95 lines
2.9 KiB
Python
95 lines
2.9 KiB
Python
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import glob
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import os
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import sys
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try:
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sys.path.append(glob.glob('../carla/dist/carla-0.9.15-py*%d.%d-%s.egg' % (
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sys.version_info.major,
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sys.version_info.minor,
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'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
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except IndexError:
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pass
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import carla
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import random
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import weakref
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def get_actor_blueprints(world, filter, generation):
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bps = world.get_blueprint_library().filter(filter)
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if generation.lower() == "all":
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return bps
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# If the filter returns only one bp, we assume that this one needed
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# and therefore, we ignore the generation
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if len(bps) == 1:
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return bps
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try:
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int_generation = int(generation)
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# Check if generation is in available generations
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if int_generation in [1, 2]:
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bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
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return bps
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else:
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print(" Warning! Actor Generation is not valid. No actor will be spawned.")
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return []
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except:
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print(" Warning! Actor Generation is not valid. No actor will be spawned.")
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return []
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class V2XSensor(object):
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def __init__(self, parent_actor):
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self.sensor = None
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self._parent = parent_actor
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world = self._parent.get_world()
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#bp = world.get_blueprint_library().find('sensor.other.v2x_custom')
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bp = world.get_blueprint_library().find('sensor.other.v2x')
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self.sensor = world.spawn_actor(
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bp, carla.Transform(), attach_to=self._parent)
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# We need to pass the lambda a weak reference to self to avoid circular
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# reference.
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weak_self = weakref.ref(self)
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self.sensor.listen(
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lambda sensor_data: V2XSensor._V2X_callback(weak_self, sensor_data))
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def destroy(self):
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self.sensor.stop()
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self.sensor.destroy()
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@staticmethod
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def _V2X_callback(weak_self, sensor_data):
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self = weak_self()
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if not self:
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return
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for data in sensor_data:
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msg = data.get()
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# stationId = msg["Header"]["Station ID"]
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power = data.power
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print(msg)
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# print('Cam message received from %s ' % stationId)
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print('Cam message received with power %f ' % power)
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client = carla.Client("localhost",2000)
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client.set_timeout(2000.0)
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world = client.get_world()
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smap = world.get_map()
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# acl = world.get_actor(28)
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# acl.send("test")
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spawn_points = smap.get_spawn_points()
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spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
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blueprint = random.choice(get_actor_blueprints(world, "vehicle.*", "2"))
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blueprint.set_attribute('role_name', "test")
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player = world.try_spawn_actor(blueprint, spawn_point)
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v2x_sensor = V2XSensor(player)
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world.wait_for_tick()
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try:
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while True:
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world.wait_for_tick()
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finally:
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v2x_sensor.destroy()
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player.destroy()
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