Fix+Feat: Ajusted the timing scripts for the kalman filter and change…

…d its

dataset features

Assets/1_SelfDrivingCar/Scenes/project_1/EKF_project.unity

@@ -618,8 +618,8 @@ MonoBehaviour:
   rmse_y: {fileID: 1651981976}
   rmse_vx: {fileID: 1924886836}
   rmse_vy: {fileID: 683751068}
-  data1: {fileID: 4900000, guid: 18f9d9f438398d64f97ac602cbe9feff, type: 3}
-  data2: {fileID: 4900000, guid: ca83b5854287abd42878e32812c50ef3, type: 3}
+  data1: {fileID: 4900000, guid: 7fb552bc7e36779438384ff22ecbb35e, type: 3}
+  data2: {fileID: 4900000, guid: f01a3ffe785a721418c016e2f9ab50dd, type: 3}
 --- !u!50 &614215528
 Rigidbody2D:
   serializedVersion: 4

Assets/1_SelfDrivingCar/Scripts/project_1/CommandServer_ekf.cs

@@ -33,12 +33,14 @@ void Update()
 	void OnOpen(SocketIOEvent obj)
 	{
 		Debug.Log("Connection Open");
+		kalman_filter.OpenScript ();
 		EmitTelemetry(obj);
 	}
 
 	void OnClose(SocketIOEvent obj)
 	{
 		Debug.Log("Connection Closed");
+		kalman_filter.CloseScript ();
 	}
 
 	void onManual(SocketIOEvent obj)
@@ -77,11 +79,13 @@ void EmitTelemetry(SocketIOEvent obj)
 			
 				//print("Attempting to Send...");
 				// send only if robot is moving
-				if (!kalman_filter.isRunning()) {
+				if (!kalman_filter.isRunning() || !kalman_filter.isReadyProcess()) {
 					
 					_socket.Emit("telemetry", new JSONObject());
 				}
 				else {
+
+					kalman_filter.Processed();
 					
 					// Collect Data from the robot's sensors
 					Dictionary<string, string> data = new Dictionary<string, string>();

Assets/1_SelfDrivingCar/Scripts/project_1/ekf_generator.cs

@@ -40,6 +40,10 @@ public class ekf_generator : MonoBehaviour {
 	public TextAsset data1;
 	public TextAsset data2;
 
+	//if there is new data to process
+	private bool process_data;
+	private bool script_running = false;
+
 	// Use this for initialization
 	void Start () {
 
@@ -93,6 +97,9 @@ void Start () {
 
 		sensor_markers[time_step].GetComponent<SpriteRenderer>().enabled = true;
 
+		//flag new data is ready to process
+		process_data = true;
+
 	}
 
 	public string sensor_Measure()
@@ -102,6 +109,7 @@ public string sensor_Measure()
 
 	public void Estimate(float est_x, float est_y)
 	{
+		Debug.Log("estimate "+est_x+" "+est_y);
 		GameObject get_estimate_marker = (GameObject)Instantiate (estimate_marker);
 		get_estimate_marker.GetComponent<SpriteRenderer>().enabled = true;
 		get_estimate_marker.transform.position = new Vector3 ((float)(est_x*scale), (float)(est_y*scale), 0);
@@ -119,7 +127,7 @@ public void SetRmse(float x, float y, float vx, float vy)
 	// Update is called once per delta time
 	void FixedUpdate () {
 
-		if (running && time_step < x_positions.Count-1) 
+		if (running && time_step < x_positions.Count-1 && (!process_data||!script_running)) 
 		{
 
 				time_step++;
@@ -130,6 +138,9 @@ void FixedUpdate () {
 
 				sensor_markers[time_step].GetComponent<SpriteRenderer>().enabled = true;
 
+				//flag new data is ready to process
+				process_data = true;
+
 		}
 		if (running && time_step >= sensors.Count - 1) {
 			ToggleRunning();
@@ -177,7 +188,10 @@ private void Load(TextAsset data)
 		var arrayString = data.text.Split ('\n');
 		foreach (var line in arrayString) 
 		{
-			CreateAttributes(line);
+			if (!String.IsNullOrEmpty (line))
+			{
+				CreateAttributes (line);
+			}
 		}
 	}
 
@@ -214,7 +228,20 @@ private void CreateAttributes(string line)
 
 				sensor_markers.Add (get_radar_marker);
 
-				string radar_packet = entries[0]+" "+entries[1]+" "+entries[2]+" "+entries[3]+" "+entries[4]+" "+entries[5]+" "+entries[6]+" "+entries[7]+" "+(entries [8].Remove (entries [8].Length-1, 1)).ToString();
+				string radar_packet = "";
+				for (int i = 0; i < entries.Length; i++) 
+				{
+					if (i != entries.Length - 1) 
+					{
+						radar_packet += entries[i]+" ";
+					} 
+					else 
+					{
+						radar_packet += (entries [i].Remove (entries [i].Length - 1, 1)).ToString ();
+					}
+				}
+
+				//string radar_packet = entries[0]+" "+entries[1]+" "+entries[2]+" "+entries[3]+" "+entries[4]+" "+entries[5]+" "+entries[6]+" "+entries[7]+" "+(entries [8].Remove (entries [8].Length-1, 1)).ToString();
 
 				sensors.Add (radar_packet);
 			} 
@@ -242,19 +269,49 @@ private void CreateAttributes(string line)
 
 				sensor_markers.Add (get_lidar_marker);
 
-				string lidar_packet = entries[0]+" "+entries[1]+" "+entries[2]+" "+entries[3]+" "+entries[4]+" "+entries[5]+" "+entries[6]+" "+(entries [7].Remove (entries [7].Length-1, 1)).ToString();
+				string lidar_packet = "";
+				for (int i = 0; i < entries.Length; i++) 
+				{
+					if (i != entries.Length - 1) 
+					{
+						lidar_packet += entries[i]+" ";
+					} 
+					else 
+					{
+						lidar_packet += (entries [i].Remove (entries [i].Length - 1, 1)).ToString ();
+					}
+				}
+
+				//string lidar_packet = entries[0]+" "+entries[1]+" "+entries[2]+" "+entries[3]+" "+entries[4]+" "+entries[5]+" "+entries[6]+" "+(entries [7].Remove (entries [7].Length-1, 1)).ToString();
 
 				sensors.Add (lidar_packet);
 			} 
 			else 
 			{
 				Debug.Log ("recived an unexpected data line");
+				Debug.Log (line);
 			}
 
 
 		}
 
 	}
+	public bool isReadyProcess()
+	{
+		return process_data;
+	}
+	public void Processed()
+	{
+		process_data = false;
+	}
+	public void OpenScript()
+	{
+		script_running = true;
+	}
+	public void CloseScript()
+	{
+		script_running = false;
+	}
 
 
 }

Assets/1_SelfDrivingCar/Scripts/project_2/CommandServer_rar.cs

@@ -74,7 +74,7 @@ void EmitTelemetry(SocketIOEvent obj)
 			
 				//print("Attempting to Send...");
 				// send only if robot is moving
-				if (!sensor.Status()) {
+				if (!sensor.Status() ) {
 					
 					_socket.Emit("telemetry", new JSONObject());
 				}

Assets/1_SelfDrivingCar/Scripts/project_2/robot.cs

@@ -180,6 +180,7 @@ void FixedUpdate () {
 			timestamp += (int)(Time.deltaTime*1e6);
 			frame_counter++;
 			checkStatus ();
+
 		} 
 		else 
 		{