revert: to the used version

Author: AmirmohammadZarif

.DS_Store

@@ -1,23 +1,23 @@
-"""
+'''
 @ 2025, Copyright AVIS Engine
-"""
+'''
 
 import cv2
 import re
 import base64
 import time
 import socket
 import numpy as np
-from . import utils
+import utils
 
 __author__ = "Amirmohammad Zarif"
 __email__ = "amir@avisengine.com"
 
 
-class Car:
-    """
+class Car():
+    '''
     AVIS Engine Main Car class
-
+    
     Attributes
     ----------
 
@@ -34,57 +34,47 @@ class Car:
         sensors
         current_speed
         sensor_angle
-    """
+    '''
 
-    # Attributes to kind of replicate a Pub-sub pattern messaging to request data
+    #Attributes to kind of replicate a Pub-sub pattern messaging to request data  
     steering_value = 0
     speed_value = 0
     sensor_status = 1
     image_mode = 1
     get_Speed = 1
     sensor_angle = 30
-
+    
     sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 
-    # Data format for request
-    data_arr = [
-        speed_value,
-        steering_value,
-        image_mode,
-        sensor_status,
-        get_Speed,
-        sensor_angle,
-    ]
-    _data_format = (
-        "Speed:{},Steering:{},ImageStatus:{},SensorStatus:{},GetSpeed:{},SensorAngle:{}"
-    )
-    data_str = _data_format.format(
-        data_arr[0], data_arr[1], data_arr[2], data_arr[3], data_arr[4], data_arr[5]
-    )
-
+    #Data format for request
+    data_arr = [speed_value, steering_value, image_mode, sensor_status, get_Speed, sensor_angle]
+    _data_format = "Speed:{},Steering:{},ImageStatus:{},SensorStatus:{},GetSpeed:{},SensorAngle:{}"
+    data_str = _data_format.format(data_arr[0], data_arr[1], data_arr[2], data_arr[3], data_arr[4], data_arr[5])
+    
     image = None
     sensors = None
     current_speed = None
 
-    def connect(self, server, port):
-        """
+    def connect(self,server,port):
+        '''
         Connecting to the simulator (server)
-        """
+        '''
         try:
             self.sock.connect((server, port))
             self.sock.settimeout(5.0)
-
+            
             print("connected to ", server, port)
             return True
         except:
             print("Failed to connect to ", server, port)
             return False
 
+  
     def recvall(self, socket):
-        """
+        '''
         Function to receive all the data chunks
-        """
-        BUFFER_SIZE = 65536  # Increased buffer size for better performance
+        '''
+        BUFFER_SIZE = 131072  # Increased buffer size for better performance
         data = bytearray()  # Use a bytearray for better performance
 
         while True:
@@ -93,35 +83,36 @@ def recvall(self, socket):
 
             # Use KMP search to find the <EOF>, KMPSearch() returns -1 if the pattern was not found
             # It is 9 times faster than the simple python search
-            if utils.KMPSearch(b"<EOF>", data) > -1:  # Convert "<EOF>" to bytes
+            if utils.KMPSearch(b"<EOF>", data) > -1:  # Convert "<EOF>" to bytes              
                 break
 
         return data.decode("utf-8")
 
-    def setSteering(self, steering):
-        """
+        
+    def setSteering(self,steering):
+        '''
         Setting the steering of the car
-
+        
         Parameters
         ----------
             steering : int
                 Steering value in degree
-        """
+        '''
         self.steering_value = steering
         self.image_mode = 0
         self.sensor_status = 0
         self.updateData()
         self.sock.sendall(self.data_str.encode("utf-8"))
         time.sleep(0.01)
 
-    def setSpeed(self, speed):
-        """
+    def setSpeed(self,speed):
+        '''
         Setting the speed of the car
-
+        
         Parameters
         ----------
             speed : int
-        """
+        '''
         self.speed_value = speed
         self.image_mode = 0
         self.sensor_status = 0
@@ -130,107 +121,100 @@ def setSpeed(self, speed):
         time.sleep(0.01)
 
     def setSensorAngle(self, angle):
-        """
+        '''
         Setting the angle between each sensor ray
-
+        
         Parameters
         ----------
             angle : int
                 In degrees
-        """
+        '''
 
         self.image_mode = 0
         self.sensor_status = 0
         self.sensor_angle = angle
         self.updateData()
         self.sock.sendall(self.data_str.encode("utf-8"))
-
+        
     def getData(self):
-        """
+        '''
         Requesting for the data from the simulator
-        """
+        '''
         self.image_mode = 1
         self.sensor_status = 1
         self.updateData()
         self.sock.sendall(self.data_str.encode("utf-8"))
 
         receive = self.recvall(self.sock)
 
