def _get_joystick_control(self,joystick): control = VehicleControl() tmp1 = 0.6 * joystick.get_axis(1) if (tmp1 <= 0): control.throttle = -tmp1 control.brake = 0 else: control.throttle = 0 control.brake = tmp1 control.steer = joystick.get_axis(2) control.steer = 0.5 * control.steer * control.steer * control.steer # print('steer....',control.steer) #provide a stable autopilot autopilot = joystick.get_button(0) if autopilot == 1: self._enable_autopilot = not self._enable_autopilot # provide a stable reverse reverse = joystick.get_button(2) if reverse == 1: self._is_on_reverse = not self._is_on_reverse control.reverse = self._is_on_reverse return control
def _get_joystick_control(self, joystick): control = VehicleControl() tmp1 = 0.6 * joystick.get_axis(1) if (tmp1 <= 0): control.throttle = -tmp1 control.brake = 0 else: control.throttle = 0 control.brake = tmp1 control.steer = joystick.get_axis(2) control.steer = 0.5 * control.steer * control.steer * control.steer # print('steer....',control.steer) #provide a stable autopilot autopilot = joystick.get_button(0) if autopilot == 1: self._enable_autopilot = not self._enable_autopilot # provide a stable reverse reverse = joystick.get_button(2) if reverse == 1: self._is_on_reverse = not self._is_on_reverse control.reverse = self._is_on_reverse return control
def accelerate(self): control = VehicleControl() control.throttle = 1.0 if (self.too_close_to('vehicle', self.vehicle_distance_threshold)): control.throttle = self.measurements.player_measurements.autopilot_control.throttle control.reverse = self._is_on_reverse self.client.send_control(control)
def decode_control(self, cod): control = VehicleControl() control.steer = 0 control.throttle = 0 control.brake = 0 control.hand_brake = False control.reverse = False if cod > 9: control.hand_brake = True if cod == 10: control.steer = -1 elif cod == 10: control.steer = -1 return control if cod == 9: control.reverse = True control.throttle = 1 return control if cod % 3 == 1: control.brake = 1 elif cod % 3 == 2: control.throttle = 1 if cod // 3 == 1: control.steer = 1 elif cod // 3 == 2: control.steer = -1 return control
def _get_keyboard_control(self, keys, args): """ Return a VehicleControl message based on the pressed keys. Return None if a new episode was requested. """ global flg_warning if keys[K_r]: return None control = VehicleControl() if keys[K_LEFT] or keys[K_a]: control.steer = -1.0 if keys[K_RIGHT] or keys[K_d]: control.steer = 1.0 if keys[K_UP] or keys[K_w]: control.throttle = 1.0 if keys[K_DOWN] or keys[K_s]: control.brake = 1.0 if keys[K_SPACE]: control.hand_brake = True if keys[K_q]: self._is_on_reverse = not self._is_on_reverse if keys[K_p]: self._enable_autopilot = not self._enable_autopilot if args.app == 'Control': if flg_warning == -1: control.throttle = 0.0 control.reverse = self._is_on_reverse return control
def run_step(self, measurements, sensor_data, directions, target, frame): actions = [-1.0, -0.5, 0, 0.5, 1, 0, 0.5, 1.0] control = VehicleControl() if frame < 30: control.throttle = 0 else: control.throttle = 0.6 return control
def _get_keyboard_control(self, keys): """ Return a VehicleControl message based on the pressed keys. Return None if a new episode was requested. """ if keys[K_r]: return None control = VehicleControl() self.resetVal() ################################################### YOU CAN EDIT IT ACCORDING YOU.... if keys[K_LEFT] or keys[K_a]: self._val1 = -1 print("Left") if (pid.prev > 0): pid.prev = 0 elif keys[K_RIGHT] or keys[K_d]: self._val1 = 1 print("Right") if (pid.prev < 0): pid.prev = 0 pid.prev += self._val1 output = pid.kp * self._val1 + pid.ki * pid.prev print(output) control.steer = output #Imp Line if keys[K_UP] or keys[K_w]: self._val2 = 1 pid.prev = 0 elif keys[K_DOWN] or keys[K_s]: control.brake = 1 pid.prev = 0 ### if (self._velocity < 77): control.throttle = self._val2 #Imp Line else: control.throttle = self._val2 * 0.8 if keys[K_SPACE]: control.hand_brake = True pid.prev = 0 if keys[K_f]: self._val3 = 1 - self._val3 if keys[K_q]: self._is_on_reverse = not self._is_on_reverse pid.prev = 0 if keys[K_p]: self._enable_autopilot = not self._enable_autopilot control.reverse = self._is_on_reverse ################################################################################ #print(control) return control
