Tasks Completed: #
# Changes Pushed to Gerrit this Week #
This week I made a few revisions to last week’s commit 29969: Port AGL Demo Control Panel to Qt6 based on code review in two patches:
- Refactored set_icon function in Dashboard module to make use
of QIcon directly instead of using the QtSvg library
(Invalid in PyQt6)
- Syntax changes in UI_Handeler to use PyQt6
- Update gitignore
- Remove dependency on qtpy
# Pulling Data from CARLA APIs for Recording and Playback Sessions. #
This week, I created the carla_to_CAN.py script, which works in parallel with the manual_control.py or start_replaying.py scripts. The script listens to the CARLA server, fetches the required ego vehicle data, and prints it to the console.
I referred to the existing CARLA Python API example scripts and the official documentation for the various APIs used in this script.
The data currently being pulled and reported to the console are:
- Vehicle Speed
- Throttle Data
- Left Indicator Status
- Right Indicator Status
- Gear Selection
Tasks in Progress: #
# Write out data file for playback #
This part of carla_to_CAN.py is still a work in progress. We are converting the extracted data into equivalent CAN signals and writing it into a CAN-dump file along with its timestamp for playback purposes.
This CAN dump file will be used by the AGL Demo Control Panel to feed data into the CAN interface using python-can.
For converting the required data into CAN Frames, I’m using the agl-vcar.dbc file as a reference.
# Update Docker File #
I have also started updating the Docker File to run the Qt6 port of the Control Panel properly, resolving all dependencies.
Next Week Tasks: #
- Continue work on file playback using CARLA
- Push updated Docker File
- Add new signals to fetch tyre pressure