Add Custom callback for EgoVehicle

Author: shalinmehtalgsvl

lgsvl/agent.py

@@ -203,6 +203,9 @@ def apply_control(self, control, sticky = False):
       args["control"]["turn_signal_right"] = control.turn_signal_right
     self.remote.command("vehicle/apply_control", args)
 
+  def on_custom(self, fn):
+    self.simulator._add_callback(self, "custom", fn)
+
 
 class NpcVehicle(Vehicle):
   def __init__(self, uid, simulator):

lgsvl/sensor.py

@@ -126,4 +126,4 @@ def __init__(self, remote, j):
 class CanBusSensor(Sensor):
   def __init__(self, remote, j):
     super().__init__(remote, j["uid"], j["name"])
-    self.frequency = j["frequency"]
+    self.frequency = j["frequency"]

lgsvl/simulator.py

@@ -89,6 +89,8 @@ def _process_events(self, events):
               fn(agent)
             elif event_type == "lane_change":
               fn(agent)
+            elif event_type == "custom":
+              fn(agent, ev["kind"], ev["context"])
             if self.stopped:
               return