Week 07 Progress Report

Tasks Completed:

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During the seventh week of my Google Summer of Code (GSoC) project, I made significant strides in implementing the CARLA-CAN-File playback feature within the Automotive Grade Linux (AGL) ecosystem. Below, I provide detailed information about the tasks completed, documentation updates, and plans for the upcoming week.

# CARLA Playback

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I submitted code changes to Gerrit for review and integration into the AGL demo control panel repository. The specific change can be found here :- 30049: Add Python Script to Convert CARLA data into CAN messages

Conversion of CARLA data to CAN messages

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The carla_to_CAN.py script can be run run alongside an existing CARLA simulation to fetch data and convert it into CAN messages based on the agl-vcar.dbc file.

NOTE: This does not require the CARLA server to be running.

This weeks work addressed the incorrect Gear signals. The new values compatible with the agl-vcar are transmission gear (‘P’, ‘R’, ‘N’, ‘D’). Where,

• 0 = Neutral (N)
• 1/2/.. = Forward gears (Applicable when CARLA hero car is in manual transmission)
• -1/-2/.. = Reverse gears (R)
• 126 = Park (P)
• 127 = Drive (D)

def send_gear(self, gear):
    if gear == "P":
        data = self.gear_message.encode({'Gear': 126})
    elif gear == "R":
        data = self.gear_message.encode({'Gear': -1, 'Gear': -2})
    elif gear == "N":
        data = self.gear_message.encode({'Gear': 0})
    elif gear == "D":
        data = self.gear_message.encode({'Gear': 127})
    message = can.Message(
        arbitration_id=self.gear_message.frame_id, data=data)
    self.can_bus.send(message)

Bug fixes this week:

• Fix: Now data is sent to CAN interface only when it is updated
• Fix: Send correct Gear messages, compatible with the agl-vcar signals
• Remove dependency on numpy to calculate vehicle speed, use math lib instead

To convert CARLA data into CAN messages, follow these steps:

$ python -u carla_to_CAN.py
# OR
$ python -u carla_to_CAN.py --host <carla_server_ip> --port <carla_server_port>

Implemented File Playback via Demo Control Panel

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The record_playback.py module now allows file playback using the Control Panel from the ICPage Demo Toggle.

This feature can be enabled using the config.ini file for now, with UI option in settings page soon to be implemented.

The toggle, by default checks for the recorded CAN signals in the can_messages.txt file.

• Fix: Delay is now based on previous timestamp and not the starting timestamp
• record_playback.py can now be imported and also be used in standalone mode

# Updated Resource Compilation Step

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Since there’s no pyrcc6 tool for PyQt6 and pyside6-rcc is not available with PySide6 on the Host and Target while building AGL, We can instead use Qt’s own rcc tool to convert the assets/res.qrc file.

The rcc tool is available by default in a full Qt6 installation. Infact, the PySide6 tool , pyside6-rcc locates and runs the Qt6 rcc tool via subprocess, resulting in the same output.

To convert the .qrc file, we run the following command:

$ /usr/lib64/qt6/libexec/rcc -g python assets/res.qrc | sed '0,/PySide6/s//PyQt6/' > res_rc.py

Next Week Tasks:

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• Continue Adding support in AGL Demo Control Panel to Playback CAN Dump files.
• Continue working on New Page to display tyre pressure data.
• Test CARLA Playback on AGL Apps.