def _get_joystick_control(self): control = VehicleControl() control.steer = self._joystick.get_axis(0) control.throttle = max(self._joystick.get_axis(1) * -1, 0) control.brake = max(self._joystick.get_axis(1), 0) return control
def steer_right(self): control = VehicleControl() control.steer = min(control.steer + 0.01, 0.05) print(control.steer) control.reverse = self._is_on_reverse control.throttle = self.measurements.player_measurements.autopilot_control.throttle self.client.send_control(control)
def action_joystick(self): # joystick steering_axis = self.joystick.get_axis(0) acc_axis = self.joystick.get_axis(2) brake_axis = self.joystick.get_axis(5) # print("axis 0 %f, axis 2 %f, axis 3 %f" % (steering_axis, acc_axis, brake_axis)) if (self.joystick.get_button(3)): self._rear = True if (self.joystick.get_button(2)): self._rear = False control = VehicleControl() control.steer = steering_axis control.throttle = (acc_axis + 1) / 2.0 control.brake = (brake_axis + 1) / 2.0 if control.brake < 0.001: control.brake = 0.0 control.hand_brake = 0 control.reverse = self._rear control.steer -= 0.0822 #print("steer %f, throttle %f, brake %f" % (control.steer, control.throttle, control.brake)) pygame.event.pump() return control
def _compute_action(self, rgb_image, speed, directions=None): #shit for demo img = cv2.cvtColor(rgb_image, cv2.COLOR_RGB2BGR) cv2.imwrite(self.img_dir + "/image_" + str(self.nr_img) + ".jpg", img) #shit for demo rgb_image = rgb_image[self._image_cut[0]:self._image_cut[1], :] steer, acc, brake = self._control_function(rgb_image, speed, directions) # This a bit biased, but is to avoid fake breaking if brake < 0.1: brake = 0.0 if acc > brake: brake = 0.0 # We limit speed to 35 km/h to avoid if speed > 10.0 and brake == 0: acc = 0.0 control = VehicleControl() control.steer = steer control.throttle = acc control.brake = brake control.hand_brake = 0 control.reverse = 0 return control
def control(self): vcontrol = VehicleControl() # Press Y if self.controller.get_button(3): return None # Left stick steer = self.controller.get_axis(0) if abs(steer) >= 0.1: vcontrol.steer = steer / 2. # Right stick throttle = -self.controller.get_axis(4) if throttle > 0: vcontrol.throttle = abs(throttle) / 1.5 else: vcontrol.brake = abs(throttle) # Press right stick if self.controller.get_button(10): vcontrol.hand_brake = True self.client.send_control(vcontrol) self.info[ 'Throttle'] = vcontrol.throttle if throttle > 0 else -vcontrol.brake self.info['Steer'] = vcontrol.steer
def send_control_command(client, throttle, steer, brake, hand_brake=False, reverse=False): """Send control command to CARLA client. Send control command to CARLA client. Args: client: The CARLA client object throttle: Throttle command for the sim car [0, 1] steer: Steer command for the sim car [-1, 1] brake: Brake command for the sim car [0, 1] hand_brake: Whether the hand brake is engaged reverse: Whether the sim car is in the reverse gear """ control = VehicleControl() # Clamp all values within their limits steer = np.fmax(np.fmin(steer, 1.0), -1.0) throttle = np.fmax(np.fmin(throttle, 1.0), 0) brake = np.fmax(np.fmin(brake, 1.0), 0) control.steer = steer control.throttle = throttle control.brake = brake control.hand_brake = hand_brake control.reverse = reverse client.send_control(control)
