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|
| """Example of automatic vehicle control from client side.""" |
|
|
| from __future__ import print_function |
|
|
| import argparse |
| import collections |
| import datetime |
| import glob |
| import logging |
| import math |
| import os |
| import numpy.random as random |
| import re |
| import sys |
| import weakref |
|
|
| try: |
| import pygame |
| from pygame.locals import KMOD_CTRL |
| from pygame.locals import K_ESCAPE |
| from pygame.locals import K_q |
| except ImportError: |
| raise RuntimeError('cannot import pygame, make sure pygame package is installed') |
|
|
| try: |
| import numpy as np |
| except ImportError: |
| raise RuntimeError( |
| 'cannot import numpy, make sure numpy package is installed') |
|
|
| |
| |
| |
| try: |
| sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % ( |
| sys.version_info.major, |
| sys.version_info.minor, |
| 'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0]) |
| except IndexError: |
| pass |
|
|
| |
| |
| |
| try: |
| sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla') |
| except IndexError: |
| pass |
|
|
| import carla |
| from carla import ColorConverter as cc |
|
|
| from agents.navigation.behavior_agent import BehaviorAgent |
| from agents.navigation.basic_agent import BasicAgent |
|
|
|
|
| |
| |
| |
|
|
|
|
| def find_weather_presets(): |
| """Method to find weather presets""" |
| rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)') |
| def name(x): return ' '.join(m.group(0) for m in rgx.finditer(x)) |
| presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)] |
| return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets] |
|
|
|
|
| def get_actor_display_name(actor, truncate=250): |
| """Method to get actor display name""" |
| name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:]) |
| return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name |
|
|
|
|
| |
| |
| |
|
|
| class World(object): |
| """ Class representing the surrounding environment """ |
|
|
| def __init__(self, carla_world, hud, args): |
| """Constructor method""" |
| self._args = args |
| self.world = carla_world |
| try: |
| self.map = self.world.get_map() |
| except RuntimeError as error: |
| print('RuntimeError: {}'.format(error)) |
| print(' The server could not send the OpenDRIVE (.xodr) file:') |
| print(' Make sure it exists, has the same name of your town, and is correct.') |
| sys.exit(1) |
| self.hud = hud |
| self.player = None |
| self.collision_sensor = None |
| self.lane_invasion_sensor = None |
| self.gnss_sensor = None |
| self.camera_manager = None |
| self._weather_presets = find_weather_presets() |
| self._weather_index = 0 |
| self._actor_filter = args.filter |
| self.restart(args) |
| self.world.on_tick(hud.on_world_tick) |
| self.recording_enabled = False |
| self.recording_start = 0 |
|
|
| def restart(self, args): |
| """Restart the world""" |
| |
| cam_index = self.camera_manager.index if self.camera_manager is not None else 0 |
| cam_pos_id = self.camera_manager.transform_index if self.camera_manager is not None else 0 |
|
|
| |
| blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter)) |
| blueprint.set_attribute('role_name', 'hero') |
| if blueprint.has_attribute('color'): |
| color = random.choice(blueprint.get_attribute('color').recommended_values) |
| blueprint.set_attribute('color', color) |
|
|
| |
| if self.player is not None: |
| spawn_point = self.player.get_transform() |
| spawn_point.location.z += 2.0 |
| spawn_point.rotation.roll = 0.0 |
| spawn_point.rotation.pitch = 0.0 |
| self.destroy() |
| self.player = self.world.try_spawn_actor(blueprint, spawn_point) |
