class App(object):
def __init__(
self,
port=2000,
host='127.0.0.1',
config='./CarlaSettings.ini',
resolution=(2400, 600),
verbose=True):
self._running = True
self._display_surf = None
self.port = port
self.host = host
self.config = config
self.verbose = verbose
self.resolution = resolution
self.size = self.weight, self.height = resolution
self.reverse_gear = False
def on_init(self):
pygame.init()
print(__doc__)
time.sleep(3)
self._display_surf = pygame.display.set_mode(
self.size, pygame.HWSURFACE | pygame.DOUBLEBUF)
logging.debug('Started the PyGame Library')
self._running = True
self.step = 0
self.prev_step = 0
self.prev_time = time.time()
self.carla = CARLA(self.host, self.port)
positions = self.carla.loadConfigurationFile(self.config)
self.num_pos = len(positions)
print("Staring Episode on Position ", self.num_pos)
self.carla.newEpisode(np.random.randint(self.num_pos))
self.prev_restart_time = time.time()
# Adding Joystick controls here
self.js = pygame.joystick.Joystick(0)
self.js.init()
axis = self.js.get_axis(1)
jsInit = self.js.get_init()
jsId = self.js.get_id()
print("Joystick ID: %d Init status: %s Axis(1): %d" % (jsId, jsInit, axis))
def on_event(self, event):
if event.type == pygame.QUIT:
self._running = False
def on_loop(self):
self.step += 1
keys = pygame.key.get_pressed()
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)))
restart = False
control = Control()
pressed_keys = []
if keys[K_LEFT] or keys[K_a]:
control.steer = -1.0
pressed_keys.append('left')
if keys[K_RIGHT] or keys[K_d]:
control.steer = 1.0
pressed_keys.append('right')
if keys[K_UP] or keys[K_w]:
control.throttle = 1.0
pressed_keys.append('reverse' if self.reverse_gear else 'forward')
if keys[K_DOWN] or keys[K_s]:
control.brake = 1.0
pressed_keys.append('brake')
if keys[K_SPACE]:
control.hand_brake = True
pressed_keys.append('hand-brake')
if keys[K_q]:
self.reverse_gear = not self.reverse_gear
pressed_keys.append('toggle reverse')
if keys[K_r]:
pressed_keys.append('reset')
if time.time() - self.prev_restart_time > 2.:
self.prev_restart_time = time.time()
restart = True
if time.time() - self.prev_restart_time < 2.:
control.throttle = 0.0
control.steer = 0.0
control.steer = jsInputs[0]
brakeCmd = (((jsInputs[1] - (-1)) * (1.0 - 0)) / (1.0 - (-1.0))) + 0
throttleCmd = (((jsInputs[2] - (-1)) * (1.0 - 0)) / (1.0 - (-1.0))) + 0
control.brake = brakeCmd
control.throttle = throttleCmd
control.reverse = self.reverse_gear
self.carla.sendCommand(control)
measurements = self.carla.getMeasurements()
pack = measurements['PlayerMeasurements']
self.img_vec = measurements['BGRA']
self.depth_vec = measurements['Depth']
self.labels_vec = measurements['Labels']
if time.time() - self.prev_time > 1.:
message = 'Step {step} ({fps:.1f} FPS): '
message += '{speed:.2f} km/h, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road'
message += ': pressed [%s]' % ', '.join(pressed_keys)
message = message.format(
step=self.step,
fps=float(self.step - self.prev_step) / (time.time() - self.prev_time),
speed=pack.forward_speed,
other_lane=100 * pack.intersection_otherlane,
offroad=100 * pack.intersection_offroad)
empty_space = max(0, get_terminal_width() - len(message))
sys.stdout.write('\r' + message + empty_space * ' ')
sys.stdout.flush()
self.prev_step = self.step
self.prev_time = time.time()
if restart:
print('\n *** RESTART *** \n')
player_pos = np.random.randint(self.num_pos)
print(' Player pos %d \n' % (player_pos))
self.carla.newEpisode(player_pos)
def on_render(self):
"""
The render method plots the First RGB, the First Depth and First
Semantic Segmentation Camera.
"""
pos_x = 0
if self.depth_vec:
self.depth_vec[0] = self.depth_vec[0][:, :, :3]
self.depth_vec[0] = self.depth_vec[0][:, :, ::-1]
self.depth_vec[0] = convert_depth(self.depth_vec[0])
surface = pygame.surfarray.make_surface(
np.transpose(self.depth_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.depth_vec[0].shape[1]
if self.img_vec:
self.img_vec[0] = self.img_vec[0][:, :, :3]
self.img_vec[0] = self.img_vec[0][:, :, ::-1]
surface = pygame.surfarray.make_surface(
np.transpose(self.img_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.img_vec[0].shape[1]
if self.labels_vec:
self.labels_vec[0] = join_classes(self.labels_vec[0][:, :, 2])
surface = pygame.surfarray.make_surface(
np.transpose(self.labels_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.labels_vec[0].shape[1]
pygame.display.flip()
def on_cleanup(self):
self.carla.closeConections()
pygame.quit()
def on_execute(self):
if self.on_init() == False:
self._running = False
while(self._running):
try:
for event in pygame.event.get():
self.on_event(event)
self.on_loop()
self.on_render()
except Exception as e:
logging.exception(e)
self._running = False
break
self.on_cleanup()
class App:
def __init__(self, port=2000, host='127.0.0.1', config='./CarlaSettings.ini',\
resolution=(2400,600),verbose=True):
self._running = True
self._display_surf = None
self.port = port
self.host = host
self.config = config
self.verbose = verbose
self.resolution = resolution
self.size = self.weight, self.height = resolution
def on_init(self):
pygame.init()
print (" \n \n \n Welcome to CARLA manual control \n USE ARROWS for control \n Press R for reset \n"\
+"STARTING in a few seconds...")
time.sleep(3)
self._display_surf = pygame.display.set_mode(
self.size, pygame.HWSURFACE | pygame.DOUBLEBUF)
logging.debug('Started the PyGame Library')
self._running = True
self.step = 0
self.prev_step = 0
self.prev_time = time.time()
self.carla = CARLA(self.host, self.port)
positions = self.carla.loadConfigurationFile(self.config)
self.num_pos = len(positions)
print("Staring Episode on Position ", self.num_pos)
self.carla.newEpisode(np.random.randint(self.num_pos))
self.prev_restart_time = time.time()
def on_event(self, event):
if event.type == pygame.QUIT:
self._running = False
def on_loop(self):
self.step += 1
keys = pygame.key.get_pressed()
gas = 0
steer = 0
restart = False
pressed_keys = []
if keys[K_LEFT]:
steer = -1.
pressed_keys.append('left')
if keys[K_RIGHT]:
pressed_keys.append('right')
steer = 1.
if keys[K_UP]:
pressed_keys.append('up')
gas = 1.
if keys[K_DOWN]:
pressed_keys.append('down')
gas = -1.
if keys[K_r]:
pressed_keys.append('r')
if time.time() - self.prev_restart_time > 2.:
self.prev_restart_time = time.time()
restart = True
if time.time() - self.prev_restart_time < 2.:
gas = 0.
steer = 0.
control = Control()
control.throttle = gas
control.steer = steer
self.carla.sendCommand(control)
measurements = self.carla.getMeasurements()
pack = measurements['PlayerMeasurements']
self.img_vec = measurements['BGRA']
self.depth_vec = measurements['Depth']
self.labels_vec = measurements['Labels']
if time.time() - self.prev_time > 1.:
print(
'Step', self.step, 'FPS',
float(self.step - self.prev_step) /
(time.time() - self.prev_time))
print('speed', pack.forward_speed, 'collision', pack.collision_other, \
'collision_car', pack.collision_vehicles, 'colision_ped', pack.collision_pedestrians, 'pressed:', pressed_keys)
self.prev_step = self.step
self.prev_time = time.time()
if restart:
print('\n *** RESTART *** \n')
player_pos = np.random.randint(self.num_pos)
print(' Player pos %d \n' % (player_pos))
self.carla.newEpisode(player_pos)
"""
The render method plots the First RGB, the First Depth and First Semantic Segmentation Camera
"""
def on_render(self):
pos_x = 0
if len(self.depth_vec) > 0:
self.depth_vec[0] = self.depth_vec[0][:, :, :3]
self.depth_vec[0] = self.depth_vec[0][:, :, ::-1]
self.depth_vec[0] = convert_depth(self.depth_vec[0])
surface = pygame.surfarray.make_surface(
np.transpose(self.depth_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.depth_vec[0].shape[1]
if len(self.img_vec) > 0:
self.img_vec[0] = self.img_vec[0][:, :, :3]
self.img_vec[0] = self.img_vec[0][:, :, ::-1]
surface = pygame.surfarray.make_surface(
np.transpose(self.img_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.img_vec[0].shape[1]
if len(self.labels_vec) > 0:
self.labels_vec[0] = join_classes(self.labels_vec[0][:, :, 2])
surface = pygame.surfarray.make_surface(
np.transpose(self.labels_vec[0], (1, 0, 2)))
self._display_surf.blit(surface, (pos_x, 0))
pos_x += self.labels_vec[0].shape[1]
pygame.display.flip()
def on_cleanup(self):
self.carla.closeConections()
pygame.quit()
def on_execute(self):
if self.on_init() == False:
self._running = False
frequency = 10
rate = rospy.Rate(frequency)
while not rospy.is_shutdown():
try:
for event in pygame.event.get():
self.on_event(event)
self.on_loop()
self.on_render()
rate.sleep()
except Exception as e:
logging.exception(e)
self._running = False
break
self.on_cleanup()
class App:
def __init__(self, port=2000, host='127.0.0.1', config='./CarlaSettings.ini',\
resolution=(2400,600),verbose=True):
self._running = True
self._display_surf = None
self.port = port
self.host = host
self.config = config
self.verbose = verbose
self.resolution = resolution
self.size = self.weight, self.height = resolution
def on_init(self):
pygame.init()
print (" \n \n \n Welcome to CARLA manual control \n USE ARROWS for control \n Press R for reset \n"\
+"STARTING in a few seconds...")
time.sleep(3)
self._display_surf = pygame.display.set_mode(self.size, pygame.HWSURFACE | pygame.DOUBLEBUF)
logging.debug('Started the PyGame Library')
self._running = True
self.step = 0
self.prev_step = 0
self.prev_time = time.time()
self.carla =CARLA(self.host, self.port)
positions = self.carla.loadConfigurationFile(self.config)
self.num_pos = len(positions)
print ("Staring Episode on Position ",self.num_pos)
self.carla.newEpisode(np.random.randint(self.num_pos))
self.prev_restart_time = time.time()
def on_event(self, event):
if event.type == pygame.QUIT:
self._running = False
def on_loop(self):
self.step += 1
keys=pygame.key.get_pressed()
gas = 0
steer = 0
restart = False
pressed_keys = []
if keys[K_LEFT]:
steer = -1.
pressed_keys.append('left')
if keys[K_RIGHT]:
pressed_keys.append('right')
steer = 1.
if keys[K_UP]:
pressed_keys.append('up')
gas = 1.
if keys[K_DOWN]:
pressed_keys.append('down')
gas = -1.
if keys[K_r]:
pressed_keys.append('r')
if time.time() - self.prev_restart_time > 2.:
self.prev_restart_time = time.time()
restart = True
if time.time() - self.prev_restart_time < 2.:
gas = 0.
steer = 0.
control = Control()
control.throttle = gas
control.steer = steer
self.carla.sendCommand(control)
measurements = self.carla.getMeasurements()
pack = measurements['PlayerMeasurements']
self.img_vec = measurements['BGRA']
self.depth_vec = measurements['Depth']
self.labels_vec = measurements['Labels']
if time.time() - self.prev_time > 1.:
print('Step', self.step, 'FPS', float(self.step - self.prev_step) / (time.time() - self.prev_time))
print('speed', pack.forward_speed, 'collision', pack.collision_other, \
'collision_car', pack.collision_vehicles, 'colision_ped', pack.collision_pedestrians, 'pressed:', pressed_keys)
self.prev_step = self.step
self.prev_time = time.time()
if restart:
print('\n *** RESTART *** \n')
player_pos = np.random.randint(self.num_pos)
print(' Player pos %d \n' % (player_pos))
self.carla.newEpisode(player_pos)
"""
The render method plots the First RGB, the First Depth and First Semantic Segmentation Camera
"""
def on_render(self):
pos_x =0
if len(self.depth_vec) > 0:
self.depth_vec[0] = self.depth_vec[0][:,:,:3]
self.depth_vec[0] = self.depth_vec[0][:,:,::-1]
self.depth_vec[0] = convert_depth(self.depth_vec[0])
surface = pygame.surfarray.make_surface(np.transpose(self.depth_vec[0], (1,0,2)))
self._display_surf.blit(surface,(pos_x,0))
pos_x += self.depth_vec[0].shape[1]
if len(self.img_vec) > 0:
self.img_vec[0] = self.img_vec[0][:,:,:3]
self.img_vec[0] = self.img_vec[0][:,:,::-1]
surface = pygame.surfarray.make_surface(np.transpose(self.img_vec[0], (1,0,2)))
self._display_surf.blit(surface,(pos_x,0))
pos_x += self.img_vec[0].shape[1]
if len(self.labels_vec) > 0:
self.labels_vec[0] = join_classes(self.labels_vec[0][:,:,2])
surface = pygame.surfarray.make_surface(np.transpose(self.labels_vec[0], (1,0,2)))
self._display_surf.blit(surface,(pos_x,0))
pos_x += self.labels_vec[0].shape[1]
pygame.display.flip()
def on_cleanup(self):
self.carla.closeConections()
pygame.quit()
def on_execute(self):
if self.on_init() == False:
self._running = False
while( self._running ):
try:
for event in pygame.event.get():
self.on_event(event)
self.on_loop()
self.on_render()
except Exception as e:
logging.exception(e)
self._running = False
break
self.on_cleanup()