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VAMPIR-Lab · Mar 25, 2024 · 6a22994 · 6a22994
1 parent 1d02fc6
commit 6a22994
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Showing 4 changed files with 11 additions and 8 deletions.
diff --git a/src/VehicleSim.jl b/src/VehicleSim.jl
@@ -26,6 +26,6 @@ include("measurements.jl")
 include("map.jl")
 include("example_project.jl")
 
-export server, shutdown!, keyboard_client, GroundTruthMeasurement, CameraMeasurement, IMUMeasurement, GPSMeasurement, VehicleCommand, training_map, load_mechanism
+export server, shutdown!, keyboard_client, GroundTruthMeasurement, CameraMeasurement, IMUMeasurement, GPSMeasurement, VehicleCommand, training_map, load_mechanism, MeasurementMessage
 
 end
diff --git a/src/client.jl b/src/client.jl
@@ -41,7 +41,7 @@ function keyboard_client(host::IPAddr=IPv4(0), port=4444; v_step = 1.0, s_step =
                 num_gps += 1
             end
         end
-  #      @info "Measurements received: $num_gt gt; $num_cam cam; $num_imu imu; $num_gps gps"
+        @info "Measurements received: $num_gt gt; $num_cam cam; $num_imu imu; $num_gps gps"
     end
 
     target_velocity = 0.0
@@ -83,7 +83,7 @@ function keyboard_client(host::IPAddr=IPv4(0), port=4444; v_step = 1.0, s_step =
             steering_angle -= s_step
             @info "Target steering angle: $steering_angle"
         end
-        cmd = VehicleCommand(steering_angle, target_velocity, controlled)
+        cmd = (steering_angle, target_velocity, controlled)
         serialize(socket, cmd)
     end
 end
@@ -106,7 +106,7 @@ function example_client(host::IPAddr=IPv4(0), port=4444)
             shutdown = true
             persist = false
         end
-        cmd = VehicleCommand(0.0, 2.5, persist, shutdown)
+        cmd = (0.0, 2.5, persist, shutdown)
         serialize(socket, cmd) 
     end
 

diff --git a/src/example_project.jl b/src/example_project.jl
@@ -66,7 +66,7 @@ function decision_making(localization_state_channel,
         # figure out what to do ... setup motion planning problem etc
         steering_angle = 0.0
         target_vel = 0.0
-        cmd = VehicleCommand(steering_angle, target_vel, true)
+        cmd = (steering_angle, target_vel, true)
         serialize(socket, cmd)
     end
 end
@@ -78,7 +78,7 @@ end
 
 function my_client(host::IPAddr=IPv4(0), port=4444)
     socket = Sockets.connect(host, port)
-    map_segments = VehicleSim.training_map()
+    map_segments = VehicleSim.city_map()
 
     msg = deserialize(socket) # Visualization info
     @info msg

diff --git a/src/sim.jl b/src/sim.jl
@@ -168,17 +168,20 @@ function server(max_vehicles=1,
                                         break
                                     end
                                 end
-                                car_cmd = deserialize(sock)
+                                raw_cmd = deserialize(sock)
                                 received = true
 
                                 !received && continue
+                                car_cmd =  VehicleCommand(raw_cmd...)
                                 put!(cmd_channels[vehicle_id], car_cmd)
                                 if !car_cmd.controlled
                                     close(sock)
                                end
                             end
                         catch e
-                            @warn "Error receiving command for vehicle $vehicle_id. Did client fail?"
+                            @warn e
+                            @warn "Error receiving command for vehicle $vehicle_id. Client may have failed. Closing socket connection to client."
+                            close(sock)
                         end
                     end
                     @async begin