| self.modify_vehicle_physics(self.player) |
| while self.player is None: |
| if not self.map.get_spawn_points(): |
| print('There are no spawn points available in your map/town.') |
| print('Please add some Vehicle Spawn Point to your UE4 scene.') |
| sys.exit(1) |
| spawn_points = self.map.get_spawn_points() |
| spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform() |
| self.player = self.world.try_spawn_actor(blueprint, spawn_point) |
| self.modify_vehicle_physics(self.player) |
|
|
| if self._args.sync: |
| self.world.tick() |
| else: |
| self.world.wait_for_tick() |
|
|
| |
| self.collision_sensor = CollisionSensor(self.player, self.hud) |
| self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud) |
| self.gnss_sensor = GnssSensor(self.player) |
| self.camera_manager = CameraManager(self.player, self.hud) |
| self.camera_manager.transform_index = cam_pos_id |
| self.camera_manager.set_sensor(cam_index, notify=False) |
| actor_type = get_actor_display_name(self.player) |
| self.hud.notification(actor_type) |
|
|
| def next_weather(self, reverse=False): |
| """Get next weather setting""" |
| self._weather_index += -1 if reverse else 1 |
| self._weather_index %= len(self._weather_presets) |
| preset = self._weather_presets[self._weather_index] |
| self.hud.notification('Weather: %s' % preset[1]) |
| self.player.get_world().set_weather(preset[0]) |
|
|
| def modify_vehicle_physics(self, actor): |
| |
| try: |
| physics_control = actor.get_physics_control() |
| physics_control.use_sweep_wheel_collision = True |
| actor.apply_physics_control(physics_control) |
| except Exception: |
| pass |
|
|
| def tick(self, clock): |
| """Method for every tick""" |
| self.hud.tick(self, clock) |
|
|
| def render(self, display): |
| """Render world""" |
| self.camera_manager.render(display) |
| self.hud.render(display) |
|
|
| def destroy_sensors(self): |
| """Destroy sensors""" |
| self.camera_manager.sensor.destroy() |
| self.camera_manager.sensor = None |
| self.camera_manager.index = None |
|
|
| def destroy(self): |
| """Destroys all actors""" |
| actors = [ |
| self.camera_manager.sensor, |
| self.collision_sensor.sensor, |
| self.lane_invasion_sensor.sensor, |
| self.gnss_sensor.sensor, |
| self.player] |
| for actor in actors: |
| if actor is not None: |
| actor.destroy() |
|
|
|
|
| |
| |
| |
|
|
|
|
| class KeyboardControl(object): |
| def __init__(self, world): |
| world.hud.notification("Press 'H' or '?' for help.", seconds=4.0) |
|
|
| def parse_events(self): |
| for event in pygame.event.get(): |
| if event.type == pygame.QUIT: |
| return True |
| if event.type == pygame.KEYUP: |
| if self._is_quit_shortcut(event.key): |
| return True |
|
|
| @staticmethod |
| def _is_quit_shortcut(key): |
| """Shortcut for quitting""" |
| return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL) |
|
|
| |
| |
| |
|
|
|
|
| class HUD(object): |
| """Class for HUD text""" |
|
|
| def __init__(self, width, height): |
| """Constructor method""" |
| self.dim = (width, height) |
| font = pygame.font.Font(pygame.font.get_default_font(), 20) |
| font_name = 'courier' if os.name == 'nt' else 'mono' |
| fonts = [x for x in pygame.font.get_fonts() if font_name in x] |
| default_font = 'ubuntumono' |
| mono = default_font if default_font in fonts else fonts[0] |
| mono = pygame.font.match_font(mono) |
| self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14) |
| self._notifications = FadingText(font, (width, 40), (0, height - 40)) |
| self.help = HelpText(pygame.font.Font(mono, 24), width, height) |
| self.server_fps = 0 |
| self.frame = 0 |
| self.simulation_time = 0 |
| self._show_info = True |
| self._info_text = [] |
| self._server_clock = pygame.time.Clock() |