def get_control(self, wp_angle, wp_angle_speed, speed_factor, current_speed): control = VehicleControl() current_speed = max(current_speed, 0) steer = self.params['steer_gain'] * wp_angle if steer > 0: control.steer = min(steer, 1) else: control.steer = max(steer, -1) if math.fabs(wp_angle_speed) < 0.1: target_speed_adjusted = self.params['target_speed'] * speed_factor # Depending on the angle of the curve the speed is either 20 (beginning) 15 (most of it) elif math.fabs(wp_angle_speed) < 0.5: target_speed_adjusted = 20 * speed_factor else: target_speed_adjusted = 15 * speed_factor self.pid.target = target_speed_adjusted pid_gain = self.pid(feedback=current_speed) throttle = min(max(self.params['default_throttle'] - 1.3 * pid_gain, 0), self.params['throttle_max']) if pid_gain > 0.5: brake = min(0.35 * pid_gain * self.params['brake_strength'], 1) else: brake = 0 control.throttle = max(throttle, 0) control.brake = brake return control
def _get_keyboard_control(self, keys, measurements): """ Return a VehicleControl message based on the pressed keys. Return None if a new episode was requested. """ if keys[K_p]: control = measurements.player_measurements.autopilot_control control.steer += random.uniform(-0.1, 0.1) return control if keys[K_r]: return None control = VehicleControl() if keys[K_LEFT] or keys[K_a]: control.steer = -1.0 if keys[K_RIGHT] or keys[K_d]: control.steer = 1.0 if keys[K_UP] or keys[K_w]: control.throttle = 1.0 if keys[K_DOWN] or keys[K_s]: control.brake = 1.0 if keys[K_SPACE]: control.hand_brake = True if keys[K_q]: self._is_on_reverse = not self._is_on_reverse control.reverse = self._is_on_reverse return control
def _get_keyboard_control(self, keys): """ Return a VehicleControl message based on the pressed keys. Return None if a new episode was requested. """ if keys[K_r]: return None control = VehicleControl() if keys[K_LEFT] or keys[K_a]: control.steer = -0.5 if keys[K_RIGHT] or keys[K_d]: control.steer = 0.5 if keys[K_UP] or keys[K_w]: control.throttle = 0.7 if keys[K_DOWN] or keys[K_s]: control.brake = 1.0 if keys[K_SPACE]: control.hand_brake = True if keys[K_q]: self._is_on_reverse = not self._is_on_reverse if keys[K_p]: self._enable_autopilot = not self._enable_autopilot if keys[K_2]: self._command = 2 if keys[K_3]: self._command = 3 if keys[K_4]: self._command = 4 if keys[K_5]: self._command = 5 control.reverse = self._is_on_reverse return control
def _control_using_agent(self, action): ''' Here we pass the action output by our agent and control the car outputs : As of now consider the agent also outputs the keys W, A, S, D, space, reverse so according to the output vector "action" For example : action = [1, 1, 0, 0, 0, 0] => it uses throttle and steer left action = [0, 0, 0, 0, 0, 1] => car will be on reverse gear ''' '''To be completed''' # if action[6]: # # if r is pressed # return None control = VehicleControl() if action[1]: control.steer = -1.0 if action[3]: control.steer = 1.0 if action[0]: control.throttle = 1.0 if action[2]: control.brake = 1.0 if action[4]: control.hand_brake = True if action[5]: self._is_on_reverse = not self._is_on_reverse control.reverse = self._is_on_reverse return control
def _get_keyboard_control(self, keys): """ Return a VehicleControl message based on the pressed keys. Return None if a new episode was requested. """ if keys[K_r]: return None control = VehicleControl() if keys[K_LEFT] or keys[K_a]: self._control.steer += -0.02 self._control.steer = max(self._control.steer, -1.0) control.steer = -1.0 if keys[K_RIGHT] or keys[K_d]: self._control.steer += 0.02 self._control.steer = min(self._control.steer, 1.0) control.steer = 1.0 if keys[K_l] or keys[K_SPACE]: self._control.steer = 0 if keys[K_UP] or keys[K_w]: control.throttle = 1.0 self._control.throttle = 0.6 self._control.throttle = min(self._control.throttle, 1) self._control.brake = 0.0 if keys[K_DOWN] or keys[K_s]: control.brake = 1.0 self._control.brake = 1.0 self._control.throttle = 0.0 if keys[K_q]: self._is_on_reverse = not self._is_on_reverse if keys[K_p]: self._enable_autopilot = not self._enable_autopilot control.reverse = self._is_on_reverse self._control.reverse = self._is_on_reverse return control
