def _with_latest_from(*args: Union[Observable, Iterable[Observable]]) -> Observable:
sources: List[Observable] = []
if isinstance(args[0], Iterable):
sources += list(args[0])
else:
sources += list(cast(Iterable[Observable], args))
return ops.with_latest_from(sources[1:])(sources[0])
def _pid(process):
return process.pipe(
# trace_observable("pid"),
ops.with_latest_from(setpoint),
# trace_observable("pid2"),
ops.scan(_pid_step, seed=None),
# trace_observable("pid3"),
ops.map(lambda i: i.control_value),
)
def submit(gate: str, keys: List[str], ui: Dict[str,
QWidget]) -> rx.Observable:
if isinstance(gate, str):
gate = ui[gate]
gate = _unwrap_subject(gate)
items = [_unwrap_subject(ui[k]) for k in keys]
combined = items[0].pipe(ops.combine_latest(*items[1:]),
ops.map(lambda vs: dict(zip(keys, vs))))
return gate.pipe(ops.filter(lambda x: x), ops.with_latest_from(combined),
ops.map(lambda x: x[1]))
def submit(gate: Hashable, keys: List[Hashable], ui: Dict[Hashable, QWidget]) -> rx.Observable:
try:
gate = ui[gate]
except (ValueError, TypeError):
pass
gate = _unwrap_subject(gate)
items = [_unwrap_subject(ui[k]) for k in keys]
combined = items[0].pipe(
ops.combine_latest(*items[1:]), ops.map(lambda vs: dict(zip(keys, vs)))
)
return gate.pipe(
ops.filter(lambda x: x),
ops.with_latest_from(combined),
ops.map(lambda x: x[1]),
)
def __init__(self):
self.__rawPluginOutputStream = Subject()
self.__connectionStatusStream = Subject()
self.__speechStream = with_latest_from(
self.__rawPluginOutputStream.pipe(
map(lambda dehydratedMsgDict: rehydrateMessage(
dehydratedMsgDict))),
self.__connectionStatusStream,
).pipe(
map(lambda combinedTuple: {
**combinedTuple[0],
**combinedTuple[1]
}),
merge(self.__connectionStatusStream),
)
# TODO - need to trigger NVDA to startup, if it isn't already
# - first need to check if NVDA is installed + if the plugin is
asyncio.create_task(self.__startListeningForOutput())
def main():
try:
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
world = client.get_world()
blueprint_library = world.get_blueprint_library()
bp = random.choice(blueprint_library.filter('vehicle'))
rgb_bp = blueprint_library.find('sensor.camera.rgb')
spawn_points = world.get_map().get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
vehicle = world.try_spawn_actor(bp, spawn_point)
print('created %s' % vehicle.type_id)
vehicle.set_autopilot(True)
sensors = [make_sensor(world, vehicle, rgb_bp, config[0], config[1]) for config in CAMERA_CONFIGS]
image_obs = [from_sensor(sensor, idx) for idx, sensor in enumerate(sensors)]
rx.interval(1).pipe(
ops.with_latest_from(*image_obs),
).subscribe(grid_draw)
time.sleep(5)
finally:
print('finally')
for sensor in sensors:
sensor.stop()
sensor.destroy()
vehicle.destroy()
print('done')
def main():
detr = DETRdemo(num_classes=91)
state_dict = torch.hub.load_state_dict_from_url(
url='https://dl.fbaipublicfiles.com/detr/detr_demo-da2a99e9.pth',
map_location='cpu',
check_hash=True)
detr.load_state_dict(state_dict)
detr.eval()
detr.to('cuda:0')
transform = T.Compose([
T.Resize(800),
T.ToTensor(),
T.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])
])
try:
pygame.init()
pygame.font.init()
print(pygame.font.get_default_font())
myfont = pygame.font.Font(pygame.font.get_default_font(), 16)
pygame_scheduler = PyGameScheduler(pygame)
display = pygame.display.set_mode((WIDTH, HEIGHT),
pygame.HWSURFACE | pygame.DOUBLEBUF)
client = carla.Client('localhost', 2000)
client.set_timeout(5.0)
#client.load_world("/Game/Carla/Maps/Town10HD")
world = client.get_world()
blueprint_library = world.get_blueprint_library()
bp = random.choice(blueprint_library.filter('vehicle'))
rgb_bp = blueprint_library.find('sensor.camera.rgb')
spawn_points = world.get_map().get_spawn_points()
spawn_point = random.choice(
spawn_points) if spawn_points else carla.Transform()
vehicle = world.try_spawn_actor(bp, spawn_point)
print('created %s' % vehicle.type_id)
vehicle.set_autopilot(True)
sensor = make_sensor(
world, vehicle, rgb_bp,
carla.Transform(carla.Location(x=1.5, y=0, z=2.4),
carla.Rotation(yaw=0)), 120)
image_ob = from_sensor(sensor)
def grid_draw(params):
print(threading.get_ident(), datetime.now(), "grid_draw")
frame = params[0]
image = params[1]
scores, boxes = detect(Image.fromarray(image), detr, transform)
#print(scores)
surface = pygame.surfarray.make_surface(image.swapaxes(0, 1))
display.blit(surface, (0, 0))
#for box in boxes:
# pygame.draw.rect(surface, (255,0,0), (box[0], box[1], box[2]-box[0], box[3]-box[1]), 2)
plot_results(display, myfont, scores, boxes)
pygame.display.flip()
rx.interval(0.1).pipe(ops.with_latest_from(image_ob),
ops.observe_on(pygame_scheduler),