|
|
| def on_world_tick(self, timestamp): |
| """Gets informations from the world at every tick""" |
| self._server_clock.tick() |
| self.server_fps = self._server_clock.get_fps() |
| self.frame = timestamp.frame_count |
| self.simulation_time = timestamp.elapsed_seconds |
|
|
| def tick(self, world, clock): |
| """HUD method for every tick""" |
| self._notifications.tick(world, clock) |
| if not self._show_info: |
| return |
| transform = world.player.get_transform() |
| vel = world.player.get_velocity() |
| control = world.player.get_control() |
| heading = 'N' if abs(transform.rotation.yaw) < 89.5 else '' |
| heading += 'S' if abs(transform.rotation.yaw) > 90.5 else '' |
| heading += 'E' if 179.5 > transform.rotation.yaw > 0.5 else '' |
| heading += 'W' if -0.5 > transform.rotation.yaw > -179.5 else '' |
| colhist = world.collision_sensor.get_collision_history() |
| collision = [colhist[x + self.frame - 200] for x in range(0, 200)] |
| max_col = max(1.0, max(collision)) |
| collision = [x / max_col for x in collision] |
| vehicles = world.world.get_actors().filter('vehicle.*') |
|
|
| self._info_text = [ |
| 'Server: % 16.0f FPS' % self.server_fps, |
| 'Client: % 16.0f FPS' % clock.get_fps(), |
| '', |
| 'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20), |
| 'Map: % 20s' % world.map.name.split('/')[-1], |
| 'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)), |
| '', |
| 'Speed: % 15.0f km/h' % (3.6 * math.sqrt(vel.x**2 + vel.y**2 + vel.z**2)), |
| u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (transform.rotation.yaw, heading), |
| 'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (transform.location.x, transform.location.y)), |
| 'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)), |
| 'Height: % 18.0f m' % transform.location.z, |
| ''] |
| if isinstance(control, carla.VehicleControl): |
| self._info_text += [ |
| ('Throttle:', control.throttle, 0.0, 1.0), |
| ('Steer:', control.steer, -1.0, 1.0), |
| ('Brake:', control.brake, 0.0, 1.0), |
| ('Reverse:', control.reverse), |
| ('Hand brake:', control.hand_brake), |
| ('Manual:', control.manual_gear_shift), |
| 'Gear: %s' % {-1: 'R', 0: 'N'}.get(control.gear, control.gear)] |
| elif isinstance(control, carla.WalkerControl): |
| self._info_text += [ |
| ('Speed:', control.speed, 0.0, 5.556), |
| ('Jump:', control.jump)] |
| self._info_text += [ |
| '', |
| 'Collision:', |
| collision, |
| '', |
| 'Number of vehicles: % 8d' % len(vehicles)] |
|
|
| if len(vehicles) > 1: |
| self._info_text += ['Nearby vehicles:'] |
|
|
| def dist(l): |
| return math.sqrt((l.x - transform.location.x)**2 + (l.y - transform.location.y) |
| ** 2 + (l.z - transform.location.z)**2) |
| vehicles = [(dist(x.get_location()), x) for x in vehicles if x.id != world.player.id] |
|
|
| for dist, vehicle in sorted(vehicles): |
| if dist > 200.0: |
| break |
| vehicle_type = get_actor_display_name(vehicle, truncate=22) |
| self._info_text.append('% 4dm %s' % (dist, vehicle_type)) |
|
|
| def toggle_info(self): |
| """Toggle info on or off""" |
| self._show_info = not self._show_info |
|
|
| def notification(self, text, seconds=2.0): |
| """Notification text""" |
| self._notifications.set_text(text, seconds=seconds) |
|
|
| def error(self, text): |
| """Error text""" |
| self._notifications.set_text('Error: %s' % text, (255, 0, 0)) |
|
|
| def render(self, display): |
| """Render for HUD class""" |
| if self._show_info: |
| info_surface = pygame.Surface((220, self.dim[1])) |
| info_surface.set_alpha(100) |
| display.blit(info_surface, (0, 0)) |
| v_offset = 4 |
| bar_h_offset = 100 |
| bar_width = 106 |
| for item in self._info_text: |
| if v_offset + 18 > self.dim[1]: |
| break |
