def main():
try:
client = carla.Client("localhost", 2000)
client.set_timeout(10.0)
world = client.load_world('Town05')
# set the weather
weather = carla.WeatherParameters(cloudiness=10.0,
precipitation=0.0,
sun_altitude_angle=90.0)
world.set_weather(weather)
# set the spectator position for demo purpose
spectator = world.get_spectator()
spectator.set_transform(
carla.Transform(
carla.Location(x=-190, y=1.29, z=75.0),
carla.Rotation(pitch=-88.0, yaw=-1.85,
roll=1.595))) # top view of intersection
env = CARLA_ENV(world)
time.sleep(2) # sleep for 2 seconds, wait the initialization to finish
traffic_light_list = get_traffic_lights(world.get_actors())
intersection_list = create_intersections(env, 4, traffic_light_list)
init_intersection = intersection_list[0]
normal_intersections = intersection_list[1:]
init_intersection.add_ego_vehicle(safety_distance=15.0,
stop_choice="abrupt",
vehicle_color='255,255,255')
init_intersection.add_follow_vehicle(follow_distance=20.0,
stop_choice="penetrate",
penetrate_distance=2.0)
init_intersection.add_lead_vehicle(lead_distance=20.0,
stop_choice="abrupt",
vehicle_color='255,255,255')
init_intersection.add_vehicle(choice="left",
stop_choice="abrupt",
vehicle_color='255,255,255')
init_intersection.add_vehicle(choice="right", command="left")
# test edit settings
name1 = init_intersection.add_vehicle(choice="ahead", command="left")
name2 = init_intersection.add_vehicle(choice="ahead", command="right")
name1 = init_intersection.edit_vehicle_settings(
name1, choice="ahead", vehicle_color='128,128,128')
name2 = init_intersection.edit_vehicle_settings(
name2, choice="ahead", gap=15.0, vehicle_color='128,128,128')
#init_intersection.edit_traffic_light("subject")
#init_intersection.edit_traffic_light("left",red_start = 40.0,red_end = 60.0,yellow_start=30.0,yellow_end=40.0,green_start=0.0,green_end = 30.0)
#init_intersection.edit_traffic_light("right",red_start = 0.0,red_end = 10.0,yellow_start=10.0,yellow_end=20.0,green_start=20.0,green_end = 40.0)
#init_intersection.edit_traffic_light("ahead",red_start = 20.0,red_end = 40.0,yellow_start=10.0,yellow_end=20.0,green_start=0.0,green_end = 10.0)
# get bounding box
bb = init_intersection.get_vehicle_bounding_box(name1)
print("bb.x = %f, bb.y = %f, bb.z = %f" % (bb.x, bb.y, bb.z))
intersection_list[1].add_vehicle(choice="ahead")
intersection_list[1].add_vehicle(choice="left", command="left")
intersection_list[1].add_vehicle(choice="right", command="left")
intersection_list[1].add_vehicle(choice="right", command="right")
intersection_list[1]._shift_vehicles(-10, choice="right", index=0)
#intersection_list[1].edit_traffic_light("left")
intersection_list[2].add_vehicle(choice="ahead")
intersection_list[2].add_vehicle(choice="left", command="left")
intersection_list[2].add_vehicle(choice="right", command="left")
intersection_list[2].add_vehicle(choice="right", command="right")
#intersection_list[2].edit_traffic_light("right")
intersection_list[3].add_vehicle(command="left")
intersection_list[3].add_vehicle()
#intersection_list[3].edit_traffic_light("ahead")
# test import/export
init_setting = init_intersection.export_settings()
intersection_list[3].import_settings(init_setting)
intersection_list[3].add_vehicle(command="left")
intersection_list[3].add_vehicle()
third_setting = intersection_list[3].export_settings()
write_intersection_settings("third_intersection_setting",
third_setting)
new_third_setting = read_intersection_settings(
'third_intersection_setting')
intersection_list[2].import_settings(new_third_setting)
IntersectionBackend(env, intersection_list)
finally:
time.sleep(10)
env.destroy_actors()
def __init__(self):
super(Main, self).__init__()
# variables needed for intersections
self.light_list_all = []
self.car_list = []
self.delete_car = []
self.saved_intersections = []
self.cur_inter = 0
self.cur_light = 0
self.cur_lane = 0
self.redLightDuration = 10
self.yellowLightDuration = 5
self.greenLightDuration = 10
self.gloSafetyDistance = 15
self.ego_spawned = False
self.cur_ID = [0, 0, 0]
self.normal_num = -1
self.penetrate_dis = 0
### Front end setup ###
#variables create
self.collision = True
self.navigation_speed = 10.0
self.safety_distance = 15
self.ego = -1
self.lead = -1
self.follow = -1
# build ui
self.inter = intersection.Ui_Form()
self.inter.setupUi()
self.inter.showMaximized()
self.TrafLit = intersection.Ui_TrafLightSet()
self.TrafLit.setupUi()
self.addVeh = intersection.Ui_AddVehicle()
self.addVeh.setupUi()
self.errMes = intersection.Ui_ErrMes()
self.errMes.setupUi()
