Simplify non-realtime API

Author: martins-mozeiko

lgsvl/simulator.py

@@ -60,13 +60,9 @@ def reset(self):
   def stop(self):
     self.stopped = True
 
-  @accepts((int, float))
-  def run(self, time_limit = 0.0):
-    self._process("simulator/run", {"time_limit": time_limit})
-
-  @accepts(int, (int, float))
-  def step(self, frames = 1, framerate = 30.0):
-    self._process("simulator/step", {"frames": frames, "framerate": framerate})
+  @accepts((int, float), (int, float))
+  def run(self, time_limit = 0.0, framerate = None):
+    self._process("simulator/run", {"time_limit": time_limit, "framerate": framerate})
 
   def _add_callback(self, agent, name, fn):
     if agent not in self.callbacks:

quickstart/24-ego-drive-straight-non-realtime.py

@@ -30,20 +30,20 @@
 print("Simulation time = ", sim.current_time)
 print("Simulation frames = ", sim.current_frame)
 
-input("Press Enter to drive forward for 100 frames")
+input("Press Enter to drive forward for 4 seconds")
 
 # The simulator can be run for a set amount of time. time_limit is optional and if omitted or set to 0, then the simulator will run indefinitely
 t0 = time.time()
-sim.step(frames = 100, framerate = 20)
+sim.run(time_limit = 4, framerate = 20)
 t1 = time.time()
 print("Real time elapsed = ", t1 - t0)
 print("Simulation time = ", sim.current_time)
 print("Simulation frames = ", sim.current_frame)
 
-input("Press Enter to continue driving for 100 frames")
+input("Press Enter to continue driving for 4 more seconds")
 
 t2 = time.time()
-sim.step(frames = 100, framerate = 20)
+sim.run(time_limit = 4, framerate = 20)
 t3 = time.time()
 
 print("Real time elapsed = ", t3 - t2 + t1 - t0)