| if isinstance(item, list): |
| if len(item) > 1: |
| points = [(x + 8, v_offset + 8 + (1 - y) * 30) for x, y in enumerate(item)] |
| pygame.draw.lines(display, (255, 136, 0), False, points, 2) |
| item = None |
| v_offset += 18 |
| elif isinstance(item, tuple): |
| if isinstance(item[1], bool): |
| rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6)) |
| pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1) |
| else: |
| rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6)) |
| pygame.draw.rect(display, (255, 255, 255), rect_border, 1) |
| fig = (item[1] - item[2]) / (item[3] - item[2]) |
| if item[2] < 0.0: |
| rect = pygame.Rect( |
| (bar_h_offset + fig * (bar_width - 6), v_offset + 8), (6, 6)) |
| else: |
| rect = pygame.Rect((bar_h_offset, v_offset + 8), (fig * bar_width, 6)) |
| pygame.draw.rect(display, (255, 255, 255), rect) |
| item = item[0] |
| if item: |
| surface = self._font_mono.render(item, True, (255, 255, 255)) |
| display.blit(surface, (8, v_offset)) |
| v_offset += 18 |
| self._notifications.render(display) |
| self.help.render(display) |
|
|
| |
| |
| |
|
|
|
|
| class FadingText(object): |
| """ Class for fading text """ |
|
|
| def __init__(self, font, dim, pos): |
| """Constructor method""" |
| self.font = font |
| self.dim = dim |
| self.pos = pos |
| self.seconds_left = 0 |
| self.surface = pygame.Surface(self.dim) |
|
|
| def set_text(self, text, color=(255, 255, 255), seconds=2.0): |
| """Set fading text""" |
| text_texture = self.font.render(text, True, color) |
| self.surface = pygame.Surface(self.dim) |
| self.seconds_left = seconds |
| self.surface.fill((0, 0, 0, 0)) |
| self.surface.blit(text_texture, (10, 11)) |
|
|
| def tick(self, _, clock): |
| """Fading text method for every tick""" |
| delta_seconds = 1e-3 * clock.get_time() |
| self.seconds_left = max(0.0, self.seconds_left - delta_seconds) |
| self.surface.set_alpha(500.0 * self.seconds_left) |
|
|
| def render(self, display): |
| """Render fading text method""" |
| display.blit(self.surface, self.pos) |
|
|
| |
| |
| |
|
|
|
|
| class HelpText(object): |
| """ Helper class for text render""" |
|
|
| def __init__(self, font, width, height): |
| """Constructor method""" |
| lines = __doc__.split('\n') |
| self.font = font |
| self.dim = (680, len(lines) * 22 + 12) |
| self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1]) |
| self.seconds_left = 0 |
| self.surface = pygame.Surface(self.dim) |
| self.surface.fill((0, 0, 0, 0)) |
| for i, line in enumerate(lines): |
| text_texture = self.font.render(line, True, (255, 255, 255)) |
| self.surface.blit(text_texture, (22, i * 22)) |
| self._render = False |
| self.surface.set_alpha(220) |
|
|
| def toggle(self): |
| """Toggle on or off the render help""" |
| self._render = not self._render |
|
|
| def render(self, display): |
| """Render help text method""" |
| if self._render: |
| display.blit(self.surface, self.pos) |
|
|
| |
| |
| |
|
|
|
|
| class CollisionSensor(object): |
| """ Class for collision sensors""" |
|
|
| def __init__(self, parent_actor, hud): |
| """Constructor method""" |
| self.sensor = None |
| self.history = [] |
| self._parent = parent_actor |
| self.hud = hud |
| world = self._parent.get_world() |
| blueprint = world.get_blueprint_library().find('sensor.other.collision') |
| self.sensor = world.spawn_actor(blueprint, carla.Transform(), attach_to=self._parent) |
| |
| |
| weak_self = weakref.ref(self) |
| self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event)) |
|
|
| def get_collision_history(self): |
| """Gets the history of collisions""" |
| history = collections.defaultdict(int) |
| for frame, intensity in self.history: |
| history[frame] += intensity |
