Week 04 Progress Report ·

Table of Contents

Tasks Completed:
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# New Animations
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This week I made significant changes to the UI elements and animations of the AGL Demo Control Panel to make it more responsive optimized.

Changes can be reviewed here in 29969: Port AGL Demo Control Panel to Qt6

Toggle Button
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This week I rewrote the animatedToggle.py module to remove dependency on the qtwidgets library (Not compatible with Qt6 yet).

Navigation Bar
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The Navigation Bar Animation was also updated to have Bounce effect using “OutBounce” QEasingCurve.

# Converting Data from CARLA to CAN messages
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This Week I modified the manual_control.py module from the CARLA Python API examples programs to convert the extracted data into their equivalent CAN format using the agl-vcar.dbc file.

class convert_to_can(object):
    def __init__(self):
        self.db = cantools.database.load_file('test.dbc')
        self.can_bus = can.interface.Bus('vcan0', bustype='socketcan')
        self.speed_message = self.db.get_message_by_name('Vehicle_Status_1')
        self.gear_message = self.db.get_message_by_name('Transmission')
        self.speed_cache = 0
        self.steer_cache = 0
        self.gear_cache = "P"
    def send_car_speed(self, speed):
        if int(speed) != int(self.speed_cache):
            if(int(speed) != 0):
                self.send_gear("D")
            else:
                self.send_gear("P")
            self.speed_cache = speed
            data = self.speed_message.encode({'CAR_SPEED': speed})
            message = can.Message(arbitration_id=self.speed_message.frame_id, data=data)
            self.can_bus.send(message)

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