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)
# Set the agent destination
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()
class ConvoyStrategy(EgoStrategy):
def __init__(self,
id: int,
waypoint_provider: WaypointProvider = None,
config: int = 0,
wait_for_egos: int = 0,
**kwargs):
super().__init__()
self.id: int = id
self.config: int = config
self.ready: bool = False
self.point_start: carla.Transform = None
self.point_end: carla.Transform = None
self.agent: BasicAgent = None
self.wait_for: int = wait_for_egos
self.wpp: WaypointProvider = waypoint_provider
self.kwargs = kwargs
self._player: carla.Vehicle = None
self._step_count: int = 0
self._start_time: float = 0
def init(self, ego):
super().init(ego)
if not self.wpp:
self._init_missing_waypoint_provider(ego)
n_egos_present: int = simulation.count_present_vehicles(
SCENE2_EGO_PREFIX, self.ego.world)
self.point_start = self.wpp.get_by_index(n_egos_present)
self.point_end = self.wpp.get_by_index(-1)
self._player = self._create_player() # Create player
self.agent = BasicAgent(self.player,
target_speed=EGO_TARGET_SPEED,
ignore_traffic_lights=True)
self.agent.set_location_destination(self.point_end.location)
def step(self, clock=None) -> bool:
if self.ego is None or not self.ready and simulation.count_present_vehicles(
SCENE2_EGO_PREFIX, self.ego.world) < self.wait_for:
return False
if self._start_time == 0:
self._start_time = time.monotonic()
self.ready = True
# Wait some time before starting
if time.monotonic() - self._start_time < 3.0:
return False
control: carla.VehicleControl = self.agent.run_step(debug=False)
self._step_count += 1
if self._step_count % 10 == 0 and self.agent.done():
logging.info(f'{self.ego.name} has reached its destination.')
return True
return self.player.apply_control(control)
@property
def player(self) -> carla.Vehicle:
return self._player
def _create_player(self) -> carla.Vehicle:
blueprint = random.choice(
self.ego.world.get_blueprint_library().filter(
'vehicle.tesla.model3'))
blueprint.set_attribute('role_name', self.ego.name)
if blueprint.has_attribute('color'):
colors = blueprint.get_attribute('color').recommended_values
blueprint.set_attribute('color',
colors[self.id % (len(colors) - 1)])
return self.ego.world.spawn_actor(blueprint, self.point_start)
def _init_missing_waypoint_provider(self, ego: 'ego.Ego'):
seed: int = self.kwargs['seed'] if 'seed' in self.kwargs else 0
logging.info(f'Using {seed} as a random seed.')
self.wpp = WaypointProvider(ego.world, seed=seed)
if self.config == 0:
self.wpp.set_waypoints([
carla.Transform(location=carla.Location(296, 55, .1),
rotation=carla.Rotation(0, 180, 0)),
carla.Transform(location=carla.Location(302, 55, .1),
rotation=carla.Rotation(0, 180, 0)),
carla.Transform(location=carla.Location(308, 55, .1),
rotation=carla.Rotation(0, 180, 0)),
carla.Transform(location=carla.Location(314, 55, .1),
rotation=carla.Rotation(0, 180, 0)),
carla.Transform(location=carla.Location(320, 55, .1),
rotation=carla.Rotation(0, 180, 0)),
carla.Transform(location=carla.Location(326, 55, .1),
rotation=carla.Rotation(0, 180, 0)),
carla.Transform(location=carla.Location(92, 36, .1),
rotation=carla.Rotation(0, -90, 0))
])
