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| """ |
| CARLA Dynamic Weather: |
| |
| Connect to a CARLA Simulator instance and control the weather. Change Sun |
| position smoothly with time and generate storms occasionally. |
| """ |
|
|
| import glob |
| import os |
| import sys |
|
|
| 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 |
|
|
| import carla |
|
|
| import argparse |
| import math |
|
|
|
|
| def clamp(value, minimum=0.0, maximum=100.0): |
| return max(minimum, min(value, maximum)) |
|
|
|
|
| class Sun(object): |
| def __init__(self, azimuth, altitude): |
| self.azimuth = azimuth |
| self.altitude = altitude |
| self._t = 0.0 |
|
|
| def tick(self, delta_seconds): |
| self._t += 0.008 * delta_seconds |
| self._t %= 2.0 * math.pi |
| self.azimuth += 0.25 * delta_seconds |
| self.azimuth %= 360.0 |
| self.altitude = (70 * math.sin(self._t)) - 20 |
|
|
| def __str__(self): |
| return 'Sun(alt: %.2f, azm: %.2f)' % (self.altitude, self.azimuth) |
|
|
|
|
| class Storm(object): |
| def __init__(self, precipitation): |
| self._t = precipitation if precipitation > 0.0 else -50.0 |
| self._increasing = True |
| self.clouds = 0.0 |
| self.rain = 0.0 |
| self.wetness = 0.0 |
| self.puddles = 0.0 |
| self.wind = 0.0 |
| self.fog = 0.0 |
|
|
| def tick(self, delta_seconds): |
| delta = (1.3 if self._increasing else -1.3) * delta_seconds |
| self._t = clamp(delta + self._t, -250.0, 100.0) |
| self.clouds = clamp(self._t + 40.0, 0.0, 90.0) |
| self.rain = clamp(self._t, 0.0, 80.0) |
| delay = -10.0 if self._increasing else 90.0 |
| self.puddles = clamp(self._t + delay, 0.0, 85.0) |
| self.wetness = clamp(self._t * 5, 0.0, 100.0) |
| self.wind = 5.0 if self.clouds <= 20 else 90 if self.clouds >= 70 else 40 |
| self.fog = clamp(self._t - 10, 0.0, 30.0) |
| if self._t == -250.0: |
| self._increasing = True |
| if self._t == 100.0: |
| self._increasing = False |
|
|
| def __str__(self): |
| return 'Storm(clouds=%d%%, rain=%d%%, wind=%d%%)' % (self.clouds, self.rain, self.wind) |
|
|
|
|
| class Weather(object): |
| def __init__(self, weather): |
| self.weather = weather |
| self._sun = Sun(weather.sun_azimuth_angle, weather.sun_altitude_angle) |
| self._storm = Storm(weather.precipitation) |
|
|
| def tick(self, delta_seconds): |
| self._sun.tick(delta_seconds) |
| self._storm.tick(delta_seconds) |
| self.weather.cloudiness = self._storm.clouds |
| self.weather.precipitation = self._storm.rain |
| self.weather.precipitation_deposits = self._storm.puddles |
| self.weather.wind_intensity = self._storm.wind |
| self.weather.fog_density = self._storm.fog |
| self.weather.wetness = self._storm.wetness |
| self.weather.sun_azimuth_angle = self._sun.azimuth |
| self.weather.sun_altitude_angle = self._sun.altitude |
|
|
| def __str__(self): |
| return '%s %s' % (self._sun, self._storm) |
|
|
|
|
| def main(): |
| argparser = argparse.ArgumentParser( |
| description=__doc__) |
| 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( |
| '-s', '--speed', |
| metavar='FACTOR', |
| default=1.0, |
| type=float, |
| help='rate at which the weather changes (default: 1.0)') |
| args = argparser.parse_args() |
|
|
| speed_factor = args.speed |
| update_freq = 0.1 / speed_factor |
|
|
| client = carla.Client(args.host, args.port) |
| client.set_timeout(2.0) |
| world = client.get_world() |
|
|
| weather = Weather(world.get_weather()) |
|
|
| elapsed_time = 0.0 |
|
|
| while True: |
| timestamp = world.wait_for_tick(seconds=30.0).timestamp |
| elapsed_time += timestamp.delta_seconds |
| if elapsed_time > update_freq: |
| weather.tick(speed_factor * elapsed_time) |
| world.set_weather(weather.weather) |
| sys.stdout.write('\r' + str(weather) + 12 * ' ') |
| sys.stdout.flush() |
| elapsed_time = 0.0 |
|
|
|
|
| if __name__ == '__main__': |
|
|
| main() |
|
|
