def display_traffic_bigmap(cls, env, road, surface):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
commands = {}
ego_car = env.vehicle
# dt = 1.5 / env.SIMULATION_FREQUENCY
# ego_car_vx = ego_car.velocity * math.cos(ego_car.heading * 180 / np.pi)
# ego_car_vy = ego_car.velocity * math.sin(ego_car.heading * 180 / np.pi)
# vehicle_dx = ego_car_vx * dt
# vehicle_dy = ego_car_vy * dt
for v in road.vehicles:
# v.position -= [vehicle_dx,vehicle_dy]
# if np.linalg.norm(v.position - ego_car.position) < 75:
# if v.lane_index in ego_car.lanes_around or hasattr(v,"state"):
VehicleGraphics.display(v, surface, command_dict=commands)
# else:
# if not hasattr(v, "state"):
# env.road.vehicles.remove(v)
# print(commands)
# m.send_message(commands)
return commands
def display_traffic(cls, road, surface):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
for v in road.vehicles:
VehicleGraphics.display(v, surface)
def display_traffic(cls, road, surface, offscreen=False):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
print("[INFO] in display_traffic, offscreen={}".format(offscreen))
for v in road.vehicles:
VehicleGraphics.display(v, surface, offscreen=offscreen)
def display_obstacles(road, surface, offscreen=False):
"""
Display the obstacles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
:param offscreen: whether the rendering should be done offscreen or not
"""
for o in road.obstacles:
VehicleGraphics.display(o, surface, offscreen=offscreen)
def display_traffic(cls, road, surface, simulation_frequency=15, offscreen=False):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
:param simulation_frequency: simulation frequency
"""
if road.record_history:
for v in road.vehicles:
VehicleGraphics.display_history(v, surface, simulation=simulation_frequency, offscreen=offscreen)
for v in road.vehicles:
VehicleGraphics.display(v, surface, offscreen=offscreen)
def display_traffic(cls, road, surface):
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
"""
commands = {}
for v in road.vehicles:
VehicleGraphics.display(v, surface, command_dict=commands)
# print(commands)
# m.send_message(commands)
return commands
def display(self) -> None:
"""Display the road and vehicles on a pygame window."""
if not self.enabled:
return
self.sim_surface.move_display_window_to(self.window_position())
RoadGraphics.display(self.env.road, self.sim_surface)
if self.vehicle_trajectory:
VehicleGraphics.display_trajectory(self.vehicle_trajectory,
self.sim_surface,
offscreen=self.offscreen)
RoadGraphics.display_road_objects(self.env.road,
self.sim_surface,
offscreen=self.offscreen)
if self.agent_display:
self.agent_display(self.agent_surface, self.sim_surface)
if not self.offscreen:
if self.config["screen_width"] > self.config["screen_height"]:
self.screen.blit(self.agent_surface,
(0, self.config["screen_height"]))
else:
self.screen.blit(self.agent_surface,
(self.config["screen_width"], 0))
RoadGraphics.display_traffic(
self.env.road,
self.sim_surface,
simulation_frequency=self.env.config["simulation_frequency"],
offscreen=self.offscreen)
VehicleGraphics.display(self.env.vehicle,
self.sim_surface,
offscreen=self.offscreen,
ego=True)
# ObservationGraphics.display(self.env.observation_type, self.sim_surface)
if not self.offscreen:
self.screen.blit(self.sim_surface, (0, 0))
if self.env.config["real_time_rendering"]:
self.clock.tick(self.env.config["simulation_frequency"])
pygame.display.flip()
if self.SAVE_IMAGES and self.directory:
pygame.image.save(
self.sim_surface,
str(self.directory / "highway-env_{}.png".format(self.frame)))
self.frame += 1
def display_traffic(road: Road, surface: WorldSurface, simulation_frequency: int = 15, offscreen: bool = False) \
-> None:
"""
Display the road vehicles on a surface.
:param road: the road to be displayed
:param surface: the pygame surface
:param simulation_frequency: simulation frequency
:param offscreen: render without displaying on a screen
"""
if road.record_history:
for v in road.vehicles:
VehicleGraphics.display_history(v, surface, simulation=simulation_frequency, offscreen=offscreen)
for v in road.vehicles:
VehicleGraphics.display(v, surface, offscreen=offscreen)