def _get_keyboard_control(self, keys): """ Return a VehicleControl message based on the pressed keys. Return None if a new episode was requested. """ if keys[K_r]: return None, None if keys[K_t]: self.should_display = not self.should_display return 'done', None if keys[K_m]: self.manual = True return 'done', None if keys[K_n]: self.manual = False return 'done', None if keys[K_v]: self.endnow = True return 'done', None control = VehicleControl() if keys[K_LEFT] or keys[K_a]: control.steer = -1.0 if keys[K_RIGHT] or keys[K_d]: control.steer = 1.0 if keys[K_UP] or keys[K_w]: control.throttle = 1.0 if keys[K_DOWN] or keys[K_s]: control.brake = 1.0 if keys[K_SPACE]: control.hand_brake = True if keys[K_q]: self._is_on_reverse = not self._is_on_reverse if keys[K_c]: self.manual_control = not self.manual_control if keys[K_p]: self._enable_autopilot = not self._enable_autopilot control.reverse = self._is_on_reverse reward = None if keys[K_1]: reward = -1 if keys[K_2]: reward = -0.5 if keys[K_3]: reward = -0.25 if keys[K_4]: reward = -0.1 if keys[K_5]: reward = 0 if keys[K_6]: reward = 0.1 if keys[K_7]: reward = 0.25 if keys[K_8]: reward = 0.5 if keys[K_9]: reward = 1 return control, reward
def get_control_from_a(a): control = VehicleControl() control.steer = a[0] control.throttle = a[1] control.brake = a[2] control.hand_brake = bool(a[3]) control.reverse = bool(a[4]) return control
def _get_keyboard_control(self, keys, measurements, sensor_data): """ Return a VehicleControl message based on the pressed keys. Return None if a new episode was requested. """ self._at_intersection = False if keys[K_r]: return None if self._NNagent_drives: if keys[K_LEFT] or keys[K_a]: control = self.NNagent.run_step(measurements, sensor_data, 3, None) elif keys[K_RIGHT] or keys[K_d]: control = self.NNagent.run_step(measurements, sensor_data, 4, None) elif keys[K_UP] or keys[K_w]: control = self.NNagent.run_step(measurements, sensor_data, 2, None) else: control = self.NNagent.run_step(measurements, sensor_data, -1, None) if keys[K_q]: self._is_on_reverse = not self._is_on_reverse if keys[K_p]: self._enable_autopilot = True self._NNagent_drives = not self._NNagent_drives if keys[K_n]: print("Turning off") self._NNagent_drives = not self._NNagent_drives if keys[K_i]: self._at_intersection = True control.reverse = self._is_on_reverse else: control = VehicleControl() if keys[K_LEFT] or keys[K_a]: control.steer = -1.0 if keys[K_RIGHT] or keys[K_d]: control.steer = 1.0 if keys[K_UP] or keys[K_w]: control.throttle = 1.0 if keys[K_DOWN] or keys[K_s]: control.brake = 1.0 if keys[K_SPACE]: control.hand_brake = True if keys[K_q]: self._is_on_reverse = not self._is_on_reverse if keys[K_p]: self._enable_autopilot = not self._enable_autopilot if keys[K_n]: print("Turning on") self._NNagent_drives = not self._NNagent_drives self._enable_autopilot = False if keys[K_i]: self._at_intersection = True control.reverse = self._is_on_reverse return control
def _get_XBOX_control(self, joystick): control = VehicleControl() control.throttle = 0.4 * (joystick.get_axis(5) + 1) if control.throttle > 0.6: control.throttle = 0.6 # if control.throttle <0.3: # control.throttle = 0 # elif control.throttle<0.7: # control.throttle = 0.5 # else: # control.throttle =1.0 control.brake = 0.5 * (joystick.get_axis(2) + 1) control.brake = max(0, control.brake - 0.1) control.steer = joystick.get_axis(0) if(abs(control.steer)<0.05): control.steer = 0 if control.steer <=-0.05: control.steer += 0.05 if control.steer >=0.05: control.steer -= 0.05 control.steer = 0.8 * control.steer control.reverse = self._is_on_reverse # command = joystick.get_hat(0) # if command[0] == -1: # self._command = 3 # elif command[0] == 1: # self._command = 4 # if command[1] == -1: # self._command = 5 # elif command[1] == 1: # self._command = 2 # return control if joystick.get_axis(3) > 0.5: self._command = 4 elif joystick.get_axis(3) < -0.5: self._command = 3 elif joystick.get_axis(4) > 0.5: self._command = 5 elif joystick.get_axis(4) < -0.5: self._command = 2 return control
