class BeamNGBrewer:
def __init__(self, beamng_home=None, road_nodes: List4DTuple = None):
self.beamng = BeamNGpy('localhost', 64256, home=beamng_home)
self.vehicle: Vehicle = None
self.camera: BeamNGCamera = None
if road_nodes:
self.setup_road_nodes(road_nodes)
steps = 5
self.params = SimulationParams(beamng_steps=steps,
delay_msec=int(steps * 0.05 * 1000))
self.vehicle_start_pose = BeamNGPose()
def setup_road_nodes(self, road_nodes):
self.road_nodes = road_nodes
self.decal_road: DecalRoad = DecalRoad('street_1').add_4d_points(
road_nodes)
self.road_points = RoadPoints().add_middle_nodes(road_nodes)
def setup_vehicle(self) -> Vehicle:
assert self.vehicle is None
self.vehicle = Vehicle('ego_vehicle',
model='etk800',
licence='TIG',
color='Red')
return self.vehicle
def setup_scenario_camera(self,
resolution=(1280, 1280),
fov=120) -> BeamNGCamera:
assert self.camera is None
self.camera = BeamNGCamera(self.beamng, 'brewer_camera')
return self.camera
def bring_up(self):
self.scenario = Scenario('tig', 'tigscenario')
if self.vehicle:
self.scenario.add_vehicle(self.vehicle,
pos=self.vehicle_start_pose.pos,
rot=self.vehicle_start_pose.rot)
if self.camera:
self.scenario.add_camera(self.camera.camera, self.camera.name)
self.scenario.make(self.beamng)
if not self.beamng.server:
self.beamng.open()
self.beamng.pause()
self.beamng.set_deterministic()
self.beamng.load_scenario(self.scenario)
self.beamng.start_scenario()
def __del__(self):
if self.beamng:
try:
self.beamng.close()
except:
pass
class BeamNGBrewer:
def __init__(self,
beamng_home=None,
beamng_user=None,
reuse_beamng=True,
road_nodes: List4DTuple = None):
self.reuse_beamng = reuse_beamng
if self.reuse_beamng:
# This represents the running BeamNG simulator. Since we use launch=True this should automatically
# shut down when the main python process exits or when we call self.beamng_process.stop()
self.beamng_process = BeamNGpy('localhost',
64256,
home=beamng_home,
user=beamng_user)
self.beamng_process = self.beamng_process.open(launch=True)
# This is used to bring up each simulation without restarting the simulator
self.beamng = BeamNGpy('localhost',
64256,
home=beamng_home,
user=beamng_user)
# We need to wait until this point otherwise the BeamNG loggers's level will be (re)configured by BeamNGpy
log.info("Disabling BEAMNG logs")
for id in [
"beamngpy", "beamngpy.beamngpycommon", "beamngpy.BeamNGpy",
"beamngpy.beamng", "beamngpy.Scenario", "beamngpy.Vehicle"
]:
logger = log.getLogger(id)
logger.setLevel(log.CRITICAL)
logger.disabled = True
self.vehicle: Vehicle = None
self.camera: BeamNGCamera = None
if road_nodes:
self.setup_road_nodes(road_nodes)
steps = 5
self.params = SimulationParams(beamng_steps=steps,
delay_msec=int(steps * 0.05 * 1000))
self.vehicle_start_pose = BeamNGPose()
def setup_road_nodes(self, road_nodes):
self.road_nodes = road_nodes
self.decal_road: DecalRoad = DecalRoad('street_1').add_4d_points(
road_nodes)
self.road_points = RoadPoints().add_middle_nodes(road_nodes)
def setup_vehicle(self) -> Vehicle:
assert self.vehicle is None
self.vehicle = Vehicle('ego_vehicle',
model='etk800',
licence='TIG',
color='Red')
return self.vehicle
def setup_scenario_camera(self,
resolution=(1280, 1280),
fov=120) -> BeamNGCamera:
assert self.camera is None
self.camera = BeamNGCamera(self.beamng, 'brewer_camera')
return self.camera
# TODO COnsider to transform brewer into a ContextManager or get rid of it...
def bring_up(self):
if self.reuse_beamng:
# This assumes BeamNG is already running
self.beamng.open(launch=False)
else:
self.beamng.open(launch=True)
# After 1.18 to make a scenario one needs a running instance of BeamNG
self.scenario = Scenario('tig', 'tigscenario')
if self.vehicle:
self.scenario.add_vehicle(self.vehicle,
pos=self.vehicle_start_pose.pos,
rot=self.vehicle_start_pose.rot)
if self.camera:
self.scenario.add_camera(self.camera.camera, self.camera.name)
self.scenario.make(self.beamng)
self.beamng.set_deterministic()
self.beamng.load_scenario(self.scenario)
self.beamng.start_scenario()
# Pause the simulator only after loading and starting the scenario
self.beamng.pause()
def __del__(self):
if self.beamng:
try:
self.beamng.close()
except:
pass
ring = ProceduralRing(name='pyring',
pos=(445, 301, 218),
rot=(0, 0, 100),
radius=5,
thickness=2.5)
scenario.add_procedural_mesh(ring)
cam_pos = (391.5, 251, 197.8)
cam_dir = (445 - cam_pos[0], 301 - cam_pos[1], 208 - cam_pos[2])
cam = Camera(cam_pos,
cam_dir,
60, (2048, 2048),
near_far=(1, 4000),
colour=True)
scenario.add_camera(cam, 'cam')
scenario.make(beamng)
bng = beamng.open()
bng.set_deterministic()
bng.load_scenario(scenario)
bng.start_scenario()
meshes = scenario.find_procedural_meshes()
ring_pos = None
for mesh in meshes:
if mesh.name == 'pyring':
ring_pos = np.array(mesh.position)
for i in range(5)[1:]:
