def on_loop(self):
self.step += 1
keys = pygame.key.get_pressed()
gas = 0
steer = 0
restart = False
pressed_keys = []
if keys[K_LEFT]:
steer = -1.
pressed_keys.append('left')
if keys[K_RIGHT]:
pressed_keys.append('right')
steer = 1.
if keys[K_UP]:
pressed_keys.append('up')
gas = 1.
if keys[K_DOWN]:
pressed_keys.append('down')
gas = -1.
if keys[K_r]:
pressed_keys.append('r')
if time.time() - self.prev_restart_time > 2.:
self.prev_restart_time = time.time()
restart = True
if time.time() - self.prev_restart_time < 2.:
gas = 0.
steer = 0.
control = Control()
control.throttle = gas
control.steer = steer
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.:
print(
'Step', self.step, 'FPS',
float(self.step - self.prev_step) /
(time.time() - self.prev_time))
print('speed', pack.forward_speed, 'collision', pack.collision_other, \
'collision_car', pack.collision_vehicles, 'colision_ped', pack.collision_pedestrians, 'pressed:', pressed_keys)
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)
def on_loop(self):
self.step += 1
keys=pygame.key.get_pressed()
gas = 0
steer = 0
restart = False
pressed_keys = []
if keys[K_LEFT]:
steer = -1.
pressed_keys.append('left')
if keys[K_RIGHT]:
pressed_keys.append('right')
steer = 1.
if keys[K_UP]:
pressed_keys.append('up')
gas = 1.
if keys[K_DOWN]:
pressed_keys.append('down')
gas = -1.
if keys[K_r]:
pressed_keys.append('r')
if time.time() - self.prev_restart_time > 2.:
self.prev_restart_time = time.time()
restart = True
if time.time() - self.prev_restart_time < 2.:
gas = 0.
steer = 0.
control = Control()
control.throttle = gas
control.steer = steer
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.:
print('Step', self.step, 'FPS', float(self.step - self.prev_step) / (time.time() - self.prev_time))
print('speed', pack.forward_speed, 'collision', pack.collision_other, \
'collision_car', pack.collision_vehicles, 'colision_ped', pack.collision_pedestrians, 'pressed:', pressed_keys)
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)
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 use_example(ini_file,
port=2000,
host='127.0.0.1',
print_measurements=True,
images_to_disk=False):
frequency = 10
rate = rospy.Rate(frequency)
# We assume the CARLA server is already waiting for a client to connect at
# host:port. To create a connection we can use the CARLA
# constructor, it creates a CARLA client object and starts the
# connection. It will throw an exception if something goes wrong.
carla = CARLA(host, port)
""" As a first step, Carla must have a configuration file loaded. This will load a map in the server
with the properties specified by the ini file. It returns all the posible starting positions on the map
in a vector.
"""
positions = carla.loadConfigurationFile(ini_file)
"""
Ask Server for a new episode starting on position of index zero in the positions vector
"""
carla.newEpisode(0)
capture = time.time()
# General iteratior
i = 1
# Iterator that will go over the positions on the map after each episode
iterator_start_positions = 1
while not rospy.is_shutdown():
try:
"""
User get the measurements dictionary from the server.
Measurements contains:
* WallTime: Current time on Wall from server machine.
* GameTime: Current time on Game. Restarts at every episode
* PlayerMeasurements : All information and events that happens to player
* Agents : All non-player agents present on the map information such as cars positions, traffic light states
* BRGA : BGRA optical images
* Depth : Depth Images
* Labels : Images containing the semantic segmentation. NOTE: the semantic segmentation must be
previously activated on the server. See documentation for that.
"""
measurements = carla.getMeasurements()
ego_x = measurements['PlayerMeasurements'].transform.location.x
ego_y = measurements['PlayerMeasurements'].transform.location.y
ego_z = measurements['PlayerMeasurements'].transform.location.z
ego_ox = measurements['PlayerMeasurements'].transform.orientation.x
ego_oy = measurements['PlayerMeasurements'].transform.orientation.y
ego_oz = measurements['PlayerMeasurements'].transform.orientation.z
# Print all the measurements... Will write images to disk
if print_measurements:
print_pack(measurements, i, images_to_disk)
"""
Sends a control command to the server
This control structue contains the following fields:
* throttle : goes from 0 to -1
* steer : goes from -1 to 1
* brake : goes from 0 to 1
* hand_brake : Activate or desactivate the Hand Brake.
* reverse: Activate or desactive the reverse gear.
"""
control = Control()
control.throttle = 0.9
control.steer = (random.random() * 2) - 1
carla.sendCommand(control)
rate.sleep()
i += 1
if i % RESET_FREQUENCY == 0:
print('Fps for this episode : ',
(1.0 / ((time.time() - capture) / 100.0)))
"""
Starts another new episode, the episode will have the same configuration as the previous
one. In order to change configuration, the loadConfigurationFile could be called at any
time.
