def game_loop(args):
pygame.init()
pygame.font.init()
world = None
try:
client = carla.Client(args.host, args.port)
client.set_timeout(4.0)
#world=client.load_world('Town02')
#print(client.get_available_maps())
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.filter)
controller = KeyboardControl(world, False)
rgb_manager = CameraManager(world.player, hud)
frame_manager = CameraManager(world.player, hud)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
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))
rgb_manager.set_sensor(0, True)
frame_manager.set_sensor_frame(0, True)
rgb_manager.toggle_camera()
frame_manager.toggle_camera_frame()
rgb_manager.toggle_recording()
frame_manager.toggle_recording_frame()
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
# as soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
finally:
world.destroy_sensors()
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
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.filter)
controller = KeyboardControl(world, False)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
list = world.map.get_spawn_points()
if list == []:
spawn_point = carla.Transform()
else:
spawn_point = list[0]
agent.set_destination((spawn_point.location.x,
spawn_point.location.y,
spawn_point.location.z))
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
# as soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
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
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
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:
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):
pygame.init()
pygame.font.init()
world = None
#f = open('location_list.txt', 'r')
i = 0
location_list = [
[500, 5.25, 31.0, 0.0, 0.0],
[
475.4852470983795, 5.678740381744522, 30.0, 0.011942474433034074,
9.481388061770087
],
[
472.1113589818001, 5.715332086040473, 29.0, 0.012105306942113502,
9.012409139522038
],
[
454.0871193356091, 5.8597591238060405, 28.0, 0.012903765907572399,
8.997941150502005
],
[
436.09148605811964, 5.765087408368869, 27.0, 0.013219133555865806,
7.907664017308204
],
[
420.27927717255363, 5.450999838173674, 26.0, 0.012969219540954719,
2.6903561539015364
],
[
414.90291419050664, 5.234699064670276, 25.0, 0.012616014874265873,
5.500995187472245
],
[
403.90286894692605, 5.027825070288866, 24.0, 0.012447461468861111,
9.710390691465745
],
[
384.48235362442995, 4.926168135884138, 23.0, 0.012811767710883288,
9.985278899462706
],
[
364.51211033566875, 4.814088753707787, 22.0, 0.013206169974161696,
7.8825923991263895
],
[
348.7487507701559, 5.053978168677228, 21.0, 0.014490731237345338,
4.500000000000008
], [339.749, 4.987, 20.0, 0.014677429171226393, 10.078971599325023],
[319.592, 5.182, 19.0, 0.016213002649283742, 11.495219267156243],
[296.602, 5.324, 18.0, 0.017948052642080513, 13.122339625615528],
[270.36, 4.949, 17.0, 0.018303178498518525, 11.423603229740003],
[
247.51286058561587, 5.0043496323322945, 16.0, 0.02021578951147572,
4.500602163768276
],
[
238.5129217492751, 5.037530080270346, 15.0, 0.021117435478132073,
12.529842286551135
],
[
213.45347683222624, 4.927933762933469, 14.0, 0.02308258733630485,
4.5
],
[
204.45529975615295, 5.109067160265785, 13.0, 0.024983476288845008,
4.499999999999997
], [195.457, 5.284, 12.0, 0.027027496118305478, 8.689527849659033],
[178.078, 5.24, 11.0, 0.02941681979829673, 11.581500388550705],
[154.915, 5.246, 10.0, 0.03385079618528805, 13.327193937584907],
[128.262, 4.974, 9.0, 0.038760574456180405, 6.338593889815],
[115.585, 5.043, 8.0, 0.04360257562440571, 9.88808981805889],
[95.81, 4.827, 7.0, 0.050338400773856, 7.777515445179138],
[80.255, 4.858, 6.0, 0.060458283762458445, 7.375550860783211],
[65.506, 5.107, 5.0, 0.07780494272413684, 6.951037493288717],
[
51.60396193342049, 5.0749605275278284, 4.0, 0.09802917448443067,
4.500000000000002
],
[42.60499983592313, 4.938281458881817, 3.0, 0.11539357217913827, 4.5],
[33.605, 4.94, 2.0, 0.14595657222297126, 8.715192998436693],
[16.175, 5.056, 1.0, 0.30295879121347374, 8.088081679236431],
[0, 5.25, 0.0, 0.0, 0.0]
]
location_list.reverse()
for location in location_list:
location[0] += -315.8