def _get_autopilot_control(self, measurements): control = VehicleControl() control.steer = measurements.player_measurements.autopilot_control.steer control.throttle = measurements.player_measurements.autopilot_control.throttle control.brake = measurements.player_measurements.autopilot_control.brake control.hand_brake = measurements.player_measurements.autopilot_control.hand_brake control.reverse = measurements.player_measurements.autopilot_control.reverse return control
def _get_steering_control(self): numAxes = self.js.get_numaxes() jsInputs = [float(self.js.get_axis(i)) for i in range(numAxes)] # print('Js inputs [%s]' % ', '.join(map(str, jsInputs))) control = VehicleControl() control.steer = jsInputs[0] if ((1 - jsInputs[1]) / 2) > 0.001: control.brake = (1 - jsInputs[1]) / 2 else: control.brake = 0 if ((1 - jsInputs[2]) / 2) > 0.001: control.throttle = (1 - jsInputs[2]) / 2 else: control.throttle = 0 control.hand_brake = 0.0 control.reverse = 0.0 # print(control) return control
def _get_XBOX_control(self, joystick): control = VehicleControl() control.throttle = 0.4 * (joystick.get_axis(5) + 1) if control.throttle > 0.6: control.throttle = 0.6 # if control.throttle <0.3: # control.throttle = 0 # elif control.throttle<0.7: # control.throttle = 0.5 # else: # control.throttle =1.0 control.brake = 0.5 * (joystick.get_axis(2) + 1) control.brake = max(0, control.brake - 0.1) control.steer = joystick.get_axis(0) if (abs(control.steer) < 0.05): control.steer = 0 if control.steer <= -0.05: control.steer += 0.05 if control.steer >= 0.05: control.steer -= 0.05 control.steer = 0.8 * control.steer control.reverse = self._is_on_reverse # command = joystick.get_hat(0) # if command[0] == -1: # self._command = 3 # elif command[0] == 1: # self._command = 4 # if command[1] == -1: # self._command = 5 # elif command[1] == 1: # self._command = 2 # return control if joystick.get_axis(3) > 0.5: self._command = 4 elif joystick.get_axis(3) < -0.5: self._command = 3 elif joystick.get_axis(4) > 0.5: self._command = 5 elif joystick.get_axis(4) < -0.5: self._command = 2 return control
def _on_loop(self, frame): self._timer.tick() skip_frames = 40 measurements, sensor_data = self.client.read_data() current_position = vec3tovec2(measurements.player_measurements.transform.location) self._velocities.append(measurements.player_measurements.forward_speed * 3.6) # convert to km/h steer = 0.0 acceleration = 0.0 for name, measurement in sensor_data.items(): model_input = preprocess(measurement.data) model_input = np.array(model_input / 127.5 - 1, dtype=np.float32) model_input = np.expand_dims(model_input, axis=0) ret = self._model.predict(model_input)[0] steer = ret[0] acceleration = ret[1] if USE_SPEED_CONSTRAINTS: if measurements.player_measurements.forward_speed * 3.6 < MINIMAL_SPEED: acceleration = 0.7 elif measurements.player_measurements.forward_speed * 3.6 > MAXIMAL_SPEED: acceleration = 0 control = VehicleControl() control.steer = steer control.throttle = acceleration self.client.send_control(control) if frame < skip_frames: logging.info("Skipping first {} frames...".format(skip_frames)) return True self.line_points.append(current_position) self.points_x.append(current_position[0]) self.points_y.append(current_position[1]) if len(self.line_points) > 1: dist_from_start = distance(self.line_points[0], current_position) else: dist_from_start = 10000 if dist_from_start < 1 and frame > skip_frames + 100: logging.info("Position: {} is already logged".format(current_position)) return False if self._timer.elapsed_seconds_since_lap() > 0.5: self._print_player_measurements(control) logging.info("Add point: [{:.4f},{:.4f}], points count: {:0>4d}, distance from start: {:.4f}".format( current_position[0], current_position[1], len(self.line_points), dist_from_start)) self._timer.lap() return True