"""
if iterator_start_positions < len(positions):
carla.newEpisode(iterator_start_positions)
iterator_start_positions += 1
else:
carla.newEpisode(0)
iterator_start_positions = 1
print("Now Starting on Position: ",
iterator_start_positions - 1)
capture = time.time()
except Exception as e:
logging.exception('Exception raised to the top')
time.sleep(1)
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)
def use_example(ini_file,port = 2000, host ='127.0.0.1',print_measurements =False,images_to_disk=False):
# We assume the CARLA server is already waiting for a client to connect at
# host:port. To create a connection we can use the CARLA
# constructor, it creates a CARLA client object and starts the
# connection. It will throw an exception if something goes wrong.
carla =CARLA(host,port)
""" As a first step, Carla must have a configuration file loaded. This will load a map in the server
with the properties specified by the ini file. It returns all the posible starting positions on the map
in a vector.
"""
positions = carla.loadConfigurationFile(ini_file)
"""
Ask Server for a new episode starting on position of index zero in the positions vector
"""
carla.newEpisode(0)
capture = time.time()
# General iteratior
i = 1
# Iterator that will go over the positions on the map after each episode
iterator_start_positions = 1
while True:
try:
"""
User get the measurements dictionary from the server.
Measurements contains:
* WallTime: Current time on Wall from server machine.
* GameTime: Current time on Game. Restarts at every episode
* PlayerMeasurements : All information and events that happens to player
* Agents : All non-player agents present on the map information such as cars positions, traffic light states
* BRGA : BGRA optical images
* Depth : Depth Images
* Labels : Images containing the semantic segmentation. NOTE: the semantic segmentation must be
previously activated on the server. See documentation for that.
"""
measurements = carla.getMeasurements()
# Print all the measurements... Will write images to disk
if print_measurements:
print_pack(measurements,i,images_to_disk)
"""
Sends a control command to the server
This control structue contains the following fields:
* throttle : goes from 0 to -1
* steer : goes from -1 to 1
* brake : goes from 0 to 1
* hand_brake : Activate or desactivate the Hand Brake.
* reverse: Activate or desactive the reverse gear.
"""
control = Control()
control.throttle = 0.9
control.steer = (random.random() * 2) - 1
carla.sendCommand(control)
i+=1
if i % RESET_FREQUENCY ==0:
print ('Fps for this episode : ',(1.0/((time.time() -capture)/100.0)))
"""
Starts another new episode, the episode will have the same configuration as the previous
one. In order to change configuration, the loadConfigurationFile could be called at any
time.
"""
if iterator_start_positions < len(positions):
carla.newEpisode(iterator_start_positions)
iterator_start_positions+=1
else :
carla.newEpisode(0)
iterator_start_positions = 1
print("Now Starting on Position: ",iterator_start_positions-1)
capture = time.time()
except Exception as e:
logging.exception('Exception raised to the top')
time.sleep(1)
def main_loop(self):
# Carla Setup
carla = CARLA(self.host, self.port)
positions = carla.loadConfigurationFile(self.ini_file)
carla.newEpisode(0)
capture = time.time()
i = 1
# Iterator that will go over the positions on the map after each episode
iterator_start_positions = 1
rate = rospy.Rate(ROS_FREQUENCY)
while not rospy.is_shutdown():
try:
"""
User get the measurements dictionary from the server.
Measurements contains:
* WallTime: Current time on Wall from server machine.
* GameTime: Current time on Game. Restarts at every episode
* PlayerMeasurements : All information and events that happens to player
* Agents : All non-player agents present on the map information such as cars positions, traffic light states
* BRGA : BGRA optical images
* Depth : Depth Images
* Labels : Images containing the semantic segmentation. NOTE: the semantic segmentation must be
previously activated on the server. See documentation for that.
"""
measurements = carla.getMeasurements()
self.measurements_process(measurements)
self.measurements_publish()
"""
Sends a control command to the server
This control structue contains the following fields:
* throttle : goes from 0 to 1
* steer : goes from -1 to 1
* brake : goes from 0 to 1
* hand_brake : Activate or desactivate the Hand Brake.
* reverse: Activate or desactive the reverse gear.
"""
control = Control()
control.throttle = 0.9
control.steer = 0
carla.sendCommand(control)
rate.sleep()
i += 1
if i % RESET_FREQUENCY == 0:
print('Fps for this episode : ',
(1.0 / ((time.time() - capture) / 100.0)))
"""
Starts another new episode, the episode will have the same configuration as the previous
one. In order to change configuration, the loadConfigurationFile could be called at any
time.
"""
if iterator_start_positions < len(positions):
carla.newEpisode(iterator_start_positions)
iterator_start_positions += 1
else:
carla.newEpisode(0)
iterator_start_positions = 1
print("Now Starting on Position: ",
iterator_start_positions - 1)
capture = time.time()
except KeyboardInterrupt:
pass