def compute_action(self, sensor, speed, direction=None):
capture_time = time.time()
if capture_time - self._start_time > 400:
self._target = random.randint(0, len(self.positions))
self._start_time = time.time()
if direction == None:
direction = self.compute_direction((0, 0, 0), (0, 0, 0))
sensor = sensor[self._image_cut[0]:self._image_cut[1], :, :3]
sensor = sensor[:, :, ::-1]
sensor = scipy.misc.imresize(sensor, [
self._config.network_input_size[0],
self._config.network_input_size[1]
])
image_input = sensor.astype(np.float32)
#print future_image
#print "2"
image_input = np.multiply(image_input, 1.0 / 255.0)
steer, acc, brake = self._control_function(image_input, speed,
direction, self._config,
self._sess,
self._train_manager)
control = Control()
control.steer = steer
if control.steer > 0.3:
control.steer = 1.0
elif control.steer < -0.3:
control.steer = -1.0
else:
control.steer = 0.0
control.throttle = 1.0
control.brake = 0.0
# print brake
control.hand_brake = 0
control.reverse = 0
return control
def run_step(self, data, target):
rewards = data[0]
sensor = data[2][0]
speed = rewards.speed
direction,made_turn,completed = self.planner.get_next_command((rewards.player_x,rewards.player_y,22),(rewards.ori_x,rewards.ori_y,rewards.ori_z),\
(target[0],target[1],22),(1.0,0.02,-0.001))
#pos = (rewards.player_x,rewards.player_y,22)
#ori =(rewards.ori_x,rewards.ori_y,rewards.ori_z)
#pos,point = self.planner.get_defined_point(pos,ori,(target[0],target[1],22),(1.0,0.02,-0.001),self._select_goal)
#direction = convert_to_car_coord(point[0],point[1],pos[0],pos[1],ori[0],ori[1])
capture_time = time.time()
sensor = sensor[self._image_cut[0]:self._image_cut[1], :, :]
sensor = scipy.misc.imresize(sensor, [
self._config.network_input_size[0],
self._config.network_input_size[1]
])
image_input = sensor.astype(np.float32)
#print future_image
#print direction
#print "2"
image_input = np.multiply(image_input, 1.0 / 255.0)
steer, acc, brake = self._control_function(image_input, speed,
direction, self._config,
self._sess,
self._train_manager)
if brake < 0.1:
brake = 0.0
if acc > 2 * brake:
brake = 0.0
control = Control()
control.steer = steer
control.throttle = acc
control.brake = brake
control.hand_brake = 0
control.reverse = 0
#### DELETE THIS VERSION NOT COMMITABLE
made_turn = 0
completed = 0
return control, made_turn, completed
def compute_action(self, sensor, speed):
self._old_speed = speed
global start_time
""" Get Steering """
if not self._autopilot:
if self.joystick.get_button(buttons.steer_left): #left
self.steering_direction = -1
elif self.joystick.get_button(buttons.steer_right): #right
self.steering_direction = 1
else:
self.steering_direction = 0 #when left or right button is not pressed, bring the steering to centre
#acc_axis = self.joystick.get_axis(2)
#brake_axis = self.joystick.get_axis(3)
if (self.joystick.get_button(buttons.more_speed)): #increase speed
end_time = datetime.datetime.now()
time_diff = (end_time -
start_time).microseconds / 1000 #in milliseconds
if time_diff > 300: #to ensure same click isnt counted multiple times
self._new_speed = self._old_speed + 0.7 #max speed = 7 kmph, changes in 10 steps
self._new_speed = min(
7, self._new_speed) #restrict between 0-7
start_time = datetime.datetime.now()
if (self.joystick.get_button(buttons.less_speed)): #decrease speed
end_time = datetime.datetime.now()
time_diff = (end_time - start_time).microseconds / 1000
if time_diff > 300:
self._new_speed = self._old_speed - 0.7
self._new_speed = max(0, self._new_speed)
start_time = datetime.datetime.now()
if (self.joystick.get_button(buttons.rear_on)):
self._rear = True
if (self.joystick.get_button(buttons.rear_off)):
self._rear = False
control = Control()
control.steer = self.steering_direction
#control.throttle = -(acc_axis -1)/2.0
if (self._new_speed - speed) > 0.05:
control.throttle = (
(self._new_speed - speed) / 2.5
) + 0.4 # accl till carla speed nearly equal to actual speed, constant added to overcome friction
else:
control.throttle = 0 #if required speed is less than carla speed, do nothing. car will automatically slow down due to friction
#control.brake = -(brake_axis -1)/2.0
#if control.brake < 0.001:
# control.brake = 0.0
control.brake = 0
control.hand_brake = 0
control.reverse = self._rear
else:
control = self._latest_data.ai_control
if control.steer > 0.3:
control.steer = 1.0
elif control.steer < -0.3:
control.steer = -1.0
else:
control.steer = 0.0
return control
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)