firaindo.py

# firaindo.py

import time
import cv2
import avisengine
import config

class FiraIndo:
    def __init__(self):
        self.car = avisengine.Car()
        if not self.car.connect(config.SIMULATOR_IP, config.SIMULATOR_PORT):
            print("Failed to connect to simulator. Program stopped.")
            exit(1)
        time.sleep(3)
        self.car.setSensorAngle(40)
        self.default_speed = 20

    # Set default speed
    def set_speed(self, speed):
        self.default_speed = speed

    # Movement functions
    def go(self, speed=None): self._drive(speed or self.default_speed, 0)
    def left(self, speed=None, angle=20): self._drive(speed or 15, -angle)
    def right(self, speed=None, angle=20): self._drive(speed or 15, angle)
    def back(self, speed=None): self._drive(-(speed or 15), 0)
    def stop(self): self._drive(0, 0)

    def _drive(self, speed, steering):
        self.car.setSpeed(speed)
        self.car.setSteering(steering)

    # Run movement for a specific time
    def run_for(self, seconds, action):
        action()
        start = time.time()
        while time.time() - start < seconds:
            self.car.getData()
            img = self.car.getImage()
            if img is not None:
                cv2.imshow('Car Camera', img)
            if cv2.waitKey(10) == ord('q'):
                break
            time.sleep(0.01)

    # Get camera image
    def get_image(self):
        self.car.getData()
        return self.car.getImage()

    # Get sensor values [left, middle, right]
    def get_sensors(self):
        self.car.getData()
        return self.car.getSensors()

    # Get current speed
    def get_speed(self):
        return self.car.getSpeed()

    # Stop and close window
    def shutdown(self):
        self.stop()
        cv2.destroyAllWindows()