location[1] += 25
print(location_list)
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.filter)
controller = KeyboardControl(world, False)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
spawn_point = carla.Location(x=-315.791, y=29.9778, z=4.17103)
print(spawn_point)
waypoint = world.map.get_waypoint(world.player.get_location())
target = world.map.get_waypoint(
carla.Location(location_list[i][0], location_list[i][1], 0))
if waypoint.transform.location.distance(
carla.Location(location_list[i][0], location_list[i][1],
0)) < 0.1:
i += 1
agent.set_destination(
(location_list[i][0], location_list[i][1], 0))
print(1)
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
# as soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
world.tick(clock)
world.render(display)
pygame.display.flip()
control = agent.run_step()
control.manual_gear_shift = False
world.player.apply_control(control)
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:
# 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()
class World(object):
"""
Creates a object which has all the necessary attributes of carla world and ego vehicle. For example
--> Carla World (a world Object)
--> Weather Presets
--> List of sensors for ego vehicle
--> List of other vwhicle in the world
"""
def __init__(self, carla_world, hud, spawn_location, actor_filter,
agent_str, scene):
# Crala World
self.world = carla_world
self.map = self.world.get_map()
self.hud = hud
self.world.on_tick(hud.on_world_tick)
# Weather presets
self._weather_index = 0
self._weather_presets = None
self.find_weather_presets()
# Autonomous vehicle and sensors variables
self._spawn_loc = spawn_location # spawn location
self._actor_filter = actor_filter # vehicle type
self.player = None # ego vehicle
self.collision_sensor = None # sensors
self.gnss_sensor = None
self._ego_list = []
# Other actors
self._scene = scene
self._actor_list = []
# camera manager
self.main_rgb_camera = None
self.depth_camera = None
# radar set
self.front_radar = None
self.back_radar = None
self.left_front_radar = None
self.right_front_radar = None
# Agent
self.agent_name = agent_str
self.agent = None
self.autopilot_mode = True
self.restart()
def restart(self):
# Destroy existing ego and actors
if self._ego_list or self._actor_list:
self.destroy()
# Spawn the player
# get a random blueprint from the filter
blueprint = random.choice(self.world.get_blueprint_library().filter(
self._actor_filter))
blueprint.set_attribute('role_name', 'ego')
blueprint.set_attribute('color', '255, 255, 255')
spawn_point = carla.Transform(
carla.Location(x=self._spawn_loc[0],
y=self._spawn_loc[1],
z=self._spawn_loc[2]))
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
if self.player is None:
print("Ego vehicle spawn location occupied.\n Spawning failed!")
return
# Set up the sensors.
self.main_rgb_camera = CameraSet(self.player, self.hud)
self.collision_sensor = CollisionSensor(self.player, self.hud)
self.gnss_sensor = GnssSensor(self.player)
self.front_radar = FakeRadarSensor(self.player,
self.hud,
x=0.5,
y=0.0,
z=1.0,
yaw=0.0,
fov=5)
self.left_front_radar = FakeRadarSensor(self.player,
self.hud,
x=1.0,
y=-0.5,
z=1.0,
yaw=-25.0)
self.left_back_radar = FakeRadarSensor(self.player,
self.hud,
x=-1.0,
y=-0.5,
z=1.0,
yaw=-155.0)
self._ego_list = [
self.main_rgb_camera, self.collision_sensor.sensor,
self.gnss_sensor.sensor, self.front_radar, self.left_front_radar,
self.left_back_radar, self.player
]
# Spawn other actors
self._actor_list = spawn_surrounding_vehicles(self.world, self._scene)
# Reset agent
if self.agent_name == "Autonomous":
self.agent = AutonomousAgent(self)
# destination Setting
self.agent.set_destination((100, -4.5, 0))
elif self.agent_name == "Basic":
self.agent = BasicAgent(self.player)
# destination Setting
self.agent.set_destination((300, 45, 0))
else:
self.agent = RoamingAgent(self.player)
# Display
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
def find_weather_presets(self):
rgx = re.compile(
'.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
presets = [
x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)
]
self._weather_presets = [(getattr(carla.WeatherParameters, x), name(x))