-        imageTagCheck = re.search(r"<image>(.*?)</image>", receive)
-        sensorTagCheck = re.search(r"<sensor>(.*?)</sensor>", receive)
-        speedTagCheck = re.search(r"<speed>(.*?)</speed>", receive)
-
+        imageTagCheck = re.search('<image>(.*?)<\/image>', receive)
+        sensorTagCheck = re.search('<sensor>(.*?)<\/sensor>', receive)
+        speedTagCheck = re.search('<speed>(.*?)<\/speed>', receive)            
+        
         try:
-            if imageTagCheck:
+            if(imageTagCheck):
                 imageData = imageTagCheck.group(1)
                 im_bytes = base64.b64decode(imageData)
-                im_arr = np.frombuffer(
-                    im_bytes, dtype=np.uint8
-                )  # im_arr is one-dim Numpy array
+                im_arr = np.frombuffer(im_bytes, dtype=np.uint8)  # im_arr is one-dim Numpy array
                 imageOpenCV = cv2.imdecode(im_arr, flags=cv2.IMREAD_COLOR)
                 self.image = imageOpenCV
-
-            if sensorTagCheck:
+            
+            if(sensorTagCheck):
                 sensorData = sensorTagCheck.group(1)
-                sensor_arr = re.findall(r"\d+", sensorData)
-                sensor_int_arr = list(map(int, sensor_arr))
+                sensor_arr = re.findall("\d+", sensorData)
+                sensor_int_arr = list(map(int, sensor_arr)) 
                 self.sensors = sensor_int_arr
             else:
-                self.sensors = [1500, 1500, 1500]
+                self.sensors = [1500,1500,1500]
 
-            if speedTagCheck:
+            if(speedTagCheck):
                 current_sp = speedTagCheck.group(1)
                 self.current_speed = int(current_sp)
             else:
                 self.current_speed = 0
         except:
             print("Failed to receive data")
 
+
     def getImage(self):
-        """
+        '''
         Returns the image from the camera
-        """
+        '''
         return self.image
 
     def getSensors(self):
-        """
+        '''
         Returns the sensor data
-            A List:
+            A List: 
                 [Left Sensor: int, Middle Sensor: int, Right Sensor: int]
-        """
+        '''
         return self.sensors
-
+    
     def getSpeed(self):
-        """
+        '''
         Returns the speed of the car
-        """
+        '''
         return self.current_speed
-
+    
     def updateData(self):
-        """
+        '''
         Updating the request data array and data string
-        """
-        data = [
-            self.speed_value,
-            self.steering_value,
-            self.image_mode,
-            self.sensor_status,
-            self.get_Speed,
-            self.sensor_angle,
-        ]
-        self.data_str = self._data_format.format(
-            data[0], data[1], data[2], data[3], data[4], data[5]
-        )
-
+        '''
+        data = [self.speed_value,self.steering_value,self.image_mode,self.sensor_status,self.get_Speed, self.sensor_angle]
+        self.data_str = self._data_format.format(data[0], data[1], data[2], data[3], data[4], data[5])
+        
     def stop(self):
-        """
+        '''
         Stoping the car and closing the socket
-        """
+        '''
         self.setSpeed(0)
         self.setSteering(0)
         self.sock.sendall("stop".encode("utf-8"))
         self.sock.close()
         print("Process stopped successfully!")
-
+    
     def __del__(self):
         self.stop()
+    
+        
+        

LICENSE

@@ -1,6 +1,9 @@
-"""
+'''
 @ 2025, Copyright AVIS Engine
-"""
+'''
 
 SIMULATOR_IP = "127.0.0.1"
 SIMULATOR_PORT = 25001
+
+
+