From 64970fe89713fb2ae6623a71eb918ece501d9e71 Mon Sep 17 00:00:00 2001
From: Dmitry Ananyev <d.ananyev@gmail.com>
Date: Fri, 10 Sep 2021 01:12:56 +0100
Subject: [PATCH] Add AiCatapult - an improved version of AiLauncher which also
 controls steering angle

---
 donkeycar/parts/launch.py | 72 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 72 insertions(+)

diff --git a/donkeycar/parts/launch.py b/donkeycar/parts/launch.py
index 7882d9a61..6181cba91 100644
--- a/donkeycar/parts/launch.py
+++ b/donkeycar/parts/launch.py
@@ -1,4 +1,6 @@
 import time
+from datetime import datetime
+from logging import getLogger
 
 class AiLaunch():
     '''
@@ -46,3 +48,73 @@ def run(self, mode, ai_throttle):
 
         return new_throttle
 
+
+class AiCatapult():
+    '''
+    Comparing to AiLaunch this particular class also controls the angle.
+
+    To be able to use it you need to change <mycar>/manage.py:
+
+    ---- old one ----
+        from donkeycar.parts.launch import AiLauncher
+
+        aiLauncher = AiLauncher(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE, cfg.AI_LAUNCH_KEEP_ENABLED)
+        V.add(aiLauncher,
+              inputs=['user/mode', 'throttle'],
+              outputs=['throttle'])
+    ---- new one ----
+        from donkeycar.parts.launch import AiCatapult
+
+        aiLauncher = AiCatapult(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE, cfg.AI_LAUNCH_KEEP_ENABLED)
+        V.add(aiLauncher,
+              inputs=['user/mode', 'throttle', 'angle'],
+              outputs=['throttle', 'angle'])
+    ---- end ----
+
+    '''
+
+    def __init__(self, launch_duration=1.0, launch_throttle=1.0, keep_enabled=False):
+        self.active = False
+        self.enabled = False
+        self.timer_start = None
+        self.timer_duration = launch_duration
+        self.launch_throttle = launch_throttle
+        self.prev_mode = None
+        self.trigger_on_switch = keep_enabled
+        self.logger = getLogger()
+
+    def enable_ai_launch(self):
+        self.enabled = True
+        self.logger.info(f'AiLauncher is enabled at {datetime.now().time()}')
+
+    def run(self, mode, ai_throttle, ai_angle):
+        new_throttle = ai_throttle
+        new_angle = ai_angle
+
+        if mode != self.prev_mode:
+            self.prev_mode = mode
+            if mode == "local" and self.trigger_on_switch:
+                self.enabled = True
+                self.logger.info(f'AiLauncher is activated by mode and trigger at {datetime.now().time()}')
+
+        if mode == "local" and self.enabled:
+            if not self.active:
+                self.active = True
+                self.timer_start = time.time()
+                self.logger.info(f'AiLauncher is activated now at {datetime.now().time()}')
+            else:
+                duration = time.time() - self.timer_start
+                if duration > self.timer_duration:
+                    self.active = False
+                    self.enabled = False
+                    self.logger.info(f'AiLauncher is deactivated by duration at {datetime.now().time()}')
+        else:
+            if self.active:
+                self.logger.info(f'AiLauncher is deactivated by mode now at {datetime.now().time()}')
+            self.active = False
+
+        if self.active:
+            new_throttle = self.launch_throttle
+            new_angle = 0.0
+
+        return new_throttle, new_angle