def restart(self):
if self.external_actor:
# Check whether there is already an actor with defined role name
for actor in self.world.get_actors():
if actor.attributes.get('role_name') == self.actor_role_name:
self.player = actor
break
else:
# Get a random blueprint.
blueprint = random.choice(
self.world.get_blueprint_library().filter(self._actor_filter))
blueprint.set_attribute('role_name', self.actor_role_name)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
if blueprint.has_attribute('is_invincible'):
blueprint.set_attribute('is_invincible', 'true')
# Spawn the player.
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)
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)
if self.external_actor:
ego_sensors = []
for actor in self.world.get_actors():
if actor.parent == self.player:
ego_sensors.append(actor)
for ego_sensor in ego_sensors:
if ego_sensor is not None:
ego_sensor.destroy()
# Set up the sensors.
self.camera = Camera(self.player, self.dim)
self.rss_unstructured_scene_visualizer = RssUnstructuredSceneVisualizer(
self.player, self.world, self.dim)
self.rss_bounding_box_visualizer = RssBoundingBoxVisualizer(
self.dim, self.world, self.camera.sensor)
self.rss_sensor = RssSensor(self.player, self.world,
self.rss_unstructured_scene_visualizer,
self.rss_bounding_box_visualizer,
self.hud.rss_state_visualizer)
class World(object):
def __init__(self, carla_world, args):
self.world = carla_world
self.actor_role_name = args.rolename
self.dim = (args.width, args.height)
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.external_actor = args.externalActor
self.hud = HUD(args.width, args.height, carla_world)
self.recording_frame_num = 0
self.recording = False
self.recording_dir_num = 0
self.player = None
self.actors = []
self.rss_sensor = None
self.rss_unstructured_scene_visualizer = None
self.rss_bounding_box_visualizer = None
self._actor_filter = args.filter
if not self._actor_filter.startswith("vehicle."):
print('Error: RSS only supports vehicles as ego.')
sys.exit(1)
self.restart()
self.world_tick_id = self.world.on_tick(self.on_world_tick)
def on_world_tick(self, world_snapshot):
self.hud.on_world_tick(world_snapshot)
def toggle_pause(self):
settings = self.world.get_settings()
self.pause_simulation(not settings.synchronous_mode)
def pause_simulation(self, pause):
settings = self.world.get_settings()
if pause and not settings.synchronous_mode:
settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.05
self.world.apply_settings(settings)
elif not pause and settings.synchronous_mode:
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
self.world.apply_settings(settings)
def restart(self):
if self.external_actor:
# Check whether there is already an actor with defined role name
for actor in self.world.get_actors():
if actor.attributes.get('role_name') == self.actor_role_name:
self.player = actor
break
else:
# Get a random blueprint.
blueprint = random.choice(
self.world.get_blueprint_library().filter(self._actor_filter))
blueprint.set_attribute('role_name', self.actor_role_name)
if blueprint.has_attribute('color'):
color = random.choice(
blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
if blueprint.has_attribute('driver_id'):
driver_id = random.choice(
blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
if blueprint.has_attribute('is_invincible'):
blueprint.set_attribute('is_invincible', 'true')
# Spawn the player.
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)
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)
if self.external_actor:
ego_sensors = []
for actor in self.world.get_actors():
if actor.parent == self.player:
ego_sensors.append(actor)
for ego_sensor in ego_sensors:
if ego_sensor is not None:
ego_sensor.destroy()
# Set up the sensors.
self.camera = Camera(self.player, self.dim)
self.rss_unstructured_scene_visualizer = RssUnstructuredSceneVisualizer(
self.player, self.world, self.dim)
self.rss_bounding_box_visualizer = RssBoundingBoxVisualizer(
self.dim, self.world, self.camera.sensor)
self.rss_sensor = RssSensor(self.player, self.world,
self.rss_unstructured_scene_visualizer,
self.rss_bounding_box_visualizer,
self.hud.rss_state_visualizer)
def tick(self, clock):
self.hud.tick(self.player, clock)
def toggle_recording(self):
if not self.recording:
dir_name = "_out%04d" % self.recording_dir_num
while os.path.exists(dir_name):
self.recording_dir_num += 1
dir_name = "_out%04d" % self.recording_dir_num
self.recording_frame_num = 0
os.mkdir(dir_name)
else:
self.hud.notification('Recording finished (folder: _out%04d)' %
self.recording_dir_num)
self.recording = not self.recording
def render(self, display):
self.camera.render(display)
self.rss_bounding_box_visualizer.render(display,
self.camera.current_frame)
self.rss_unstructured_scene_visualizer.render(display)
self.hud.render(display)
if self.recording:
pygame.image.save(
display, "_out%04d/%08d.bmp" %
(self.recording_dir_num, self.recording_frame_num))
self.recording_frame_num += 1
def destroy(self):
# stop from ticking
if self.world_tick_id:
self.world.remove_on_tick(self.world_tick_id)
if self.camera:
self.camera.destroy()
if self.rss_sensor:
self.rss_sensor.destroy()
if self.rss_unstructured_scene_visualizer:
self.rss_unstructured_scene_visualizer.destroy()
if self.player:
self.player.destroy()