def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client("localhost", 2000)
client.set_timeout(100.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
test_map = client.load_world('Town03')
world = World(test_map, hud, args)
controller = KeyboardControl(world, False)
actor_list = []
sensors = []
# ==================================================================
a_controller = PurePursuitPlusPID()
cg, ld = lane_track_init()
# ======================= Car Chasing Objects ========================
# Add trailing vehicle
# TODO Set trailing posisiton. By default it is set to be relative to world.player
trailing_vehicle = chasing_car_init(world=world,
position=None,
y_offset=y_offset)
actor_list.append(trailing_vehicle)
# TODO - add sensors
blueprint_library = world.world.get_blueprint_library()
# Camera RGB sensor
bp_cam_rgb = blueprint_library.find('sensor.camera.rgb')
bp_cam_rgb.set_attribute('image_size_x', str(cg.image_width))
bp_cam_rgb.set_attribute('image_size_y', str(cg.image_height))
bp_cam_rgb.set_attribute('fov', str(cg.field_of_view_deg))
# Semantic Segmentation camera
bp_cam_seg = blueprint_library.find(
'sensor.camera.semantic_segmentation')
bp_cam_seg.set_attribute('image_size_x', str(cg.image_width))
bp_cam_seg.set_attribute('image_size_y', str(cg.image_height))
bp_cam_seg.set_attribute('fov', str(cg.field_of_view_deg))
# Spawn Sensors
transform = carla.Transform(carla.Location(x=0.7, z=cg.height),
carla.Rotation(pitch=-1 * cg.pitch_deg))
cam_rgb = world.world.spawn_actor(bp_cam_rgb,
transform,
attach_to=world.player)
print('created %s' % cam_rgb.type_id)
cam_seg = world.world.spawn_actor(bp_cam_seg,
transform,
attach_to=world.player)
print('created %s' % cam_seg.type_id)
# Append actors / may not be necessary
actor_list.append(cam_rgb)
actor_list.append(cam_seg)
sensors.append(cam_rgb)
sensors.append(cam_seg)
# ==================================================================
# --- Adding sensors to trailing_vehicle
# Adding RGB camera
trail_cam_rgb_blueprint = world.world.get_blueprint_library().find(
'sensor.camera.rgb')
trail_cam_rgb_blueprint.set_attribute('fov', '90')
trail_cam_rgb = world.world.spawn_actor(trail_cam_rgb_blueprint,
carla.Transform(
carla.Location(x=1.5,
z=1.4,
y=0.3),
carla.Rotation(pitch=0)),
attach_to=trailing_vehicle)
actor_list.append(trail_cam_rgb)
sensors.append(trail_cam_rgb)
# Adding Segmentation camera
trail_cam_seg = world.world.spawn_actor(
blueprint_library.find('sensor.camera.semantic_segmentation'),
carla.Transform(carla.Location(x=1.5, z=1.4, y=0),
carla.Rotation(pitch=0)), #5,3,0 # -0.3
attach_to=trailing_vehicle)
actor_list.append(trail_cam_seg)
sensors.append(trail_cam_seg)
# ==================================================================
frame = 0
FPS = 30
speed, traj = 0, np.array([])
time_cycle, cycles = 0.0, 30
clock = pygame.time.Clock()
# TODO - add sensor to SyncMode
with CarlaSyncMode(world.world, *sensors, fps=FPS) as sync_mode:
while True:
clock.tick_busy_loop(FPS)
time_cycle += clock.get_time()
if controller.parse_events(client, world, clock):
