The Client connects CARLA to the server which runs the simulation. Both server and client contain a CARLA library (libcarla) with some differences that allow communication between them. Many clients can be created and each of these will connect to the RPC server inside the simulation to send commands. The simulation runs server-side. Once the connection is established, the client will only receive data retrieved from the simulation. Walkers are the exception. The client is in charge of managing pedestrians so, if you are running a simulation with multiple clients, some issues may arise. For example, if you spawn walkers through different clients, collisions may happen, as each client is only aware of the ones it is in charge of.
The client also has a recording feature that saves all the information of a simulation while running it. This allows the server to replay it at will to obtain information and experiment with it. [Here](adv_recorder.md) is some information about how to use this recorder.
Executes a list of commands on a single simulation step and retrieves no information. If you need information about the response of each command, use the **<font color="#7fb800">apply_batch_sync()</font>** function right below this one.
[Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L126) is an example on how to delete the actors that appear in carla.ActorList all at once.
A boolean parameter to specify whether or not to perform a carla.World.tick after applying the batch in _synchronous mode_. It is __False__ by default.
Executes a list of commands on a single simulation step, blocks until the commands are linked, and returns a list of <b>command.Response</b> that can be used to determine whether a single command succeeded or not. [Here](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L112-L116) is an example of it being used to spawn actors.
Time in seconds where to start playing the simulation. Negative is read as beginning from the end, being -10 just 10 seconds before the recording finished.
The terminal will show the information registered for actors considered blocked. An actor is considered blocked when it does not move a minimum distance in a period of time, being these `min_distance` and `min_time`.
When true, will show all the details per frame (traffic light states, positions of all actors, orientation and animation data...), but by default it will only show a summary.
The information saved by the recorder will be parsed and shown in your terminal as text (frames, times, events, state, positions...). The information shown can be specified by using the `show_all` parameter. [Here](ref_recorder_binary_file_format.md) is some more information about how to read the recorder file.
Name of the file to write the recorded data. A simple name will save the recording in 'CarlaUE4/Saved/recording.log'. Otherwise, if some folder appears in the name, it will be considered an absolute path.
Returns a list of strings containing the paths of the maps available on server. These paths are dynamic, they will be created during the simulation and so you will not find them when looking up in your files. One of the possible returns for this method would be:
Returns the client libcarla version by consulting it in the "Version.h" file. Both client and server can use different libcarla versions but some issues may arise regarding unexpected incompatibilities.
Sets in seconds the maxixum time a network call is allowed before blocking it and raising a timeout exceeded error.
# --------------------------------------
- class_name:TrafficManager
# - DESCRIPTION ------------------------
doc:>
The traffic manager is a module built on top of the CARLA API in C++. It handles any group of vehicles set to autopilot mode to populate the simulation with realistic urban traffic conditions and give the chance to user to customize some behaviours. The architecture of the traffic manager is divided in five different goal-oriented stages and a PID controller where the information flows until eventually, a carla.VehicleControl is applied to every vehicle registered in a traffic manager.
In order to learn more, visit the [documentation](adv_traffic_manager.md) regarding this module.
The actor that `reference_actor` is going to ignore collisions with.
- param_name:detect_collision
type:bool
doc:>
__True__ is default and enables collisions. __False will disable them.
doc:>
Tunes on/off collisions between a vehicle and another specific actor. In order to ignore all other vehicles, traffic lights or walkers, use the specific __ignore__ methods described in this same section.
Sets the minimum distance in meters that a vehicle has to keep with the others. The distance is in meters and will affect the minimum moving distance. It is computed from front to back of the vehicle objects.
Destination lane. __True__ is the one on the left and __False__ is the right one.
doc:>
Forces a vehicle to change either to the lane on its left or right, if existing, as indicated in `direction`. This method applies the lane change no matter what, disregarding possible collisions.
Sets the minimum distance in meters that vehicles have to keep with the rest. The distance is in meters and will affect the minimum moving distance. It is computed from center to center of the vehicle objects.
During the traffic light stage, which runs every frame, this method sets the percent chance that traffic lights will be ignored for a vehicle.
# --------------------------------------
- def_name:ignore_vehicles_percentage
params:
- param_name:actor
type:carla.Actor
doc:>
The vehicle that is going to ignore other vehicles.
- param_name:perc
type:float
doc:>
Between 0 and 100. Amount of times collisions will be ignored.
doc:>
During the collision detection stage, which runs every frame, this method sets a percent chance that collisions with another vehicle will be ignored for a vehicle.
# --------------------------------------
- def_name:ignore_walkers_percentage
params:
- param_name:actor
type:carla.Actor
doc:>
The vehicle that is going to ignore walkers on scene.
- param_name:perc
type:float
doc:>
Between 0 and 100. Amount of times collisions will be ignored.
doc:>
During the collision detection stage, which runs every frame, this method sets a percent chance that collisions with walkers will be ignored for a vehicle.
# --------------------------------------
- def_name:reset_traffic_lights
doc:>
Resets every traffic light in the map to its initial state.
Enables or disables the hybrid physics mode. In this mode, vehicle's farther than a certain radius from the ego vehicle will have their physics disabled. Computation cost will be reduced by not calculating vehicle dynamics. Vehicles will be teleported.
