from qvl.qlabs import CommModularContainer
from qvl.character import QLabsCharacter
import math
import struct
######################### MODULAR CONTAINER CLASS #########################
[docs]class QLabsPerson(QLabsCharacter):
""" This class implements spawning and AI navigation of the environment for human pedestrians."""
ID_PERSON = 10030
FCN_PERSON_ENABLE_COLLISION = 20
FCN_PERSON_ENABLE_COLLISION_ACK = 21
FCN_PERSON_ADD_COLLISION_FILTER = 22
FCN_PERSON_ADD_COLLISION_FILTER_ACK = 23
FCN_PERSON_GET_COLLISION_COUNT = 24
FCN_PERSON_GET_COLLISION_COUNT_RESPONSE = 25
STANDING = 0
""" Speed constant for the move_to method. """
WALK = 1.2
""" Speed constant for the move_to method. """
JOG = 3.6
""" Speed constant for the move_to method. """
RUN = 6.0
""" Speed constant for the move_to method. """
[docs] def __init__(self, qlabs, verbose=False):
""" Constructor method
:param qlabs: A QuanserInteractiveLabs object
:param verbose: (Optional) Print error information to the console.
:type qlabs: object
:type verbose: boolean
"""
self._qlabs = qlabs
self._verbose = verbose
self.classID = self.ID_PERSON
return
[docs] def enable_collision(self, enable, waitForConfirmation=True):
"""Allows for the person to respond and track the number of external collisions. Note that at least one collision filter must also be added.
:param enable: Enable or disable the collision response.
:param waitForConfirmation: (Optional) Wait for confirmation of the before proceeding. This makes the method a blocking operation.
:type enable: boolean
:type waitForConfirmation: boolean
:return: `True` if successful, `False` otherwise.
:rtype: boolean
"""
c = CommModularContainer()
c.classID = self.ID_PERSON
c.actorNumber = self.actorNumber
c.actorFunction = self.FCN_PERSON_ENABLE_COLLISION
c.payload = bytearray(struct.pack(">B", enable))
c.containerSize = c.BASE_CONTAINER_SIZE + len(c.payload)
if waitForConfirmation:
self._qlabs.flush_receive()
if (self._qlabs.send_container(c)):
if waitForConfirmation:
c = self._qlabs.wait_for_container(self.ID_PERSON, self.actorNumber, self.FCN_PERSON_ENABLE_COLLISION_ACK)
if (c == None):
return False
else:
return True
return True
else:
return False
[docs] def add_collision_filter(self, class_id, waitForConfirmation=True):
"""When collisions are enabled, the person will respond to hits from any actor of this class. This function may be called multiple times to add multiple classes.
:param class_id: The actor class number to which the person should respond to.
:param waitForConfirmation: (Optional) Wait for confirmation of the before proceeding. This makes the method a blocking operation.
:type enable: int32
:type waitForConfirmation: boolean
:return: `True` if successful, `False` otherwise.
:rtype: boolean
"""
c = CommModularContainer()
c.classID = self.ID_PERSON
c.actorNumber = self.actorNumber
c.actorFunction = self.FCN_PERSON_ADD_COLLISION_FILTER
c.payload = bytearray(struct.pack(">I", class_id))
c.containerSize = c.BASE_CONTAINER_SIZE + len(c.payload)
if waitForConfirmation:
self._qlabs.flush_receive()
if (self._qlabs.send_container(c)):
if waitForConfirmation:
c = self._qlabs.wait_for_container(self.ID_PERSON, self.actorNumber, self.FCN_PERSON_ADD_COLLISION_FILTER_ACK)
if (c == None):
return False
else:
return True
return True
else:
return False
[docs] def get_collision_count(self):
"""Get the total number of collsions this actor has experienced. Note that collisions must be enabled and at least one collision filter set for this count to be active.
:return:
- **status** - True if successful or False otherwise
- **count** - Number of hits the person has registered
:rtype: boolean, int32
"""
c = CommModularContainer()
c.classID = self.ID_PERSON
c.actorNumber = self.actorNumber
c.actorFunction = self.FCN_PERSON_GET_COLLISION_COUNT
c.payload = bytearray()
count = -1
c.containerSize = c.BASE_CONTAINER_SIZE + len(c.payload)
self._qlabs.flush_receive()
if (self._qlabs.send_container(c)):
c = self._qlabs.wait_for_container(self.ID_PERSON, self.actorNumber, self.FCN_PERSON_GET_COLLISION_COUNT_RESPONSE)
if (c == None):
return False, count
else:
if (len(c.payload) == 4):
count, = struct.unpack(">I", c.payload)
return True, count
else:
return False, count
else:
return False, count