self.simulation = intersection.Ui_Simulation()
self.simulation.setupUi()
self.pene = intersection.Ui_Penetrate()
self.pene.setupUi()
#add 6 widget maps in list
widgetmaps.append(self.inter.widget3Fro)
widgetmaps.append(self.inter.widget4Fro)
widgetmaps.append(self.inter.widget5Fro)
widgetmaps.append(self.inter.widget6Fro)
widgetmaps.append(self.inter.widget7Fro)
widgetmaps.append(self.inter.widget8Fro)
#link buttons and input
self.inter.RightFro.clicked.connect(self.right)
self.inter.LeftFro.clicked.connect(self.left)
self.inter.RightMostFro.clicked.connect(self.rightMost)
self.inter.LeftMostFro.clicked.connect(self.leftMost)
self.inter.spinBoxNumIntFro.valueChanged.connect(self.change_int)
self.inter.Int1Fro.clicked.connect(lambda: self.front_inter(num=1))
self.inter.Int2Fro.clicked.connect(lambda: self.front_inter(num=2))
self.inter.Int3Fro.clicked.connect(lambda: self.front_inter(num=3))
self.inter.Int4Fro.clicked.connect(lambda: self.front_inter(num=4))
self.inter.Int5Fro.clicked.connect(lambda: self.front_inter(num=5))
self.inter.Int6Fro.clicked.connect(lambda: self.front_inter(num=6))
self.inter.checkBoxColFro.stateChanged.connect(self.collision_change)
self.inter.spinBoxMaxVFro.valueChanged.connect(self.Max_speed_set)
self.inter.spinBoxSafDisFro.valueChanged.connect(
self.safety_distance_set)
self.inter.backButtonInt.clicked.connect(self.inter_front)
self.inter.TrafLightInt.clicked.connect(self.inter_Light)
self.inter.backButtonLit.clicked.connect(self.Light_inter)
self.inter.backButtonSpa.clicked.connect(self.spawn_inter)
self.inter.AddVehInt.clicked.connect(self.inter_spawn)
self.inter.set1Lit.clicked.connect(lambda: self.OpenTrafLit(num=0))
self.inter.set2Lit.clicked.connect(lambda: self.OpenTrafLit(num=1))
self.inter.set3Lit.clicked.connect(lambda: self.OpenTrafLit(num=2))
self.inter.set4Lit.clicked.connect(lambda: self.OpenTrafLit(num=3))
self.inter.AddSubSpa.clicked.connect(lambda: self.OpenAddVeh(num=0))
self.inter.AddLeftSpa.clicked.connect(lambda: self.OpenAddVeh(num=1))
self.inter.AddAheadSpa.clicked.connect(lambda: self.OpenAddVeh(num=2))
self.inter.AddRightSpa.clicked.connect(lambda: self.OpenAddVeh(num=3))
self.inter.confirmVeh.clicked.connect(self.confirm)
self.inter.cobBoxIDInt.currentIndexChanged.connect(self.change_inter)
self.inter.cobBoxImportInt.currentIndexChanged.connect(
self.import_inter)
self.inter.StartSimFro.clicked.connect(self.Front_simulation)
self.inter.DeleteVeh.clicked.connect(self.deleteCar)
self.inter.cobBoxStopVeh.currentIndexChanged.connect(
self.Veh_penetrate)
for i in range(4):
name = "CarSub" + str(i + 1)
tmp = self.inter.findChild(QLabel, name)
tmp.clicked.connect(self.make_any_vehicle(x=0, y=i))
for i in range(4):
name = "CarLeft" + str(i + 1)
tmp = self.inter.findChild(QLabel, name)
tmp.clicked.connect(self.make_any_vehicle(x=1, y=i))
for i in range(4):
name = "CarAhead" + str(i + 1)
tmp = self.inter.findChild(QLabel, name)
tmp.clicked.connect(self.make_any_vehicle(x=2, y=i))
for i in range(4):
name = "CarRight" + str(i + 1)
tmp = self.inter.findChild(QLabel, name)
tmp.clicked.connect(self.make_any_vehicle(x=3, y=i))
self.inter.backButtonVeh.clicked.connect(self.vehicle_inter)
self.TrafLit.buttonBoxTLDia.accepted.connect(self.traffic_light_ok)
self.addVeh.buttonBoxAdDia.accepted.connect(self.add_vehicle_ok)
self.simulation.buttonBoxSimDia.accepted.connect(self.start_simulation)
### back end setup ###
self.client = carla.Client("localhost", 2000)
self.client.set_timeout(20.0)
self.world = self.client.load_world('Town05')
self.spectator = self.world.get_spectator()
self.spectator.set_transform(
carla.Transform(carla.Location(x=-190, y=1.29, z=75.0),
carla.Rotation(pitch=-88.0, yaw=-1.85,
roll=1.595)))
self.env = CARLA_ENV(self.world)
self.traffic_light_list = get_traffic_lights(self.world.get_actors())
self.intersection_list = create_intersections(self.env, 4,
self.traffic_light_list,
self.navigation_speed)
#lists initialized
for i in range(4):
light_list_one = [[0.00, 10.00, 10.00, 15.00, 15.00, 25.00],
[0.00, 10.00, 10.00, 15.00, 15.00, 25.00],
[0.00, 10.00, 10.00, 15.00, 15.00, 25.00],
[0.00, 10.00, 10.00, 15.00, 15.00, 25.00]]
self.light_list_all.append(light_list_one)
self.saved_intersections.append(None)
inter_list = []
for j in range(4):
lane_list = []
inter_list.append(lane_list)
self.car_list.append(inter_list)
for i in range(4):
inter_list = []
for j in range(4):
lane_list = []
for k in range(4):
lane_list.append(False)
inter_list.append(lane_list)
self.delete_car.append(inter_list)
self.show_win()