fix: keyboard control logic

Signed-off-by: Alptuğ Cırıt <[email protected]>
autowarefoundation · Sep 13, 2024 · 837198c · 837198c
1 parent 0248a5c
commit 837198c
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Showing 3 changed files with 8 additions and 14 deletions.
diff --git a/Assets/AWSIM/Resources/URP Presets/LightingSettings.lighting b/Assets/AWSIM/Resources/URP Presets/LightingSettings.lighting
@@ -8,7 +8,7 @@ LightingSettings:
   m_PrefabAsset: {fileID: 0}
   m_Name: LightingSettings
   serializedVersion: 6
-  m_GIWorkflowMode: 0
+  m_GIWorkflowMode: 1
   m_EnableBakedLightmaps: 1
   m_EnableRealtimeLightmaps: 0
   m_RealtimeEnvironmentLighting: 0

diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/AutowareVPPAdapter.cs
@@ -23,6 +23,7 @@ public class AutowareVPPAdapter : MonoBehaviour
 
         /// Control inputs from Autoware
         [NonSerialized] public float SteerAngleInput;
+
         private float _steerAngleInput => SteerAngleInput;
 
         public bool IsDefinedSteeringTireRotationRateInput { get; set; }
@@ -253,15 +254,8 @@ public void HandleAcceleration()
             // Store current values
             CurrentSpeed = _vehicleController.speed;
 
-            if (_throttleInput > 0)
-            {
-                SetThrottle((int)(_throttleInput * AutowareToVppMultiplier));
-            }
-
-            if (_brakeInput > 0)
-            {
-                SetBrake((int)(_brakeInput * AutowareToVppMultiplier));
-            }
+            SetThrottle((int)(_throttleInput * AutowareToVppMultiplier));
+            SetBrake((int)(_brakeInput * AutowareToVppMultiplier));
         }
 
         /// <summary>

diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/IVehicleControlModes/ControlMode.cs
@@ -9,7 +9,7 @@ public class NoCommand : IVehicleControlMode
         {
             public void ExecuteControlMode(AutowareVPPAdapter adapter)
             {
-                Debug.Log("Control mode: No command");
+                // Debug.Log("Control mode: No command");
             }
         }
 
@@ -51,23 +51,23 @@ public class Manual : IVehicleControlMode
         {
             public void ExecuteControlMode(AutowareVPPAdapter adapter)
             {
-                Debug.Log("Control mode: Manual");
+                // Debug.Log("Control mode: Manual");
             }
         }
 
         public class Disengaged : IVehicleControlMode
         {
             public void ExecuteControlMode(AutowareVPPAdapter adapter)
             {
-                Debug.Log("Control mode: Disengaged");
+                // Debug.Log("Control mode: Disengaged");
             }
         }
 
         public class NotReady : IVehicleControlMode
         {
             public void ExecuteControlMode(AutowareVPPAdapter adapter)
             {
-                Debug.Log("Control mode: Not ready");
+                // Debug.Log("Control mode: Not ready");
             }
         }
     }