Add timestamp to control signal

Author: roshambo919

avstack/modules/control/__init__.py

@@ -1,4 +1,5 @@
 from .pid import PIDBase, PIDLateralController, PIDLongitudinalController
+from .types import VehicleControlSignal
 from .vehicle import VehiclePIDController
 
 
@@ -7,4 +8,5 @@
     "PIDLateralController",
     "PIDLongitudinalController",
     "VehiclePIDController",
+    "VehicleControlSignal",
 ]

avstack/modules/control/types.py

@@ -1,13 +1,17 @@
 class VehicleControlSignal:
     def __init__(
         self,
+        timestamp=None,
         throttle=0.0,
         brake=0.0,
         steer=0.0,
         hand_brake=False,
         reverse=False,
         manual_gear_shift=False,
     ):
+        """Define the vehicle control signal"""
+
+        self.timestamp = timestamp
         self.throttle = throttle
         self.brake = brake
         self.steer = steer
@@ -46,4 +50,4 @@ def __repr__(self):
         return self.__str__()
 
     def __str__(self):
-        return f"VehicleControlSignal -- throttle: {self.throttle}, brake: {self.brake}, steer: {self.steer}"
+        return f"VehicleControlSignal at time {self.timestamp:.3f} -- throttle: {self.throttle}, brake: {self.brake}, steer: {self.steer}"