return
# Advance the simulation and wait for the data.
tick_response = sync_mode.tick(timeout=2.0)
# Data retrieval
snapshot, image_rgb, image_seg, trailing_image_rgb, trailing_image_seg = tick_response
# ======================= Car Chasing Section =========================
trailing_steer, trailing_throttle, real_dist = chaseControl.behaviour_planner(
leading_vehicle=world.player,
trailing_vehicle=trailing_vehicle,
trailing_image_seg=trailing_image_seg,
trail_cam_rgb=trail_cam_rgb,
frame=frame)
send_control(trailing_vehicle, trailing_throttle,
trailing_steer, 0)
# ==================================================================
if time_cycle >= 1000.0 / cycles:
time_cycle = 0.0
image_seg.convert(carla.ColorConverter.CityScapesPalette)
# ==================================================================
# TODO - run features
try:
traj, lane_mask = get_trajectory_from_lane_detector(
ld, image_seg) # stay in lane
# dgmd_mask = image_pipeline(image_seg)
# save_img(image_seg)
print(traj.shape, traj)
except:
continue
# ==================================================================
# TODO - features init/ module
# Debug data
# debug_view(image_rgb, image_seg, lane_mask)
# debug_view(image_rgb, image_seg)
# cv2.imshow("debug view", dgmd_mask)
# cv2.waitKey(1)
# PID Control
if traj.any():
speed = get_speed(world.player)
throttle, steer = a_controller.get_control(
traj, speed, desired_speed=15, dt=1. / FPS)
send_control(world.player, throttle, steer, 0)
world.tick(clock)
world.render(display)
pygame.display.flip()
frame += 1
finally:
if (world and world.recording_enabled):
client.stop_recorder()
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client("localhost", 2000)
client.set_timeout(100.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
test_map = client.load_world('Town03')
world = World(test_map, hud, args)
controller = KeyboardControl(world, False)
actor_list = []
sensors = []
# ==================================================================
# TODO - features init/misc
a_controller = PurePursuitPlusPID()
cg, ld = lane_track_init()
b_controller = setup_gps_pid(world.player)
routeplanner = GlobalRoutePlanner(
GlobalRoutePlannerDAO(world.world.get_map(), 2))
routeplanner.setup()
chaseControl = ChaseControl()
# trailing_vehicle = chasing_car_init(world=world, position=None, y_offset=y_offset)
# actor_list.append(trailing_vehicle)
# TODO - add sensors
blueprint_library = world.world.get_blueprint_library()
# Camera RGB sensor
bp_cam_rgb = blueprint_library.find('sensor.camera.rgb')
bp_cam_rgb.set_attribute('image_size_x', str(cg.image_width))
bp_cam_rgb.set_attribute('image_size_y', str(cg.image_height))
bp_cam_rgb.set_attribute('fov', str(cg.field_of_view_deg))
# Semantic Segmentation camera
bp_cam_seg = blueprint_library.find(
'sensor.camera.semantic_segmentation')
bp_cam_seg.set_attribute('image_size_x', str(cg.image_width))
bp_cam_seg.set_attribute('image_size_y', str(cg.image_height))
bp_cam_seg.set_attribute('fov', str(cg.field_of_view_deg))
# GNSS sensor
bp_gnss = blueprint_library.find('sensor.other.gnss')
# TODO - mock destination
# destination = (-20.5, -142.0, 1.0) # Fixed Location in Town03
destination = (79.0, -216, 0.0) # Fixed Location in Town03
# Spawn Sensors
transform = carla.Transform(carla.Location(x=0.7, z=cg.height),
carla.Rotation(pitch=-1 * cg.pitch_deg))
cam_rgb = world.world.spawn_actor(bp_cam_rgb,
transform,
attach_to=world.player)
print('created %s' % cam_rgb.type_id)
cam_seg = world.world.spawn_actor(bp_cam_seg,
transform,
attach_to=world.player)
print('created %s' % cam_seg.type_id)
gnss_transform = carla.Transform(carla.Location(0, 0, 0),
carla.Rotation(0, 0, 0))
gnss = world.world.spawn_actor(bp_gnss,
gnss_transform,
attach_to=world.player)
print('created %s' % gnss.type_id)
# Append actors / may not be necessary
actor_list.append(cam_rgb)
actor_list.append(cam_seg)
actor_list.append(gnss)
sensors.append(cam_rgb)
sensors.append(cam_seg)
sensors.append(gnss)
# ==================================================================
frame = 0
FPS = 30
speed, traj = 0, np.array([])
df_carla_path, wp_counter, final_wp, wp_distance, route_distance = pd.DataFrame(
), 0, False, 0, 0
time_cycle, cycles, wp_cycle = 0.0, 30, 0.0
route = False
pid_type, visual_nav = "N/A", True
target_spawn = False
clock = pygame.time.Clock()
# TODO - add sensor to SyncMode
with CarlaSyncMode(world.world, cam_rgb, cam_seg, gnss,
fps=FPS) as sync_mode:
while True:
clock.tick_busy_loop(FPS)
time_cycle += clock.get_time()
wp_cycle += clock.get_time()
if controller.parse_events(client, world, clock):