ops.do_action(grid_draw)).subscribe()
clock = pygame.time.Clock()
running = True
while running:
clock.tick_busy_loop(60)
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
print(threading.get_ident(), datetime.now(), "main")
pygame_scheduler.run()
except Exception as ex:
print(ex)
finally:
print('finally')
sensor.stop()
sensor.destroy()
vehicle.destroy()
pygame.quit()
print('done')
def create():
return e1.pipe(
ops.with_latest_from(e2),
ops.map(sum),
)
def create():
return e1.pipe(
ops.with_latest_from(e2),
ops.map(lambda xy: _raise(ex)),
)
def create():
return e1.pipe(
ops.with_latest_from(e2),
ops.map(sum),
)
def create():
return e1.pipe(
ops.with_latest_from(e2),
ops.map(lambda xy: _raise(ex)),
)
def game_loop(args):
pygame.init()
pygame.font.init()
scheduler = PyGameScheduler(pygame)
world = None
actor_list = []
try:
client = carla.Client(args.host, args.port)
client.set_timeout(2.0)
world = client.get_world()
map = world.get_map()
blueprint_library = world.get_blueprint_library()
bp = blueprint_library.find('vehicle.jeep.wrangler_rubicon')
spawn_points = map.get_spawn_points()
spawn_point = random.choice(
spawn_points) if spawn_points else carla.Transform()
vehicle = world.try_spawn_actor(bp, spawn_point)
vehicle.set_autopilot(True)
actor_list.append(vehicle)
lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast')
lidar_bp.set_attribute('range', str(200))
lidar_bp.set_attribute('channels', str(32))
lidar_bp.set_attribute('rotation_frequency', str(10))
lidar_bp.set_attribute('points_per_second', str(360 * 10 * 10 * 32))
lidar_sensor = world.spawn_actor(lidar_bp,
carla.Transform(
carla.Location(x=1.5, y=0,
z=2.4)),
attach_to=vehicle)
actor_list.append(lidar_sensor)
print('created %s' % lidar_sensor.type_id)
display = pygame.display.set_mode((args.width, args.height),
pygame.OPENGL | pygame.DOUBLEBUF)
lidar_obs = from_sensor(lidar_sensor)
ctx = moderngl.create_context()
prog = ctx.program(
vertex_shader='''
#version 330
uniform mat4 Mvp;
in vec3 in_vert;
out vec4 frag_color;
void main() {
frag_color = mix(vec4(0.0, 0.0, 1.0, 1.0), vec4(0.0, 1.0, 0.0, 1.0), abs(sin(in_vert.z)));
gl_Position = Mvp * vec4(in_vert, 1.0);
}
''',
fragment_shader='''
#version 330
in vec4 frag_color;
out vec4 f_color;
void main() {
f_color = frag_color;
//f_color = vec4(0.1, 0.1, 0.1, 1.0);
}
''',
)
mvp = prog['Mvp']
camera = Camera(args.width / args.height)
def lidar_draw(params):
frame = params[0]
xyz = params[1]
ctx.clear(1.0, 1.0, 1.0)
ctx.enable(moderngl.DEPTH_TEST)
vbo = ctx.buffer(xyz.astype('f4').tobytes())
vao = ctx.simple_vertex_array(prog, vbo, 'in_vert')
mvp.write((camera.mat_projection *
camera.mat_lookat).astype('f4').tobytes())
vao.render(moderngl.POINTS)
pygame.display.flip()
rx.interval(0.033).pipe(
ops.with_latest_from(lidar_obs),
ops.observe_on(scheduler),
).subscribe(lidar_draw)
clock = pygame.time.Clock()
running = True
while running:
clock.tick_busy_loop(60)
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
scheduler.run()
finally:
print('destroying actors')
actor_list.reverse()
for actor in actor_list:
print('destroy %s' % actor.type_id)
if (isinstance(actor, carla.Sensor)):
print('stop %s' % actor.type_id)
actor.stop()
actor.destroy()
print('done.')
pygame.quit()
def main():
try:
pygame.init()
pygame.font.init()
pygame_scheduler = PyGameScheduler(pygame)
display = pygame.display.set_mode(
(WIDTH, HEIGHT),
pygame.HWSURFACE | pygame.DOUBLEBUF)
client = carla.Client('localhost', 2000)
client.set_timeout(5.0)
client.load_world("/Game/Carla/Maps/Town10HD")
world = client.get_world()
blueprint_library = world.get_blueprint_library()
bp = random.choice(blueprint_library.filter('vehicle'))
rgb_bp = blueprint_library.find('sensor.camera.rgb')
spawn_points = world.get_map().get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
vehicle = world.try_spawn_actor(bp, spawn_point)
print('created %s' % vehicle.type_id)
vehicle.set_autopilot(True)
sensors = [make_sensor(world, vehicle, rgb_bp, config[0], config[1]) for config in CAMERA_CONFIGS]
image_obs = [from_sensor(sensor, idx) for idx, sensor in enumerate(sensors)]
def grid_draw(params):
frame = params[0]
images = params[1:]
for idx, image in enumerate(images):
display.blit(image, GRID_ORIGINS[idx])
pygame.display.flip()
rx.interval(0.033).pipe(
ops.with_latest_from(*image_obs),
ops.observe_on(pygame_scheduler),
).subscribe(grid_draw)
clock = pygame.time.Clock()
running = True
while running:
clock.tick_busy_loop(60)
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
pygame_scheduler.run()
finally:
print('finally')
for sensor in sensors:
sensor.stop()
sensor.destroy()
vehicle.destroy()
pygame.quit()
print('done')
