gym_donkeycar: version necessary for telemetry part

donkey_sim.py

#!/usr/bin/env python3
"""
Scripts for reading telemtry data of a DonkeySimObject

author: Rainer Bareiß, 2020
many thanks to the Parking Lot Nerds team & 
especially Tawn for so much support and lots of valuable hints 

"""

import os
import time
import donkeycar as dk

import json


class TelemetryController(object):
    '''
    store actual simulator data into influxdb
    '''
    def __init__(self, DonkeySimObject, path, inputs=None, types=None, user_meta=[]):
        # standard variables
        print("setting up part: influx...")

        self.inputs    = inputs
        self.types     = types
        self.user_meta = user_meta
        self.donkeyenv = DonkeySimObject
        
    def update(self):
        pass

    def run(self, *args):
        self.poll()
        return self.run_threaded()
        
    def run_threaded(self, *args):
        # prepare record
        assert len(self.inputs) == len(args)
        record = dict(zip(self.inputs, args))
        
        # get rid of non-numeric fields
        del record["cam/image_array"]
        del record["user/mode"]
        
        #print(record)
        print(self.donkeyenv.info)
    
    def shutdown(self):
        self.on = False

if __name__ == '__main__':
    pass



"""
donkey_sim:  {'msg_type': 'telemetry', 'steering_angle': 0, 'throttle': 0, 
'speed': 0.0002537463, 'hit': 'none', 
'time': 9714.574, 
'accel_x': 6.653834e-05, 'accel_y': 8.470644e-05, 'accel_z': -0.0002268534, 
'gyro_x': -3.883583e-06, 'gyro_y': -1.188326e-07, 'gyro_z': -3.279242e-06, 
'gyro_w': 1, 
'pos_x': 51.31769, 'pos_y': 5.26018, 'pos_z': 50.21447, 
'vel_x': 6.07326e-05, 'vel_y': 6.816578e-05, 'vel_z': -0.0002367534, 
'cte': 2.883248, 'activeNode': 0, 'totalNodes': 251, 
'disqualified': 0, 'bestLapTimeMS': 1000000, 
'currentLapTimeMS': 0, 'numLapsCompleted': 0, 
'on_road': 1, 'progress_on_shortest_path': 1.907349e-05}



manage_max1.py

imput after tub handler

    # RBX: create influxdb client
    mytelemetry = TelemetryController(path=cfg.DATA_PATH, inputs=inputs, types=types, user_meta=meta)
    V.add(mytelemetry, inputs=inputs, outputs=[""], threaded=True)
    # RBX

call command
(sds) rainer@neuron:~/mysim_robohat$ python manage_max1.py drive

"""