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Open/Close door added to PythonAPI and manual_control

This commit is contained in:
Daniel Santos-Olivan 2021-09-13 13:53:57 +02:00 committed by bernat
parent d03632c006
commit 0913a7b053
2 changed files with 27 additions and 1 deletions
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10
PythonAPI/carla/source/libcarla/Actor.cpp
View File

@ -154,11 +154,21 @@ void export_actor() {
.value("Back_Wheel", cr::VehicleWheelLocation::Back_Wheel)
;
enum_<cr::VehicleDoor>("VehicleDoor")
.value("FL", cr::VehicleDoor::FL)
.value("FR", cr::VehicleDoor::FR)
.value("RL", cr::VehicleDoor::RL)
.value("RR", cr::VehicleDoor::RR)
.value("All", cr::VehicleDoor::All)
;
class_<cc::Vehicle, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Vehicle>>("Vehicle",
no_init)
.def("apply_control", &cc::Vehicle::ApplyControl, (arg("control")))
.def("get_control", &cc::Vehicle::GetControl)
.def("set_light_state", &cc::Vehicle::SetLightState, (arg("light_state")))
.def("open_door", &cc::Vehicle::OpenDoor, (arg("door_idx")))
.def("close_door", &cc::Vehicle::CloseDoor, (arg("door_idx")))
.def("set_wheel_steer_direction", &cc::Vehicle::SetWheelSteerDirection, (arg("wheel_location")), (arg("angle_in_deg")))
.def("get_wheel_steer_angle", &cc::Vehicle::GetWheelSteerAngle, (arg("wheel_location")))
.def("get_light_state", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetLightState))

18
PythonAPI/examples/manual_control.py
View File

@ -36,11 +36,13 @@ Use ARROWS or WASD keys for control.
C : change weather (Shift+C reverse)
Backspace : change vehicle
O : open/close all doors of vehicle
T : toggle vehicle's telemetry
V : Select next map layer (Shift+V reverse)
B : Load current selected map layer (Shift+B to unload)
R : toggle recording images to disk
T : toggle vehicle's telemetry
CTRL + R : toggle recording of simulation (replacing any previous)
CTRL + P : start replaying last recorded simulation
@ -120,6 +122,7 @@ try:
from pygame.locals import K_l
from pygame.locals import K_m
from pygame.locals import K_n
from pygame.locals import K_o
from pygame.locals import K_p
from pygame.locals import K_q
from pygame.locals import K_r
@ -217,6 +220,7 @@ class World(object):
self.recording_start = 0
self.constant_velocity_enabled = False
self.show_vehicle_telemetry = False
self.doors_are_open = False
self.current_map_layer = 0
self.map_layer_names = [
carla.MapLayer.NONE,
@ -427,6 +431,18 @@ class KeyboardControl(object):
world.player.enable_constant_velocity(carla.Vector3D(17, 0, 0))
world.constant_velocity_enabled = True
world.hud.notification("Enabled Constant Velocity Mode at 60 km/h")
elif event.key == K_o:
try:
if world.doors_are_open:
world.hud.notification("Closing Doors")
world.doors_are_open = False
world.player.close_door(carla.VehicleDoor.All)
else:
world.hud.notification("Opening doors")
world.doors_are_open = True
world.player.open_door(carla.VehicleDoor.All)
except Exception:
pass
elif event.key == K_t:
if world.show_vehicle_telemetry:
world.player.show_debug_telemetry(False)