def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
tot_target_reached = 0
num_min_waypoints = 21
rand_int = np.random.randint(100)
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
client.load_world('Town0%d' % args.town)
client.reload_world()
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
controller = KeyboardControl(world)
# map_dir = "/home/yash/Downloads/CARLA_0.9.9/PythonAPI/examples/Recordings_%d/" % args.town
map_dir = "D:\\CARLA\\WindowsNoEditor\\PythonAPI\\examples\\Recordings_%d\\" % args.town
map_obj = ParseCarlaMap(map_dir)
points = [46, 81, 132, 10, 40, 14, 110, 71, 58, 4]
edges = list(permutations(points, 2))
edge_table = np.zeros(shape=(len(edges), 3), dtype=np.float32)
edge_table[:, 0:2] = edges
for index in range(edge_table.shape[0]):
spawn_index, dest_index = edge_table[index, 0:2].astype(np.int)
spawn_loc = carla.Location(
x=map_obj.node_dict["location"]["x"][spawn_index],
y=map_obj.node_dict["location"]["y"][spawn_index],
z=map_obj.node_dict["location"]["z"][spawn_index])
spawn_rot = carla.Rotation(
roll=map_obj.node_dict["rotation"]["roll"][spawn_index],
pitch=map_obj.node_dict["rotation"]["pitch"][spawn_index],
yaw=map_obj.node_dict["rotation"]["yaw"][spawn_index])
spawn_pt = carla.Transform(location=spawn_loc, rotation=spawn_rot)
dest_loc = carla.Location(
x=map_obj.node_dict["location"]["x"][dest_index],
y=map_obj.node_dict["location"]["y"][dest_index],
z=map_obj.node_dict["location"]["z"][dest_index])
# dest_rot = carla.Rotation(roll=map_obj.node_dict["rotation"]["roll"][dest_index],
# pitch=map_obj.node_dict["rotation"]["pitch"][dest_index],
# yaw=map_obj.node_dict["rotation"]["yaw"][dest_index])
# dest_pt = carla.Transform(location=dest_loc, rotation=dest_rot)
world.restart(args, spawn_pt=spawn_pt)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
agent = BehaviorAgent(
world.player,
ignore_traffic_light=args.ignore_traffic_light,
behavior=args.behavior)
agent.set_destination(agent.vehicle.get_location(),
dest_loc,
clean=True)
clock = pygame.time.Clock()
start_time = time.time()
while True:
clock.tick_busy_loop(60)
if controller.parse_events():
return
# As soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information(world)
world.tick(clock)
world.render(display)
pygame.display.flip()
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) +
" times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
if time.time() - start_time >= 280:
break
edge_table[index, 2] = time.time() - start_time
print("edge %d was completed in %3.3f seconds" %
(index, edge_table[index, 2]))
np.savetxt('Carla_0%d_%d.csv' % (args.town, rand_int),
edge_table,
fmt="%3d,%3d,%3.3f")
finally:
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
tot_target_reached = 0
num_min_waypoints = 21
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
agent = BehaviorAgent(world.player, behavior=args.behavior)
spawn_points = world.map.get_spawn_points()
random.shuffle(spawn_points)
if spawn_points[0].location != agent.vehicle.get_location():
destination = spawn_points[0].location
else:
destination = spawn_points[1].location
agent.set_destination(agent.vehicle.get_location(),
destination,
clean=True)
clock = pygame.time.Clock()
while True:
clock.tick_busy_loop(60)
if controller.parse_events():
return
# As soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information()
world.tick(clock)
world.render(display)
pygame.display.flip()
# if world.save_count<5:
# world.camera_manager.image.save_to_disk('_out/%08d' % image.frame)
# world.save_count+=1
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) + " times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
finally:
if world is not None:
world.destroy1()
pygame.quit()
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
original_settings = None
tot_target_reached = 0
num_min_waypoints = 21
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
# make synchronous and disable keyboard controller BEGIN
logging.info("make synchronous and disable keyboard controller")
original_settings = world.world.get_settings()
settings = world.world.get_settings()
traffic_manager = client.get_trafficmanager(8000)
traffic_manager.set_synchronous_mode(True)
delta = 0.06
settings.fixed_delta_seconds = delta
settings.synchronous_mode = True
world.world.apply_settings(settings)
# END
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
agent = BehaviorAgent(world.player, behavior=args.behavior)
spawn_points = world.map.get_spawn_points()
random.shuffle(spawn_points)
if spawn_points[0].location != agent.vehicle.get_location():
destination = spawn_points[0].location
else:
destination = spawn_points[1].location
agent.set_destination(agent.vehicle.get_location(),
destination,
clean=True)
clock = pygame.time.Clock()
while True:
clock.tick_busy_loop(60)
world.world.tick() # synchronous
hud.on_world_tick(world.world.get_snapshot().timestamp)
if controller.parse_events():
