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Add HUD with info to manual_control.py

This commit is contained in:
nsubiron 2018-11-08 17:12:55 +01:00
parent b5c565d49f
commit 2371246c5b
1 changed files with 118 additions and 8 deletions
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126
PythonAPI/manual_control.py
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@ -29,6 +29,7 @@ Use ARROWS or WASD keys for control.
R : toggle recording images to disk
F1 : toggle HUD
H/? : toggle help
ESC : quit
"""
@ -64,7 +65,10 @@ import carla
from carla import ColorConverter as cc
import argparse
import collections
import datetime
import logging
import math
import random
import re
import weakref
@ -79,6 +83,7 @@ try:
from pygame.locals import K_BACKSPACE
from pygame.locals import K_DOWN
from pygame.locals import K_ESCAPE
from pygame.locals import K_F1
from pygame.locals import K_LEFT
from pygame.locals import K_RIGHT
from pygame.locals import K_SLASH
@ -118,10 +123,16 @@ def find_weather_presets():
return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
def get_actor_display_name(actor, truncate=250):
name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
return (name[:truncate-1] + u'\u2026') if len(name) > truncate else name
class World(object):
def __init__(self, carla_world, hud):
self.world = carla_world
self.hud = hud
self.world.on_tick(hud.on_world_tick)
blueprint = self._get_random_blueprint()
self.vehicle = self.world.spawn_actor(blueprint, START_POSITION)
self.collision_sensor = CollisionSensor(self.vehicle, self.hud)
@ -197,6 +208,8 @@ class KeyboardControl(object):
return True
elif event.key == K_BACKSPACE:
world.restart()
elif event.key == K_F1:
world.hud.toggle_info()
elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
world.hud.help.toggle()
elif event.key == K_TAB:
@ -254,13 +267,70 @@ class HUD(object):
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self.client_fps = 0
self.server_fps = 0
self.frame_number = 0
self.simulation_time = 0
self._show_info = True
self._info_text = []
self._server_clock = pygame.time.Clock()
def on_world_tick(self, timestamp):
self._server_clock.tick()
self.server_fps = self._server_clock.get_fps()
self.frame_number = timestamp.frame_count
self.simulation_time = timestamp.elapsed_seconds
def tick(self, world, clock):
self.client_fps = clock.get_fps()
if not self._show_info:
return
t = world.vehicle.get_transform()
v = world.vehicle.get_velocity()
c = world.vehicle.get_vehicle_control()
heading = 'N' if abs(t.rotation.yaw) < 89.5 else ''
heading += 'S' if abs(t.rotation.yaw) > 90.5 else ''
heading += 'E' if 179.5 > t.rotation.yaw > 0.5 else ''
heading += 'W' if -0.5 > t.rotation.yaw > -179.5 else ''
colhist = world.collision_sensor.get_collision_history()
collision = [colhist[x + self.frame_number - 200] for x in range(0, 200)]
max_col = max(1.0, max(collision))
collision = [x / max_col for x in collision]
self._info_text = [
'server: % 16d FPS' % self.server_fps,
'client: % 16d FPS' % clock.get_fps(),
'',
'vehicle: % 20s' % get_actor_display_name(world.vehicle, truncate=20),
'map: % 20s' % world.world.map_name,
'simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
'',
'speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
u'heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
'location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
'height: % 18.0f m' % t.location.z,
'',
('throttle:', c.throttle, 0.0, 1.0),
('steer:', c.steer, -1.0, 1.0),
('brake:', c.brake, 0.0, 1.0),
('reverse:', c.reverse),
('hand brake:', c.hand_brake),
'',
'collision:',
collision
]
vehicles = world.world.get_actors().filter('vehicle.*')
if len(vehicles) > 1:
self._info_text += ['', 'nearby vehicles:']
distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.vehicle.id]
for d, vehicle in sorted(vehicles):
if d > 200.0:
break
vehicle_type = get_actor_display_name(vehicle, truncate=22)
self._info_text.append('% 4dm %s' % (d, vehicle_type))
self._notifications.tick(world, clock)
def toggle_info(self):
self._show_info = not self._show_info
def notification(self, text, seconds=2.0):
self._notifications.set_text(text, seconds=seconds)
@ -268,11 +338,42 @@ class HUD(object):
self._notifications.set_text('Error: %s' % text, (255, 0, 0))
def render(self, display):
if self._show_info:
info_surface = pygame.Surface((220, self.dim[1]))
info_surface.set_alpha(100)
display.blit(info_surface, (0, 0))
v_offset = 4
bar_h_offset = 100
bar_width = 106
for item in self._info_text:
if v_offset + 18 > self.dim[1]:
break
if isinstance(item, list):
if len(item) > 1:
points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
pygame.draw.lines(display, (255, 136, 0), False, points, 2)
item = None
v_offset += 18
elif isinstance(item, tuple):
if isinstance(item[1], bool):
rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
else:
rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
f = (item[1] - item[2]) / (item[3] - item[2])
if item[2] < 0.0:
rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
else:
rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
pygame.draw.rect(display, (255, 255, 255), rect)
item = item[0]
if item: # At this point has to be a str.
surface = self._font_mono.render(item, True, (255, 255, 255))
display.blit(surface, (8, v_offset))
v_offset += 18
self._notifications.render(display)
self.help.render(display)
fps_text = 'client: %02d FPS; server: %02d FPS' % (self.client_fps, self.server_fps)
fps = self._font_mono.render(fps_text, True, (60, 60, 60))
display.blit(fps, (6, 4))
# ==============================================================================
@ -340,6 +441,7 @@ class HelpText(object):
class CollisionSensor(object):
def __init__(self, parent_actor, hud):
self.sensor = None
self._history = []
self._parent = parent_actor
self._hud = hud
world = self._parent.get_world()
@ -350,6 +452,12 @@ class CollisionSensor(object):
weak_self = weakref.ref(self)
self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event))
def get_collision_history(self):
history = collections.defaultdict(int)
for frame, intensity in self._history:
history[frame] += intensity
return history
@staticmethod
def _on_collision(weak_self, event):
self = weak_self()
@ -357,6 +465,11 @@ class CollisionSensor(object):
return
actor_type = ' '.join(event.other_actor.type_id.replace('_', '.').title().split('.')[1:])
self._hud.notification('Collision with %r' % actor_type)
impulse = event.normal_impulse
intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
self._history.append((event.frame_number, intensity))
if len(self._history) > 2000:
self._history.pop(0)
# ==============================================================================
@ -390,7 +503,6 @@ class CameraManager(object):
bp.set_attribute('image_size_y', str(hud.dim[1]))
item.append(bp)
self._index = None
self._server_clock = pygame.time.Clock()
def toggle_camera(self):
self._transform_index = (self._transform_index + 1) % len(self._camera_transforms)
@ -432,8 +544,6 @@ class CameraManager(object):
self = weak_self()
if not self:
return
self._server_clock.tick()
self._hud.server_fps = self._server_clock.get_fps()
image.convert(self._sensors[self._index][1])
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (image.height, image.width, 4))