return
# Advance the simulation and wait for the data.
tick_response = sync_mode.tick(timeout=2.0)
# Data retrieval
snapshot, image_rgb, image_seg, gnss_data = tick_response
if time_cycle >= 1000.0 / cycles:
time_cycle = 0.0
image_seg.convert(carla.ColorConverter.CityScapesPalette)
# ==================================================================
# TODO - run features
traj, lane_mask, poly_warning = get_trajectory_from_lane_detector(
ld, image_seg) # stay in lane
current_loc = [
gnss_data.latitude, gnss_data.longitude,
gnss_data.altitude
]
if world.gps_flag:
df_carla_path = process_nav_a2b(
world.world,
str(world.world.get_map().name),
current_loc,
destination,
dest_fixed=True,
graph_vis=world.gps_vis,
wp_vis=world.gps_vis
) # put dest_fixed=False if random location
world.gps_flag = False
wp_counter = 1
route = None
if not df_carla_path.empty and not final_wp:
# next waypoint
row = df_carla_path.iloc[wp_counter]
next_carla_loc = carla.Location(x=row["x"],
y=row["y"],
z=row["z"])
# arrive @ next waypoint
wp_distance = next_carla_loc.distance(ego_carla_loc)
if wp_distance <= 5.0:
wp_counter += 1
route = None
# last waypoint
if wp_counter == len(df_carla_path) - 1:
visual_nav = False
final_wp = True
route = routeplanner.trace_route(
ego_carla_loc, next_carla_loc)
route_counter = 1
ego_carla_loc = world.player.get_location()
# dgmd_mask = image_pipeline(image_seg)
# manual data collection
if world.save_img:
save_img(image_rgb,
path='intersection/data/image_%s.png')
world.save_img = False
# ==================================================================
# Debug data
debug_view(image_rgb,
image_seg,
lane_mask,
text=[
not visual_nav, pid_type,
round(wp_distance, 2), wp_counter,
world.car_chase, world.autopilot_flag
])
# # Car chasing
if world.car_chase:
# Spawn target vehicle
if not target_spawn:
target_bp = blueprint_library.find(
'vehicle.tesla.model3')
while target_spawn is False:
try:
target_transform = carla.Transform(
carla.Location(x=ego_carla_loc.x +
random.randint(5, 30),
y=ego_carla_loc.y +
random.randint(-5, 5),
z=1),
world.player.get_transform().rotation)
target_vehicle = world.world.spawn_actor(
target_bp, target_transform)
target_spawn = True
except:
pass
# For some reason autopilot is not working for targt vehicle
# target_vehicle.set_autopilot(True)
trailing_steer, trailing_throttle, real_dist = chaseControl.behaviour_planner(
leading_vehicle=target_vehicle,
trailing_vehicle=world.player,
trailing_image_seg=image_seg,
trail_cam_rgb=cam_rgb,
frame=frame)
send_control(world.player, trailing_throttle,
trailing_steer, 0)
frame += 1
# PID Controls
elif world.autopilot_flag and not world.car_chase:
if wp_cycle >= 1000.0 and not final_wp:
wp_cycle = 0.0
visual_nav = not world.world.get_map().get_waypoint(
ego_carla_loc).next(2)[0].is_junction
if visual_nav and traj.any():
pid_type = "visual"
speed = get_speed(world.player)
throttle, steer = a_controller.get_control(
traj, speed, desired_speed=15, dt=1. / FPS)
send_control(world.player, throttle, steer, 0)
route = None
else:
pid_type = "gps"
if not route:
route = routeplanner.trace_route(
ego_carla_loc, next_carla_loc)
route_counter = 0
if route_counter == len(route) - 1:
route = None
continue
wp = route[-1][0]
if route_counter < len(route) - 4:
world.world.debug.draw_point(
route[route_counter + 4][0].transform.location,
color=carla.Color(r=0, g=255, b=0),
size=0.1,
life_time=120.0)
route_distance = wp.transform.location.distance(
ego_carla_loc)
if route_distance <= 2:
route_counter += 1
elif final_wp and route_distance <= 5:
gps_speed = 0
world.autopilot_flag = False
else:
gps_speed = 20
control = gps_pid(wp, gps_speed, b_controller)
world.player.apply_control(control)
world.tick(clock)
world.render(display)
pygame.display.flip()
finally:
if (world and world.recording_enabled):
client.stop_recorder()
if world is not None:
world.destroy()
pygame.quit()