| return history |
|
|
| @staticmethod |
| def _on_collision(weak_self, event): |
| """On collision method""" |
| self = weak_self() |
| if not self: |
| return |
| actor_type = get_actor_display_name(event.other_actor) |
| self.hud.notification('Collision with %r' % actor_type) |
| impulse = event.normal_impulse |
| intensity = math.sqrt(impulse.x ** 2 + impulse.y ** 2 + impulse.z ** 2) |
| self.history.append((event.frame, intensity)) |
| if len(self.history) > 4000: |
| self.history.pop(0) |
|
|
| |
| |
| |
|
|
|
|
| class LaneInvasionSensor(object): |
| """Class for lane invasion sensors""" |
|
|
| def __init__(self, parent_actor, hud): |
| """Constructor method""" |
| self.sensor = None |
| self._parent = parent_actor |
| self.hud = hud |
| world = self._parent.get_world() |
| bp = world.get_blueprint_library().find('sensor.other.lane_invasion') |
| self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent) |
| |
| |
| weak_self = weakref.ref(self) |
| self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event)) |
|
|
| @staticmethod |
| def _on_invasion(weak_self, event): |
| """On invasion method""" |
| self = weak_self() |
| if not self: |
| return |
| lane_types = set(x.type for x in event.crossed_lane_markings) |
| text = ['%r' % str(x).split()[-1] for x in lane_types] |
| self.hud.notification('Crossed line %s' % ' and '.join(text)) |
|
|
| |
| |
| |
|
|
|
|
| class GnssSensor(object): |
| """ Class for GNSS sensors""" |
|
|
| def __init__(self, parent_actor): |
| """Constructor method""" |
| self.sensor = None |
| self._parent = parent_actor |
| self.lat = 0.0 |
| self.lon = 0.0 |
| world = self._parent.get_world() |
| blueprint = world.get_blueprint_library().find('sensor.other.gnss') |
| self.sensor = world.spawn_actor(blueprint, carla.Transform(carla.Location(x=1.0, z=2.8)), |
| attach_to=self._parent) |
| |
| |
| weak_self = weakref.ref(self) |
| self.sensor.listen(lambda event: GnssSensor._on_gnss_event(weak_self, event)) |
|
|
| @staticmethod |
| def _on_gnss_event(weak_self, event): |
| """GNSS method""" |
| self = weak_self() |
| if not self: |
| return |
| self.lat = event.latitude |
| self.lon = event.longitude |
|
|
| |
| |
| |
|
|
|
|
| class CameraManager(object): |
| """ Class for camera management""" |
|
|
| def __init__(self, parent_actor, hud): |
| """Constructor method""" |
| self.sensor = None |
| self.surface = None |
| self._parent = parent_actor |
| self.hud = hud |
| self.recording = False |
| bound_y = 0.5 + self._parent.bounding_box.extent.y |
| attachment = carla.AttachmentType |
| self._camera_transforms = [ |
| (carla.Transform( |
| carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), attachment.SpringArm), |
| (carla.Transform( |
| carla.Location(x=1.6, z=1.7)), attachment.Rigid), |
| (carla.Transform( |
| carla.Location(x=5.5, y=1.5, z=1.5)), attachment.SpringArm), |
| (carla.Transform( |
| carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), attachment.SpringArm), |
| (carla.Transform( |
| carla.Location(x=-1, y=-bound_y, z=0.5)), attachment.Rigid)] |
| self.transform_index = 1 |
| self.sensors = [ |
| ['sensor.camera.rgb', cc.Raw, 'Camera RGB'], |
| ['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)'], |
| ['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)'], |
| ['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)'], |
| ['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)'], |
| ['sensor.camera.semantic_segmentation', cc.CityScapesPalette, |
| 'Camera Semantic Segmentation (CityScapes Palette)'], |
| ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']] |
| world = self._parent.get_world() |
| bp_library = world.get_blueprint_library() |
