Improved map rendering, world rendering in separate surface and map can be translated
This commit is contained in:
manishthani
parent
7343b7d74e
commit
086d926690
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@ -169,20 +169,23 @@ class ModuleHUD (object):
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# ==============================================================================
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offset = 250
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offset_x = 250
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offset_y = 250
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scale_x = 1
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scale_y = 1
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class ModuleWorld(object):
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def __init__(self, name, host, port, timeout):
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def __init__(self, name, host, port, timeout, surface):
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self.name = name
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self.surface = surface
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try:
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client = carla.Client(host, port)
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client.set_timeout(timeout)
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self.world = client.get_world()
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weak_self = weakref.ref(self)
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#self.world.on_tick(lambda timestamp: ModuleWorld.on_world_tick(weak_self, timestamp))
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self.world.on_tick(lambda timestamp: ModuleWorld.on_world_tick(weak_self, timestamp))
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except Exception as ex:
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logging.error('Failed connecting to CARLA server')
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@ -202,19 +205,17 @@ class ModuleWorld(object):
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def render_map(self, display, town_map):
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# Get map waypoints
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waypoint_list = town_map.get_topology()
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radius = 2
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width = 1
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thickness = 1
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waypoint_list = town_map.generate_waypoints(10.0)
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point_list = []
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for waypoint in waypoint_list:
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first_waypoint = int(waypoint[0].transform.location.x +
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offset), int(waypoint[0].transform.location.y + offset)
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second_waypoint = int(waypoint[1].transform.location.x +
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offset), int(waypoint[1].transform.location.y + offset)
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point_list = [first_waypoint, second_waypoint]
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pygame.draw.lines(display, (255, 0, 255), False, point_list, 1)
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for waypoint in waypoint_list:
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point_list.append((int(waypoint.transform.location.x + offset_x),
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int(waypoint.transform.location.y + offset_y)))
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pygame.draw.lines(self.surface, (255, 0, 255), False, point_list, 1)
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def render_actors(self, display, actors, filter, color):
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filtered_actors = [actor for actor in actors if filter in actor.type_id]
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@ -223,17 +224,18 @@ class ModuleWorld(object):
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for actor in filtered_actors:
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actor_location = actor.get_location()
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pygame.draw.circle(display, color, (offset + int(actor_location.x),
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offset + int(actor_location.y)), radius, width)
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pygame.draw.circle(self.surface, color, (offset_x + int(actor_location.x),
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offset_y + int(actor_location.y)), radius, width)
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def render(self, display):
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actors = self.world.get_actors()
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town_map = self.world.get_map()
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self.surface.fill((0, 0, 0))
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self.render_map(display, town_map)
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self.render_actors(display, actors, 'vehicle', (255, 0, 0))
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self.render_actors(display, actors, 'traffic_light', (0, 255, 0))
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self.render_actors(display, actors, 'speed_limit', (0, 0, 255))
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display.blit(self.surface, (0, 0))
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# ==============================================================================
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# -- Input -----------------------------------------------------------
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@ -243,9 +245,10 @@ class ModuleWorld(object):
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class ModuleInput(object):
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def __init__(self, name):
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self.name = name
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self.mouse_pos = (0, 0)
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def render(self, display):
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pass
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display = pygame.transform.scale(display, (int(1280 * scale_x), int(720 * scale_y)))
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def tick(self, clock):
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self.parse_input()
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@ -258,15 +261,41 @@ class ModuleInput(object):
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# Quick actions
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if event.key == K_ESCAPE:
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exit_game()
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elif event.type == pygame.MOUSEBUTTONDOWN:
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self.mouse_pos = pygame.mouse.get_pos()
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if event.button == 4:
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# Scale up surface
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print ("mouse wheel up")
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global scale_x
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global scale_y
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scale_x += 0.1
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scale_y += 0.1
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if event.button == 5:
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# Scale down surface
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global scale_x
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global scale_y
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scale_x -= 0.1
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scale_y -= 0.1
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def _parse_keys(self):
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keys = pygame.key.get_pressed()
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# if keys[pygame.K_LEFT]:
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# Do something
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def _parse_mouse(self):
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if pygame.mouse.get_pressed()[0]:
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x, y = pygame.mouse.get_pos()
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global offset_x
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global offset_y
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offset_x += x - self.mouse_pos[0]
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offset_y += y - self.mouse_pos[1]
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self.mouse_pos = (x, y)
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def parse_input(self):
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self._parse_events()
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self._parse_keys()
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self._parse_mouse()
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# ==============================================================================
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# -- Game Loop ---------------------------------------------------------------
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@ -286,7 +315,8 @@ def game_loop(args):
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# Init modules
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input_module = ModuleInput(MODULE_INPUT)
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world_module = ModuleWorld(MODULE_WORLD, args.host, args.port, 2.0)
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world_module = ModuleWorld(MODULE_WORLD, args.host, args.port, 2.0,
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pygame.Surface((args.width, args.height)))
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hud_module = ModuleHUD(MODULE_HUD, args.width, args.height)
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# Register Modules
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