Merge branch 'main' into user/lross03/260-log-sensor-data

UBCSailbot · Nov 23, 2024 · 183d6ad · 183d6ad
2 parents 95b1ddc + 7d9960d
commit 183d6ad
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Showing 2 changed files with 21 additions and 14 deletions.
diff --git a/docs/current/sailbot_workspace/usage/setup.md b/docs/current/sailbot_workspace/usage/setup.md
@@ -21,7 +21,7 @@ allowing it to be installed on Windows and macOS in addition to Linux.
 
 [^1]: [Wikipedia Docker page](https://en.wikipedia.org/wiki/Docker_(software)){target=_blank}
 [^2]: [Get Docker](https://docs.docker.com/get-docker/){target=_blank}
-[^3]: [What is the difference between Docker Desktop for Linux and Docker Engine](https://docs.docker.com/desktop/faqs/linuxfaqs/#what-is-the-difference-between-docker-desktop-for-linux-and-docker-engine){target=_blank}
+[^3]: [What is the difference between Docker Desktop for Linux and Docker Engine](https://www.docker.com/blog/how-to-check-docker-version){target=_blank}
 
 === ":material-microsoft-windows: Windows"
 

diff --git a/src/boat_simulator/boat_simulator/nodes/physics_engine/physics_engine_node.py b/src/boat_simulator/boat_simulator/nodes/physics_engine/physics_engine_node.py
@@ -33,6 +33,7 @@
 
 import boat_simulator.common.constants as Constants
 from boat_simulator.common.generators import MVGaussianGenerator
+from boat_simulator.common.sensors import SimWindSensor
 from boat_simulator.common.types import Scalar
 from boat_simulator.nodes.physics_engine.fluid_generation import FluidGenerator
 from boat_simulator.nodes.physics_engine.model import BoatState
@@ -182,6 +183,10 @@ def __init_private_attributes(self):
             generator=MVGaussianGenerator(current_mean, current_cov)
         )
 
+        # No delay in this instance
+        sim_wind = self.__wind_generator.next()
+        self.__sim_wind_sensor = SimWindSensor(sim_wind, enable_noise=True)
+
     def __init_callback_groups(self):
         """Initializes the callback groups. Whether multithreading is enabled or not will affect
         how callbacks are executed.
@@ -318,6 +323,21 @@ def __publish(self):
         self.__publish_kinematics()
         self.__publish_counter += 1
 
+    def __update_boat_state(self):
+        """
+        Generates the next vectors for wind_generator and current_generator and updates the
+        boat_state with the new wind and current vectors along with the rudder_angle and
+        sail_trim_tab_angle.
+        """
+        # Wind parameter in line below introduces noise
+        self.__sim_wind_sensor.wind = self.__wind_generator.next()
+        self.__boat_state.step(
+            self.__sim_wind_sensor.wind,
+            self.__current_generator.next(),
+            self.__rudder_angle,
+            self.__sail_trim_tab_angle,
+        )
+
     def __publish_gps(self):
         """Publishes mock GPS data."""
         # TODO Update to publish real data
@@ -586,19 +606,6 @@ def __sail_action_feedback_callback(
             .double_value,
         )
 
-    def __update_boat_state(self):
-        """
-        Generates the next vectors for wind_generator and current_generator and updates the
-        boat_state with the new wind and current vectors along with the rudder_angle and
-        sail_trim_tab_angle.
-        """
-        self.__boat_state.step(
-            self.__wind_generator.next(),
-            self.__current_generator.next(),
-            self.__rudder_angle,
-            self.__sail_trim_tab_angle,
-        )
-
     # CLASS PROPERTY PUBLIC GETTERS
     @property
     def is_multithreading_enabled(self) -> bool: