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added speed return for simulator in dgym.py #673

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added speed return for simulator in dgym.py #673

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4 changes: 2 additions & 2 deletions donkeycar/parts/dgym.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ def __init__(self, sim_path, host="127.0.0.1", port=9091, headless=0, env_name="
self.frame = self.env.reset()
self.action = [0.0, 0.0, 0.0]
self.running = True
self.info = { 'pos' : (0., 0., 0.)}
self.info = { 'pos' : (0., 0., 0.), 'speed' : 0.0}
self.delay = float(delay)

def update(self):
Expand All @@ -42,7 +42,7 @@ def run_threaded(self, steering, throttle, brake=None):
if self.delay > 0.0:
time.sleep(self.delay / 1000.0)
self.action = [steering, throttle, brake]
return self.frame
return self.frame, self.info['speed']

def shutdown(self):
self.running = False
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2 changes: 1 addition & 1 deletion donkeycar/templates/simulator.py
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Expand Up @@ -68,7 +68,7 @@ def drive(cfg, model_path=None, use_joystick=False, model_type=None, camera_type
threaded = True
inputs = ['angle', 'throttle', 'brake']

V.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=threaded)
V.add(cam, inputs=inputs, outputs=['cam/image_array', 'speed'], threaded=threaded)

if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
#modify max_throttle closer to 1.0 to have more power
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