for x in presets]
def next_weather(self, reverse=False):
self._weather_index += -1 if reverse else 1
self._weather_index %= len(self._weather_presets)
preset = self._weather_presets[self._weather_index]
self.hud.notification('Weather: %s' % preset[1])
self.player.get_world().set_weather(preset[0])
def tick(self, clock):
self.hud.tick(self, clock)
def render(self, display):
self.main_rgb_camera.render(display)
self.hud.render(display)
def enable_agent(self, enabled):
self.autopilot_mode = enabled
def destroy(self):
for actor in self._ego_list:
if actor is not None:
actor.destroy()
self._ego_list = []
for actor in self._actor_list:
if actor is not None:
# disconnect from client
actor.set_autopilot(False)
actor.destroy()
self._actor_list = []
class World(object):
def __init__(self, carla_world, hud, spawn_location, actor_filter,
agent_str, scene):
# World
self.world = carla_world
self.map = self.world.get_map()
self.hud = hud
self.world.on_tick(hud.on_world_tick)
# Weather
self._weather_index = 0
self._weather_presets = None
self.find_weather_presets()
# Ego and sensors
self._spawn_loc = spawn_location # spawn location
self._actor_filter = actor_filter # vehicle type
self.player = None # ego vehicle
self.collision_sensor = None # sensors
self.gnss_sensor = None
self._ego_list = []
# Other actors
self._scene = scene
self._actor_list = []
# camera manager
self.main_rgb_camera = None
self.depth_camera = None
self.segmentation_camera = None
self.lidar = None
# radar set
self.front_radar = None
self.back_radar = None
self.left_front_radar = None
self.right_front_radar = None
self.left_back_radar = None
self.right_back_radar = None
# Agent
self.agent_name = agent_str
self.agent = None
self.autopilot_mode = True # driving with agent
self.is_learning = False # learning mode
self.restart()
# Record
self.recording_enabled = False
self.recording_start = 0
def restart(self):
# Destroy existing ego and actors
if self._ego_list or self._actor_list:
self.destroy()
# Spawn the player
# get a random blueprint from the filter
blueprint = random.choice(self.world.get_blueprint_library().filter(
self._actor_filter))
blueprint.set_attribute('role_name', 'ego')
blueprint.set_attribute('color', '0, 0, 0')
spawn_point = carla.Transform(
carla.Location(x=self._spawn_loc[0],
y=self._spawn_loc[1],
z=self._spawn_loc[2]))
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
if self.player is None:
print("Ego vehicle spawn location occupied.\n Spawning failed!")
return
# Set up the sensors.
self.main_rgb_camera = CameraSet(self.player, self.hud)
'''
self.depth_camera = CameraManager(self.player, self.hud)
self.depth_camera.set_sensor(3, notify=False)
self.segmentation_camera = CameraManager(self.player, self.hud)
self.segmentation_camera.set_sensor(5, notify=False)
self.lidar = CameraManager(self.player, self.hud)
self.lidar.transform_index = 1
self.lidar.set_sensor(6, notify=False)
'''
self.collision_sensor = CollisionSensor(self.player, self.hud)
self.gnss_sensor = GnssSensor(self.player)
self.front_radar = FakeRadarSensor(self.player,
self.hud,
x=0.5,
y=0.0,
z=1.0,
yaw=0.0,
fov=5)
self.left_front_radar = FakeRadarSensor(self.player,
self.hud,
x=1.0,
y=-0.5,
z=1.0,
yaw=-25.0)
self.left_back_radar = FakeRadarSensor(self.player,
self.hud,
x=-1.0,
y=-0.5,
z=1.0,
yaw=-155.0)
'''
# Radars are implemented but not used for high computing resources required
self.front_radar = RadarSensor(self.player, self.hud, rr='20',
x=2.5, y=0.0, z=1.0, yaw=0.0)
self.left_front_radar = RadarSensor(self.player, self.hud, hf='40', pps='1000',
x=2.5, y=-0.8, z=1.0, yaw=-25.0)
self.left_back_radar = RadarSensor(self.player, self.hud, hf='40', pps='1000',
x=-2.5, y=-0.8, z=1.0, yaw=-155.0)
self.back_radar = RadarSensor(self.player, self.hud, rr='20',
x=-2.5, y=0.0, z=1.0, yaw=180.0)
self.right_front_radar = RadarSensor(self.player, self.hud, hf='40', pps='800',
x=2.5, y=0.5, z=1.0, yaw=20.0)
self.right_back_radar = RadarSensor(self.player, self.hud, hf='40', pps='800',
x=-2.5, y=0.5, z=1.0, yaw=140.0)
'''
self._ego_list = [
self.main_rgb_camera,
#self.depth_camera.sensor,
#self.segmentation_camera.sensor,
#self.lidar.sensor,