| for item in self.sensors: |
| blp = bp_library.find(item[0]) |
| if item[0].startswith('sensor.camera'): |
| blp.set_attribute('image_size_x', str(hud.dim[0])) |
| blp.set_attribute('image_size_y', str(hud.dim[1])) |
| elif item[0].startswith('sensor.lidar'): |
| blp.set_attribute('range', '50') |
| item.append(blp) |
| self.index = None |
|
|
| def toggle_camera(self): |
| """Activate a camera""" |
| self.transform_index = (self.transform_index + 1) % len(self._camera_transforms) |
| self.set_sensor(self.index, notify=False, force_respawn=True) |
|
|
| def set_sensor(self, index, notify=True, force_respawn=False): |
| """Set a sensor""" |
| index = index % len(self.sensors) |
| needs_respawn = True if self.index is None else ( |
| force_respawn or (self.sensors[index][0] != self.sensors[self.index][0])) |
| if needs_respawn: |
| if self.sensor is not None: |
| self.sensor.destroy() |
| self.surface = None |
| self.sensor = self._parent.get_world().spawn_actor( |
| self.sensors[index][-1], |
| self._camera_transforms[self.transform_index][0], |
| attach_to=self._parent, |
| attachment_type=self._camera_transforms[self.transform_index][1]) |
|
|
| |
| |
| weak_self = weakref.ref(self) |
| self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image)) |
| if notify: |
| self.hud.notification(self.sensors[index][2]) |
| self.index = index |
|
|
| def next_sensor(self): |
| """Get the next sensor""" |
| self.set_sensor(self.index + 1) |
|
|
| def toggle_recording(self): |
| """Toggle recording on or off""" |
| self.recording = not self.recording |
| self.hud.notification('Recording %s' % ('On' if self.recording else 'Off')) |
|
|
| def render(self, display): |
| """Render method""" |
| if self.surface is not None: |
| display.blit(self.surface, (0, 0)) |
|
|
| @staticmethod |
| def _parse_image(weak_self, image): |
| self = weak_self() |
| if not self: |
| return |
| if self.sensors[self.index][0].startswith('sensor.lidar'): |
| points = np.frombuffer(image.raw_data, dtype=np.dtype('f4')) |
| points = np.reshape(points, (int(points.shape[0] / 4), 4)) |
| lidar_data = np.array(points[:, :2]) |
| lidar_data *= min(self.hud.dim) / 100.0 |
| lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1]) |
| lidar_data = np.fabs(lidar_data) |
| lidar_data = lidar_data.astype(np.int32) |
| lidar_data = np.reshape(lidar_data, (-1, 2)) |
| lidar_img_size = (self.hud.dim[0], self.hud.dim[1], 3) |
| lidar_img = np.zeros(lidar_img_size) |
| lidar_img[tuple(lidar_data.T)] = (255, 255, 255) |
| self.surface = pygame.surfarray.make_surface(lidar_img) |
| else: |
| image.convert(self.sensors[self.index][1]) |
| array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) |
| array = np.reshape(array, (image.height, image.width, 4)) |
| array = array[:, :, :3] |
| array = array[:, :, ::-1] |
| self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) |
| if self.recording: |
| image.save_to_disk('_out/%08d' % image.frame) |
|
|
| |
| |
| |
|
|
|
|
| def game_loop(args): |
| """ |
| Main loop of the simulation. It handles updating all the HUD information, |
| ticking the agent and, if needed, the world. |
| """ |
|
|
| pygame.init() |
| pygame.font.init() |
| world = None |
|
|
| try: |
| if args.seed: |
| random.seed(args.seed) |
|
|
| client = carla.Client(args.host, args.port) |
| client.set_timeout(4.0) |
|
|
| traffic_manager = client.get_trafficmanager() |
| sim_world = client.get_world() |
|
|
| if args.sync: |
| settings = sim_world.get_settings() |
| settings.synchronous_mode = True |
| settings.fixed_delta_seconds = 0.05 |
| sim_world.apply_settings(settings) |
|
|
| traffic_manager.set_synchronous_mode(True) |
|
|
| display = pygame.display.set_mode( |