def decode_control(self, cod): #将数字的control转换为VehicleControl() control = VehicleControl() control.steer = 0 control.throttle = 0 control.brake = 0 control.hand_brake = False control.reverse = False th, steer = cod if th > 0: control.throttle = min(th, 1.0) if th < 0: control.brake = min(-th, 1.0) control.steer = max(min(steer, 1.0), -1.0) # if cod > 9: # control.hand_brake = True # if cod == 10: # control.steer = -1 # elif cod == 11: # control.steer = 1 # return control # if cod == 9: # control.reverse = True # control.throttle = 1 # return control # if cod % 3 == 1: # control.brake = 1 # elif cod % 3 == 2: # control.throttle = 1 # if cod // 3 == 1: # control.steer = 1 # elif cod // 3 == 2: # control.steer = -1 return control
def getKeyboardControl(): control = VehicleControl() if win32api.GetAsyncKeyState(ord('A')): control.steer = -1.0 if win32api.GetAsyncKeyState(ord('D')): control.steer = 1.0 if win32api.GetAsyncKeyState(ord('W')): control.throttle = 1.0 if win32api.GetAsyncKeyState(ord('S')): control.brake = 1.0 return control
def _get_joystick_control(self): # define ids of important axes on joystick TRIGGERS = 2 X_AXIS = 0 control = VehicleControl() control.throttle = 0 control.brake = 0 # dont know why but axes in PYGAME are inverted, LEFT_TRIGGGER is >0 and RIGHT_TRIGGER <0 # LEFT_TRIGGER is for braking trigger_value = self._current_joystick.get_axis(TRIGGERS) if trigger_value > 0: control.brake = trigger_value # RIGHT_TRIGGER is for throttle elif trigger_value < 0: control.throttle = -trigger_value control.steer = self._current_joystick.get_axis(X_AXIS) if X_AXIS_DEADZONE[0] < control.steer < X_AXIS_DEADZONE[1]: control.steer = 0 return control
def action_to_control(self, action, last_measurements=None): control = VehicleControl() if self.action_type == 'carla-original': if type(action) == np.ndarray: action = action.item() if type(action) != int: print('Unexpected action got {}'.format(type(action))) assert type(action) == int, 'Action should be an int' action = self.discrete_actions[action] if last_measurements is not None and last_measurements.player_measurements.forward_speed * 3.6 < 30: control.throttle = action[0] elif action[0] > 0.: control.throttle = 0. control.steer = action[1] elif self.action_type == 'continuous': control.throttle = min(1, max(0.0, action[0])) control.brake = min(1, max(0.0, action[1])) control.steer = min(1, max(-1, action[2])) # print('Control: {}, {}, {}'.format(control.throttle, control.brake, control.steer)) return control
def _get_gamepad_control(self): control = VehicleControl() gamepad = GamepadManager() control.steer = gamepad.axis_states[GamepadManager.AxisMap.LEFT_X] control.throttle = (gamepad.axis_states[GamepadManager.AxisMap.RT] + 1) / 2.0 control.brake = (gamepad.axis_states[GamepadManager.AxisMap.LT] + 1) / 2.0 if gamepad.button_states[GamepadManager.ButtonMap.X]: self._is_on_reverse = not self._is_on_reverse if gamepad.button_states[GamepadManager.ButtonMap.B]: self._enable_autopilot = not self._enable_autopilot control.reverse = self._is_on_reverse return control
def _get_keyboard_control(self, keys): control = VehicleControl() if keys[pl.K_LEFT] or keys[pl.K_a]: control.steer = -1.0 if keys[pl.K_RIGHT] or keys[pl.K_d]: control.steer = 1.0 if keys[pl.K_UP] or keys[pl.K_w]: control.throttle = 1.0 if keys[pl.K_DOWN] or keys[pl.K_s]: control.brake = 1.0 if keys[pl.K_SPACE]: control.hand_brake = True control.reverse = self._vehicle_in_reverse return control
def run_step(self, measurements, sensor_data, directions, target): control = VehicleControl() control.throttle = 0.9 return control