self.collision_sensor.sensor,
self.gnss_sensor.sensor,
self.front_radar,
#self.back_radar.sensor,
self.left_front_radar,
self.left_back_radar,
#self.right_front_radar.sensor,
#self.right_back_radar.sensor,
self.player
]
# Spawn other actors
self._actor_list = spawn_surrounding_vehicles(self.world, self._scene)
# Reset agent
if self.agent_name == "Learning":
self.agent = LearningAgent(self)
# destination Setting
self.agent.set_destination((235, 45, 0))
elif self.agent_name == "Basic":
self.agent = BasicAgent(self.player)
# destination Setting
self.agent.set_destination((235, 45, 0))
else:
self.agent = RoamingAgent(self.player)
# Display
actor_type = get_actor_display_name(self.player)
self.hud.notification(actor_type)
def find_weather_presets(self):
rgx = re.compile(
'.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
presets = [
x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)
]
self._weather_presets = [(getattr(carla.WeatherParameters, x), name(x))
for x in presets]
def next_weather(self, reverse=False):
self._weather_index += -1 if reverse else 1
self._weather_index %= len(self._weather_presets)
preset = self._weather_presets[self._weather_index]
self.hud.notification('Weather: %s' % preset[1])
self.player.get_world().set_weather(preset[0])
def tick(self, clock):
self.hud.tick(self, clock)
def render(self, display):
self.main_rgb_camera.render(display)
self.hud.render(display)
def enable_agent(self, enabled):
self.autopilot_mode = enabled
def enable_learning(self, enabled):
self.is_learning = enabled
def destroy(self):
for actor in self._ego_list:
if actor is not None:
actor.destroy()
self._ego_list = []
for actor in self._actor_list:
if actor is not None:
# disconnect from client
actor.set_autopilot(False)
actor.destroy()
self._actor_list = []
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
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.filter)
# controller = KeyboardControl(world, False)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
agent = BasicAgent(world.player)
spawn_point = world.map.get_spawn_points()[0]
# print(spawn_point.location.x,spawn_point.location.y,spawn_point.location.z)
agent.set_destination((spawn_point.location.x,
spawn_point.location.y,
spawn_point.location.z))
clock = pygame.time.Clock()
count = 0
while True:
count = count + 1
print(count)
# as soon as the server is ready continue!
if not world.world.wait_for_tick(10.0):
continue
world.tick(clock)
world.render(display)
pygame.display.flip()
# control = agent.run_step()
control = carla.VehicleControl(
throttle = 1,
steer = 0.0,
brake = 0.0,
hand_brake = False,
reverse = False,
manual_gear_shift = False,
gear = 0)
if count > 200:
control = carla.VehicleControl(
throttle = 0.5,
steer = 0.6,
brake = 0.0,
hand_brake = True,
reverse = False,
manual_gear_shift = False,
gear = 0)
if count > 260:
control = carla.VehicleControl(
throttle = 1,
steer = 0,
brake = 0.0,
hand_brake = False,
reverse = False,
manual_gear_shift = False,
gear = 0)
control.manual_gear_shift = False
world.player.apply_control(control)
finally:
if world is not None:
world.destroy()
pygame.quit()
def game_loop(args):
pygame.init()
pygame.font.init()
world = None
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.filter)
controller = KeyboardControl(world, False)
map = world.world.get_map()
distance = 2
waypoints = map.generate_waypoints(distance)
for w in waypoints:
world.world.debug.draw_string(w.transform.location,
'O',
draw_shadow=False,
color=carla.Color(r=255, g=0, b=0),
life_time=120.0,
persistent_lines=True)
if args.agent == "Roaming":
agent = RoamingAgent(world.player)
else:
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))
clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
return
map = world.world.get_map()
distance = 2
waypoints = map.generate_waypoints(distance)
# for w in waypoints:
# print("waypoint", w)
# world.world.debug.draw_string(w.transform.location, 'O', draw_shadow=False,
# color=carla.Color(r=255, g=0, b=0), life_time=120.0,
# persistent_lines=True)
# # 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)
finally:
if world is not None:
world.destroy()
pygame.quit()