return
# As soon as the server is ready continue!
# if not world.world.wait_for_tick(10.0):
# continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
# world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information()
world.tick(clock)
world.render(display)
pygame.display.flip()
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) + " times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
finally:
if world is not None:
if original_settings is not None:
world.world.apply_settings(original_settings)
world.destroy()
pygame.quit()
def game_loop(args):
""" Main loop for agent"""
pygame.init()
pygame.font.init()
world = None
tot_target_reached = 0
num_min_waypoints = 21
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
display = pygame.display.set_mode((args.width, args.height),
pygame.HWSURFACE | pygame.DOUBLEBUF)
hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args)
controller = KeyboardControl(world)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
elif args.agent == "Basic":
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
agent.set_destination(
(spawn_point.location.x, spawn_point.location.y,
spawn_point.location.z))
else:
# start and destination
agent = BehaviorAgent(world.player, behavior=args.behavior)
spawn_points = world.map.get_spawn_points() # 7 spawn points
# --- !!! modify: start and destination --- #
# start --> destination way-points
start = agent.vehicle.get_location()
# end 1 and end 2
destination = spawn_points[1].location
agent.set_destination(start, destination, clean=True)
# --- draw the waypoints --- #
waypoints = agent._local_planner.waypoints_queue
for w in waypoints:
world.world.debug.draw_string(w[0].transform.location,
'O',
draw_shadow=False,
color=carla.Color(r=255,
g=0,
b=0),
life_time=120.0,
persistent_lines=True)
# -------------------------------------------------------------------------- #
# random.shuffle(spawn_points)
# if spawn_points[0].location != agent.vehicle.get_location():
# destination = spawn_points[0].location
# else:
# destination = spawn_points[1].location
# agent.set_destination(agent.vehicle.get_location(), destination, clean=True)
clock = pygame.time.Clock()
time_step = 0
with open('driving_log.csv', 'a') as csv_file:
writer = csv.writer(csv_file,
delimiter=',',
quotechar=' ',
quoting=csv.QUOTE_MINIMAL,
lineterminator='\n')
while True:
time_step += 1
clock.tick_busy_loop(10.0)
if controller.parse_events():
return
# As soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
if args.agent == "Roaming" or args.agent == "Basic":
if controller.parse_events():
return
# as soon as the server is ready continue!
world.world.wait_for_tick(10.0)
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
else:
agent.update_information(world)
world.tick(clock)
world.render(display)
pygame.display.flip()
# Set new destination when target has been reached
if len(agent.get_local_planner().waypoints_queue
) < num_min_waypoints and args.loop:
agent.reroute(spawn_points)
tot_target_reached += 1
world.hud.notification("The target has been reached " +
str(tot_target_reached) +
" times.",
seconds=4.0)
elif len(agent.get_local_planner().waypoints_queue
) == 0 and not args.loop:
print("Target reached, mission accomplished...")
break
# --- modify limit speed --- #
speed_limit = world.player.get_speed_limit()
agent.get_local_planner().set_speed(speed_limit)
control = agent.run_step()
world.player.apply_control(control)
# --- save the image and vehicle information --- #
# save the camera-rgb image
image_name = str(world.camera_manager.image_name) + '.png'
pos = agent.vehicle.get_location() # position
vel = agent.vehicle.get_velocity()
velocity = 3.6 * math.sqrt(
vel.x**2 + vel.y**2 + vel.z**2) # velocity
steer = round(control.steer, 5) # steer
throttle = round(control.throttle, 5)
writer.writerow([image_name, steer, throttle])
finally:
if world is not None:
world.destroy()
pygame.quit()