def run_carla_client(args):
with make_connection(CarlaClient, args.host, args.port, timeout=15) as client:
logging.info('CarlaClient connected')
filename = '_images/episode_{:0>3d}/image_{:0>5d}.png'
frames_per_episode = 300
episode = 0
while True:
episode += 1
settings = CarlaSettings()
settings.set(SendNonPlayerAgentsInfo=True,SynchronousMode=args.synchronous)
settings.randomize_seeds()
camera = Camera('DefaultCamera')
camera.set_image_size(300, 200) # Do not change this, hard-coded in test.
settings.add_camera(camera)
logging.debug('sending CarlaSettings:\n%s', settings)
logging.info('new episode requested')
scene = client.request_new_episode(settings)
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(0, max(0, number_of_player_starts - 1))
logging.info(
'start episode at %d/%d player start (%d frames)',
player_start,
number_of_player_starts,
frames_per_episode)
client.start_episode(player_start)
use_ai_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for frame in range(0, frames_per_episode):
logging.debug('reading measurements...')
measurements, images = client.read_measurements()
logging.debug('received data of %d agents', len(measurements.non_player_agents))
assert len(images) == 1
assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY)
if args.images_to_disk:
images[0].save_to_disk(filename.format(episode, frame))
logging.debug('sending control...')
control = measurements.player_measurements.ai_control
if not use_ai_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(
steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
def run_carla_client(self,
carla_settings,
number_of_episodes,
number_of_frames,
use_autopilot_control=None):
with make_connection(CarlaClient,
self.args.host,
self.args.port,
timeout=15) as client:
logging.info('CarlaClient connected, running %d episodes',
number_of_episodes)
for _ in range(0, number_of_episodes):
carla_settings.randomize_seeds()
carla_settings.randomize_weather()
logging.debug('sending CarlaSettings:\n%s', carla_settings)
logging.info('new episode requested')
scene = client.load_settings(carla_settings)
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(
0, max(0, number_of_player_starts - 1))
logging.info('start episode at %d/%d player start (%d frames)',
player_start, number_of_player_starts,
number_of_frames)
client.start_episode(player_start)
if use_autopilot_control is None:
use_autopilot_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for _ in range(0, number_of_frames):
logging.debug('reading measurements...')
measurements, sensor_data = client.read_data()
images = [
x for x in sensor_data.values()
if isinstance(x, Image)
]
number_of_agents = len(measurements.non_player_agents)
logging.debug('received data of %d agents',
number_of_agents)
logging.debug('received %d images', len(images))
if len(sensor_data) != len(carla_settings._sensors):
raise RuntimeError(
'received %d, expected %d' %
(len(sensor_data), len(carla_settings._sensors)))
logging.debug('sending control...')
control = measurements.player_measurements.autopilot_control
if not use_autopilot_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
def run_carla_client(self, carla_settings, number_of_episodes, number_of_frames, use_ai_control=None):
with make_connection(CarlaClient, self.args.host, self.args.port, timeout=15) as client:
logging.info('CarlaClient connected, running %d episodes', number_of_episodes)
for _ in range(0, number_of_episodes):
carla_settings.randomize_seeds()
carla_settings.randomize_weather()
logging.debug('sending CarlaSettings:\n%s', carla_settings)
logging.info('new episode requested')
scene = client.request_new_episode(carla_settings)
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(0, max(0, number_of_player_starts - 1))
logging.info(
'start episode at %d/%d player start (%d frames)',
player_start,
number_of_player_starts,
number_of_frames)
client.start_episode(player_start)
if use_ai_control is None:
use_ai_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for _ in range(0, number_of_frames):
logging.debug('reading measurements...')
measurements, images = client.read_measurements()
number_of_agents = len(measurements.non_player_agents)
logging.debug('received data of %d agents', number_of_agents)
logging.debug('received %d images', len(images))
if len(images) != len(carla_settings._cameras):
raise RuntimeError('received %d images, expected %d' % (len(images), len(carla_settings._cameras)))
logging.debug('sending control...')
