robocar-simulator/pkg/simulator/simulator.go

package simulator

const(
	MsgTypeControl =  "control"
	MsgTypeTelemetry =  "telemetry"
	MsgTypeCarConfig =  "car_config"
	MsgTypeCarLoaded =  "car_loaded"
)

type Msg struct {
	MsgType string `json:"msg_type"`
}

type TelemetryMsg struct {
	MsgType string `json:"msg_type"`
	SteeringAngle float64 `json:"steering_angle"`
	Throttle      float64 `json:"throttle"`
	Speed         float64 `json:"speed"`
	Image         []byte  `json:"image"`
	Hit           string  `json:"hit"`
	PosX          float64 `json:"pos_x"`
	PosY          float64 `json:"posy"`
	PosZ          float64 `json:"pos_z"`
	Time          float64 `json:"time"`
	Cte           float64 `json:"cte"`
}

/* Json msg used to control cars. MsgType must be filled with "control" */
type ControlMsg struct {
	MsgType string `json:"msg_type"`
	Steering string `json:"steering"`
	Throttle string `json:"throttle"`
	Brake    string `json:"brake"`
}

type GetSceneNamesMsg struct {
	MsgType string `json:"msg_type"`
	SceneName string `json:"scene_name"`
}

type LoadSceneMsg struct {
	MsgType string `json:"msg_type"`
	SceneName string `json:"scene_name"`
}

const(
	CarConfigBodyStyleDonkey = "donkey"
	CarConfigBodyStyleBare = "bare"
	CarConfigBodyStyleCar01 = "car01"
)
/*
	# body_style = "donkey" | "bare" | "car01" choice of string
	# body_rgb  = (128, 128, 128) tuple of ints
	# car_name = "string less than 64 char"
*/
type CarConfigMsg struct {
	MsgType string `json:"msg_type"`
	BodyStyle string `json:"body_style"`
	BodyR     string `json:"body_r"`
	BodyG     string `json:"body_g"`
	BodyB     string `json:"body_b"`
	CarName   string `json:"car_name"`
	FontSize  string `json:"font_size"`
}

/*
# car_name = "string less than 64 char"
# guid = "some random string"
*/
type RacerBioMsg struct {
	MsgType string `json:"msg_type"`
	RacerName string `json:"racer_name"`
	CarName   string `json:"car_name"`
	Bio       string `json:"bio"`
	Country   string `json:"country"`
	Guid      string `json:"guid"`
}

/* Camera config
set any field to Zero to get the default camera setting.
offset_x moves camera left/right
offset_y moves camera up/down
offset_z moves camera forward/back
rot_x will rotate the camera
with fish_eye_x/y == 0.0 then you get no distortion
img_enc can be one of JPG|PNG|TGA
*/
type CamConfigMsg struct {
	MsgType string `json:"msg_type"`
	Fov      string `json:"fov"`
	FishEyeX string `json:"fish_eye_x"`
	FishEyeY string `json:"fish_eye_Y"`
	ImgW     string `json:"img_w"`
	ImgH     string `json:"img_h"`
	ImgD     string `json:"img_d"`
	ImgEnc   string `json:"img_enc"`
	OffsetX  string `json:"offset_x"`
	OffsetY  string `json:"offset_y"`
	OffsetZ  string `json:"offset_z"`
	RotX     string `json:"rot_x"`
}