def __init__(self,
vehicle_config,
env,
clip_rgb: bool,
resolution=None,
max_distance=50):
self.resolution = resolution or self.RESOLUTION
super(TopDownObservation, self).__init__(vehicle_config, env)
self.rgb_clip = clip_rgb
self.num_stacks = 3
# self.obs_shape = (64, 64)
self.obs_shape = self.resolution
self.pygame = import_pygame()
self.onscreen = env.config["use_render"]
main_window_position = (0, 0)
self._center_pos = None # automatically change, don't set the value
self._should_draw_map = True
self._canvas_to_display_scaling = 0.0
self.max_distance = max_distance
# scene
self.road_network = None
self.engine = None
# initialize
pygame.init()
pygame.display.set_caption(EDITION + " (Top-down)")
# main_window_position means the left upper location.
os.environ['SDL_VIDEO_WINDOW_POS'] = '{},{}' \
.format(main_window_position[0] - self.resolution[0], main_window_position[1])
# Used for display only!
self.screen = pygame.display.set_mode(
(self.resolution[0] * 2,
self.resolution[1] * 2)) if self.onscreen else None
# canvas
self.init_canvas()
self.init_obs_window()
import copy
import numpy as np
from pgdrive.base_class.base_runnable import BaseRunnable
from pgdrive.component.algorithm.BIG import BigGenerateMethod
from pgdrive.component.blocks.first_block import FirstPGBlock
from pgdrive.component.blocks.pg_block import PGBlock
from pgdrive.component.road.road import Road
from pgdrive.component.road.road_network import RoadNetwork
from pgdrive.engine.engine_utils import get_engine, get_global_config
from pgdrive.utils import Config, import_pygame
pygame = import_pygame()
def parse_map_config(easy_map_config, new_map_config, default_config):
assert isinstance(new_map_config, Config)
assert isinstance(default_config, Config)
# Return the user specified config if overwritten
if not default_config["map_config"].is_identical(new_map_config):
new_map_config = default_config["map_config"].copy(
unchangeable=False).update(new_map_config)
assert default_config["map"] == easy_map_config
return new_map_config
if isinstance(easy_map_config, int):
new_map_config[BaseMap.GENERATE_TYPE] = BigGenerateMethod.BLOCK_NUM
elif isinstance(easy_map_config, str):
new_map_config[
BaseMap.GENERATE_TYPE] = BigGenerateMethod.BLOCK_SEQUENCE