Compile FrogPilot

tools/sim/lib/common.py

@@ -1,94 +0,0 @@
-import math
-import threading
-import numpy as np
-
-from abc import ABC, abstractmethod
-from collections import namedtuple
-
-W, H = 1928, 1208
-
-
-vec3 = namedtuple("vec3", ["x", "y", "z"])
-
-class GPSState:
-  def __init__(self):
-    self.latitude = 0
-    self.longitude = 0
-    self.altitude = 0
-
-  def from_xy(self, xy):
-    """Simulates a lat/lon from an xy coordinate on a plane, for simple simlation. TODO: proper global projection?"""
-    BASE_LAT = 32.75308505188913
-    BASE_LON = -117.2095393365393
-    DEG_TO_METERS = 100000
-
-    self.latitude = float(BASE_LAT + xy[0] / DEG_TO_METERS)
-    self.longitude = float(BASE_LON + xy[1] / DEG_TO_METERS)
-    self.altitude = 0
-
-
-class IMUState:
-  def __init__(self):
-    self.accelerometer: vec3 = vec3(0,0,0)
-    self.gyroscope: vec3 = vec3(0,0,0)
-    self.bearing: float = 0
-
-
-class SimulatorState:
-  def __init__(self):
-    self.valid = False
-    self.is_engaged = False
-    self.ignition = True
-
-    self.velocity: vec3 = None
-    self.bearing: float = 0
-    self.gps = GPSState()
-    self.imu = IMUState()
-
-    self.steering_angle: float = 0
-
-    self.user_gas: float = 0
-    self.user_brake: float = 0
-    self.user_torque: float = 0
-
-    self.cruise_button = 0
-
-    self.left_blinker = False
-    self.right_blinker = False
-
-  @property
-  def speed(self):
-    return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2)
-
-
-class World(ABC):
-  def __init__(self, dual_camera):
-    self.dual_camera = dual_camera
-
-    self.image_lock = threading.Lock()
-    self.road_image = np.zeros((H, W, 3), dtype=np.uint8)
-    self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8)
-
-  @abstractmethod
-  def apply_controls(self, steer_sim, throttle_out, brake_out):
-    pass
-
-  @abstractmethod
-  def tick(self):
-    pass
-
-  @abstractmethod
-  def read_sensors(self, simulator_state: SimulatorState):
-    pass
-
-  @abstractmethod
-  def read_cameras(self):
-    pass
-
-  @abstractmethod
-  def close(self):
-    pass
-
-  @abstractmethod
-  def reset(self):
-    pass