fix: wrong margin & mock images during parking (#178)

HeadTriXz · Jul 1, 2024 · c3746fb · c3746fb
1 parent 2b3c84e
commit c3746fb
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/src/simulation/main.py b/src/simulation/main.py
@@ -39,6 +39,10 @@ def simulate_lane_assist(park: bool = False) -> None:
 
     def get_sim_image_generator() -> Generator[np.ndarray, None, None]:
         while True:
+            if park:
+                yield np.zeros((height, width), dtype=np.uint8)
+                continue
+
             responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)])
             response = responses[0]
 

diff --git a/src/utils/parking.py b/src/utils/parking.py
@@ -161,11 +161,11 @@ def __is_centered(self, available_space: float) -> bool:
             return True
 
         margin = (config["kart"]["dimensions"]["length"] / 2) - config["kart"]["lidar_offset"]
-        margin -= self.__speed_controller.get_braking_distance()
+        margin += self.__speed_controller.get_braking_distance()
 
         center = available_space / 2 * 1000
 
-        return frontal_distance - margin * 1000 >= center
+        return frontal_distance + margin * 1000 >= center
 
     def __is_past_barrier(self) -> bool:
         """Check if the go-kart is past the barrier.