEngine.car()
+car = AVISEngine.Car()
 
 #connecting to the server (Simulator)
-car.connect("127.0.0.1", 25001)
+car.connect(config.SIMULATOR_IP, config.SIMULATOR_PORT)
 
 #Counter variable
 counter = 0
 
 debug_mode = False
-#sleep for 3 seconds to make sure that client connected to the simulator 
+
+#Sleep for 3 seconds to make sure that client connected to the simulator 
 time.sleep(3)
+
 try:
     while(True):
         #Counting the loops
@@ -27,12 +32,16 @@
 
         #Set the Steering of the car -10 degree from center
         car.setSteering(-10)
+        
+        #Set the angle between sensor rays to 30 degrees, Use this only if you want to set it from python client
+        car.setSensorAngle(40) 
 
         #Get the data. Need to call it every time getting image and sensor data
         car.getData()
 
         #Start getting image and sensor data after 4 loops. for unclear some reason it's really important 
         if(counter > 4):
+
             #returns a list with three items which the 1st one is Left sensor data, the 2nd one is the Middle Sensor data, and the 3rd is the Right one.
             sensors = car.getSensors() 
             #EX) sensors[0] returns an int for left sensor data in cm
@@ -46,21 +55,14 @@
             #Don't print data for better performance
             if(debug_mode):
                 print("Speed : ",carSpeed) 
-                #currently the angle between the sensors is 30 degree TODO : be able to change that from conf.py
                 print("Left : " + str(sensors[0]) + "   |   " + "Middle : " + str(sensors[1])  +"   |   " + "Right : " + str(sensors[2]))
 
-            #showing the opencv type image
+            #Showing the opencv type image
             cv2.imshow('frames', image)
-            #break the loop when q pressed
+            #Break the loop when q pressed
             if cv2.waitKey(10) == ord('q'):
                 break
             time.sleep(0.001)
-        #A brief sleep to make sure everything 
-        
-finally:
-    car.stop()
-
-
-
-
 
+finally:
+    car.stop()
diff --git a/README.md b/README.md
@@ -2,6 +2,34 @@
 A Python API Implemented for AVIS Engine(Autonomous Vehicles Intelligent simulation Software).
 
 # Changelog (Simulator)
+### - 2.1.0 (-Not Released: Planned for March, 2022)
+- Switching to ZMQ
+- Configuration file
+- Configurable Camera settings (FOV, Position, Mode, Bird-eye view, ...)
+- Configurable Post Processing (DOF, Bloom, Color Corrections, ...)
+- Semantic mode
+- Depth Camera 
+- Radar
+- Pub-sub pattern messaging system
+
+### - 2.0.1
+- Major API Update
+- Updated Image Encoding
+- Compressed TCP Packets
+- Added Utils.py
+- Added Config.py
+- Higher Resolution camera with better performance
+- Adjustable Camera Resolution
+- Message Compression Algorithm
+- Defined <EOF> tag in transfered data from simulator to client
+- Adjustable front sensor angle
+- Added KMP Search to find <EOF>
+
+### - 2.0.0 Major Update
+- Added a New City
+- Added Fog
+- Improvements
+
 ### - 1.2.0
 - Added localization and multilingual support. (English, Persian, Russian, France, German, Chinese, Italian, Spanish, Japanese, Korean, Turkish) 
 - Visual Improvements.
diff --git a/config.py b/config.py
@@ -0,0 +1,10 @@
+'''
+@ 2022, Copyright AVIS Engine
+'''
+
+SIMULATOR_IP = "127.0.0.1"
+SIMULATOR_PORT = 25001
+
+CAMERA_RESOLUTION = [720, 360] # [Width, Height]
+
+    
diff --git a/utils.py b/utils.py