| (args.width, args.height), |
| pygame.HWSURFACE | pygame.DOUBLEBUF) |
|
|
| hud = HUD(args.width, args.height) |
| world = World(client.get_world(), hud, args) |
| controller = KeyboardControl(world) |
| if args.agent == "Basic": |
| agent = BasicAgent(world.player) |
| else: |
| agent = BehaviorAgent(world.player, behavior=args.behavior) |
|
|
| |
| spawn_points = world.map.get_spawn_points() |
| destination = random.choice(spawn_points).location |
| agent.set_destination(destination) |
|
|
| clock = pygame.time.Clock() |
|
|
| while True: |
| clock.tick() |
| if args.sync: |
| world.world.tick() |
| else: |
| world.world.wait_for_tick() |
| if controller.parse_events(): |
| return |
|
|
| world.tick(clock) |
| world.render(display) |
| pygame.display.flip() |
|
|
| if agent.done(): |
| if args.loop: |
| agent.set_destination(random.choice(spawn_points).location) |
| world.hud.notification("The target has been reached, searching for another target", seconds=4.0) |
| print("The target has been reached, searching for another target") |
| else: |
| print("The target has been reached, stopping the simulation") |
| break |
|
|
| control = agent.run_step() |
| control.manual_gear_shift = False |
| world.player.apply_control(control) |
|
|
| finally: |
|
|
| if world is not None: |
| settings = world.world.get_settings() |
| settings.synchronous_mode = False |
| settings.fixed_delta_seconds = None |
| world.world.apply_settings(settings) |
| traffic_manager.set_synchronous_mode(True) |
|
|
| world.destroy() |
|
|
| pygame.quit() |
|
|
|
|
| |
| |
| |
|
|
|
|
| def main(): |
| """Main method""" |
|
|
| argparser = argparse.ArgumentParser( |
| description='CARLA Automatic Control Client') |
| argparser.add_argument( |
| '-v', '--verbose', |
| action='store_true', |
| dest='debug', |
| help='Print debug information') |
| argparser.add_argument( |
| '--host', |
| metavar='H', |
| default='127.0.0.1', |
| help='IP of the host server (default: 127.0.0.1)') |
| argparser.add_argument( |
| '-p', '--port', |
| metavar='P', |
| default=2000, |
| type=int, |
| help='TCP port to listen to (default: 2000)') |
| argparser.add_argument( |
| '--res', |
| metavar='WIDTHxHEIGHT', |
| default='1280x720', |
| help='Window resolution (default: 1280x720)') |
| argparser.add_argument( |
| '--sync', |
| action='store_true', |
| help='Synchronous mode execution') |
| argparser.add_argument( |
| '--filter', |
| metavar='PATTERN', |
| default='vehicle.*', |
| help='Actor filter (default: "vehicle.*")') |
| argparser.add_argument( |
| '-l', '--loop', |
| action='store_true', |
| dest='loop', |
| help='Sets a new random destination upon reaching the previous one (default: False)') |
| argparser.add_argument( |
| "-a", "--agent", type=str, |
| choices=["Behavior", "Basic"], |
| help="select which agent to run", |
| default="Behavior") |
| argparser.add_argument( |
| '-b', '--behavior', type=str, |
| choices=["cautious", "normal", "aggressive"], |
| help='Choose one of the possible agent behaviors (default: normal) ', |
| default='normal') |
| argparser.add_argument( |
| '-s', '--seed', |
| help='Set seed for repeating executions (default: None)', |
| default=None, |
| type=int) |
|
|
| args = argparser.parse_args() |
|
|
| args.width, args.height = [int(x) for x in args.res.split('x')] |
|
|
| log_level = logging.DEBUG if args.debug else logging.INFO |
| logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level) |
|
|
| logging.info('listening to server %s:%s', args.host, args.port) |
|
|
| print(__doc__) |
|
|
| try: |
| game_loop(args) |
|
|
| except KeyboardInterrupt: |
| print('\nCancelled by user. Bye!') |
|
|
|
|
| if __name__ == '__main__': |
| main() |
|
|