control = measurements.player_measurements.ai_control
if not use_ai_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(
steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
def main():
argparser = argparse.ArgumentParser(description=__doc__)
argparser.add_argument(
'-v', '--verbose',
action='store_true',
dest='debug',
help='print debug information')
argparser.add_argument(
'--log',
metavar='LOG_FILE',
default=None,
help='print output to file')
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-s', '--synchronous',
action='store_true',
help='enable synchronous mode')
argparser.add_argument(
'-i', '--images-to-disk',
action='store_true',
help='save images to disk')
argparser.add_argument(
'--echo',
action='store_true',
help='start a client that just echoes what the server sends')
argparser.add_argument(
'-c', '--console',
action='store_true',
help='start the client console')
args = argparser.parse_args()
name = 'echo_client: ' if args.echo else 'carla_client: '
logging_config = {
'format': name + '%(levelname)s: %(message)s',
'level': logging.DEBUG if args.debug else logging.INFO
}
if args.log:
logging_config['filename'] = args.log
logging_config['filemode'] = 'w+'
logging.basicConfig(**logging_config)
logging.info('listening to server %s:%s', args.host, args.port)
if args.console:
cmd = console.CarlaClientConsole(args)
try:
cmd.cmdloop()
finally:
cmd.cleanup()
return
while True:
try:
if args.echo:
with make_connection(TCPClient, args.host, args.port, timeout=15) as client:
while True:
logging.info('reading...')
data = client.read()
if not data:
raise RuntimeError('failed to read data from server')
logging.info('writing...')
client.write(data)
else:
run_carla_client(args)
except AssertionError as assertion:
raise assertion
except Exception as exception:
logging.error('exception: %s', exception)
time.sleep(1)
def run_carla_client(args):
with make_connection(CarlaClient, args.host, args.port, timeout=15) as client:
logging.info('CarlaClient connected')
filename = '_out/test_episode_{:0>4d}/{:s}/{:0>6d}'
frames_per_episode = 300
episode = 0
while True:
episode += 1
settings = CarlaSettings()
settings.set(SendNonPlayerAgentsInfo=True, SynchronousMode=args.synchronous)
settings.randomize_seeds()
camera = sensor.Camera('DefaultCamera')
camera.set_image_size(300, 200) # Do not change this, hard-coded in test.
settings.add_sensor(camera)
lidar = sensor.Lidar('DefaultLidar')
settings.add_sensor(lidar)
logging.debug('sending CarlaSettings:\n%s', settings)
logging.info('new episode requested')
scene = client.load_settings(settings)
number_of_player_starts = len(scene.player_start_spots)
player_start = random.randint(0, max(0, number_of_player_starts - 1))
logging.info(
'start episode at %d/%d player start (%d frames)',
player_start,
number_of_player_starts,
frames_per_episode)
client.start_episode(player_start)
use_autopilot_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for frame in range(0, frames_per_episode):
logging.debug('reading measurements...')
measurements, sensor_data = client.read_data()
images = [x for x in sensor_data.values() if isinstance(x, sensor.Image)]
logging.debug('received data of %d agents', len(measurements.non_player_agents))
if len(images) > 0:
assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY)
if args.images_to_disk:
for name, data in sensor_data.items():
data.save_to_disk(filename.format(episode, name, frame))
logging.debug('sending control...')
control = measurements.player_measurements.autopilot_control
if not use_autopilot_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(
steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
def main():
argparser = argparse.ArgumentParser(description=__doc__)
argparser.add_argument(
'-v', '--verbose',
action='store_true',
dest='debug',
help='print debug information')
argparser.add_argument(
'--log',
metavar='LOG_FILE',
default=None,
help='print output to file')
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-s', '--synchronous',
action='store_true',
help='enable synchronous mode')
argparser.add_argument(
'-i', '--images-to-disk',
action='store_true',
help='save images to disk')
argparser.add_argument(
'--echo',
action='store_true',
help='start a client that just echoes what the server sends')
argparser.add_argument(
'-c', '--console',
action='store_true',
help='start the client console')
args = argparser.parse_args()
name = 'echo_client: ' if args.echo else 'carla_client: '
logging_config = {
'format': name + '%(levelname)s: %(message)s',
'level': logging.DEBUG if args.debug else logging.INFO
}
if args.log:
logging_config['filename'] = args.log
logging_config['filemode'] = 'w+'
logging.basicConfig(**logging_config)
logging.info('listening to server %s:%s', args.host, args.port)
if args.console:
cmd = console.CarlaClientConsole(args)
try:
cmd.cmdloop()
finally:
cmd.cleanup()
return
while True:
try:
if args.echo:
with make_connection(TCPClient, args.host, args.port, timeout=15) as client:
while True:
logging.info('reading...')
data = client.read()
if not data:
raise RuntimeError('failed to read data from server')
logging.info('writing...')
client.write(data)
else:
run_carla_client(args)
except AssertionError as assertion:
raise assertion
except Exception as exception:
logging.error('exception: %s', exception)
time.sleep(1)
