MORAI Simulator Control API 사용하기

##launcher_start_api.py
if self.controller.is_befor_login():                                        
    self.controller.commander(Command.LOGIN, f'{user_id}/{user_pw}')#Login명령
    
if self.controller.is_after_login() or self.controller.is_after_sim_quit_to_launcher():  # is_after_sim_quit_to_launcher : Simulator에서 quit 명령 후 Launcher 복귀 상태 확인

    if not self.controller.is_version_selected():
        self.controller.commander(Command.SELECT_VER, version)#version 선택명령
        
        if self.controller.is_not_find_version(): #선택한 버전이 없는 버전인지 확인.                    
            break
    
    if self.controller.is_can_execute_sim():
        self.controller.commander(Command.EXECUTE_SIM,'') #Simulator 실행 명령
                                
    if self.controller.is_sim_not_install():
        self.controller.commander(Command.INSTALL_SIM,'') #Simulator 설치 명령

if self.controller.is_sim_lobby():
    self.controller.commander(Command.MAP_VEHICLE_SELECT, f'{map}/{vehicle}')#시뮬레이션/옵션 변경 실행 명령

if self.controller.is_sim_playing():
    if network_file :
        self.controller.commander(Command.NET_SETTING, network_file) #시뮬레이터 네트워크 세팅 명령
    if sensor_file:
        self.controller.commander(Command.SEN_SETTING, sensor_file) #시뮬레이터 센서 세팅 명령
    if scenario_file:
        self.controller.commander(Command.SCEN_SETTING, f'{scenario_file}/30') #시뮬레이터 시나리오 세팅 명령
    '''
        Scenario Setting Option
        0x01 : Delete All
        0x02 : Ego Vehicle
        0x04 : Surround Vehicle
        0x08 : Pedestrian
        0x10 : Obstacle
        0x20 : Pause (scenario load 후 시뮬레이터 정지(직접 esc키 또는 play command로 해제 가능))
        원하는 option을 or 연산 해서 사용
        e.g) Ego vihcle  Surrond Vehicle, Pedestrain, Obstacle을 load하려면
             0x02 | 0x04 | 0x08 | 0x10  -> 0b0010 | 0b0100 | 0b1000 | 0b0001 0000 -> 30 (0b0001 1110, 0x1E)
    '''
    break

##define.py
class Command_list(Enum):
    #Launcher Command
    LOGIN           = (Platform.LUANCHER, cmd.LOGIN         , user_id+'/'+user_pw)
    SELECT_VER      = (Platform.LUANCHER, cmd.SELECT_VER    , version)
    INSTALL_SIM     = (Platform.LUANCHER, cmd.INSTALL_SIM   , "")
    EXECUTE_SIM     = (Platform.LUANCHER, cmd.EXECUTE_SIM   , "")
    QUIT_LAUNCHER   = (Platform.LUANCHER, cmd.QUIT_LAUNCHER , "")
    LOGOUT          = (Platform.LUANCHER, cmd.LOGOUT        , "")

    #Simulator Command
    MAP_VEHICLE_SELECT      = (Platform.SIMULATOR, cmd.MAP_VEHICLE_SELECT   , map+'/'+vehicle)
    SIM_PAUSE               = (Platform.SIMULATOR, cmd.SIM_PAUSE            , "")
    SIM_PLAY                = (Platform.SIMULATOR, cmd.SIM_PLAY             , "")
    NET_SETTING             = (Platform.SIMULATOR, cmd.NET_SETTING          , network_file)
    NET_SAVE                = (Platform.SIMULATOR, cmd.NET_SAVE             , )
    SEN_SETTING             = (Platform.SIMULATOR, cmd.SEN_SETTING          , sensor_file)
    SEN_SAVE                = (Platform.SIMULATOR, cmd.SEN_SAVE             , "")
    SCEN_SETTING            = (Platform.SIMULATOR, cmd.SCEN_SETTING         , scenario_file+"/62")
    SCEN_SAVE               = (Platform.SIMULATOR, cmd.SCEN_SAVE            , "")
    QUIT_SIM                = (Platform.SIMULATOR, cmd.QUIT_SIM             , "")