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Removed ifdef from carlawheeledvehicle and use carla instead of libcarla in manual control

This commit is contained in:
Blyron 2024-05-02 10:01:08 +02:00 committed by Blyron
parent 9d0aa4a584
commit 287b28bc07
2 changed files with 79 additions and 79 deletions
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156
PythonAPI/examples/manual_control.py
View File

@ -58,16 +58,16 @@ from __future__ import print_function
# ==============================================================================
# -- find libcarla module ---------------------------------------------------------
# -- find carla module ---------------------------------------------------------
# ==============================================================================
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import libcarla
import carla
from libcarla import ColorConverter as cc
from carla import ColorConverter as cc
import argparse
import collections
@ -138,8 +138,8 @@ except ImportError:
def find_weather_presets():
rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
presets = [x for x in dir(libcarla.WeatherParameters) if re.match('[A-Z].+', x)]
return [(getattr(libcarla.WeatherParameters, x), name(x)) for x in presets]
presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
def get_actor_display_name(actor, truncate=250):
@ -210,17 +210,17 @@ class World(object):
self.doors_are_open = False
self.current_map_layer = 0
self.map_layer_names = [
libcarla.MapLayer.NONE,
libcarla.MapLayer.Buildings,
libcarla.MapLayer.Decals,
libcarla.MapLayer.Foliage,
libcarla.MapLayer.Ground,
libcarla.MapLayer.ParkedVehicles,
libcarla.MapLayer.Particles,
libcarla.MapLayer.Props,
libcarla.MapLayer.StreetLights,
libcarla.MapLayer.Walls,
libcarla.MapLayer.All
carla.MapLayer.NONE,
carla.MapLayer.Buildings,
carla.MapLayer.Decals,
carla.MapLayer.Foliage,
carla.MapLayer.Ground,
carla.MapLayer.ParkedVehicles,
carla.MapLayer.Particles,
carla.MapLayer.Props,
carla.MapLayer.StreetLights,
carla.MapLayer.Walls,
carla.MapLayer.All
]
def restart(self):
@ -266,7 +266,7 @@ class World(object):
print('Please add some Vehicle Spawn Point to your UE4 scene.')
sys.exit(1)
spawn_points = self.map.get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else libcarla.Transform()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
self.player = self.world.try_spawn_actor(blueprint, spawn_point)
self.show_vehicle_telemetry = False
self.modify_vehicle_physics(self.player)
@ -364,14 +364,14 @@ class KeyboardControl(object):
self._autopilot_enabled = start_in_autopilot
self._ackermann_enabled = False
self._ackermann_reverse = 1
if isinstance(world.player, libcarla.Vehicle):
self._control = libcarla.VehicleControl()
self._ackermann_control = libcarla.VehicleAckermannControl()
self._lights = libcarla.VehicleLightState.NONE
if isinstance(world.player, carla.Vehicle):
self._control = carla.VehicleControl()
self._ackermann_control = carla.VehicleAckermannControl()
self._lights = carla.VehicleLightState.NONE
world.player.set_autopilot(self._autopilot_enabled)
world.player.set_light_state(self._lights)
elif isinstance(world.player, libcarla.Walker):
self._control = libcarla.WalkerControl()
elif isinstance(world.player, carla.Walker):
self._control = carla.WalkerControl()
self._autopilot_enabled = False
self._rotation = world.player.get_transform().rotation
else:
@ -380,7 +380,7 @@ class KeyboardControl(object):
world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
def parse_events(self, client, world, clock, sync_mode):
if isinstance(self._control, libcarla.VehicleControl):
if isinstance(self._control, carla.VehicleControl):
current_lights = self._lights
for event in pygame.event.get():
if event.type == pygame.QUIT:
@ -425,7 +425,7 @@ class KeyboardControl(object):
world.constant_velocity_enabled = False
world.hud.notification("Disabled Constant Velocity Mode")
else:
world.player.enable_constant_velocity(libcarla.Vector3D(17, 0, 0))
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:
@ -433,11 +433,11 @@ class KeyboardControl(object):
if world.doors_are_open:
world.hud.notification("Closing Doors")
world.doors_are_open = False
world.player.close_door(libcarla.VehicleDoor.All)
world.player.close_door(carla.VehicleDoor.All)
else:
world.hud.notification("Opening doors")
world.doors_are_open = True
world.player.open_door(libcarla.VehicleDoor.All)
world.player.open_door(carla.VehicleDoor.All)
except Exception:
pass
elif event.key == K_t:
@ -494,7 +494,7 @@ class KeyboardControl(object):
else:
world.recording_start += 1
world.hud.notification("Recording start time is %d" % (world.recording_start))
if isinstance(self._control, libcarla.VehicleControl):
if isinstance(self._control, carla.VehicleControl):
if event.key == K_f:
# Toggle ackermann controller
self._ackermann_enabled = not self._ackermann_enabled
@ -507,7 +507,7 @@ class KeyboardControl(object):
else:
self._ackermann_reverse *= -1
# Reset ackermann control
self._ackermann_control = libcarla.VehicleAckermannControl()
self._ackermann_control = carla.VehicleAckermannControl()
elif event.key == K_m:
self._control.manual_gear_shift = not self._control.manual_gear_shift
self._control.gear = world.player.get_control().gear
@ -526,49 +526,49 @@ class KeyboardControl(object):
world.hud.notification(
'Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
elif event.key == K_l and pygame.key.get_mods() & KMOD_CTRL:
current_lights ^= libcarla.VehicleLightState.Special1
current_lights ^= carla.VehicleLightState.Special1
elif event.key == K_l and pygame.key.get_mods() & KMOD_SHIFT:
current_lights ^= libcarla.VehicleLightState.HighBeam
current_lights ^= carla.VehicleLightState.HighBeam
elif event.key == K_l:
# Use 'L' key to switch between lights:
# closed -> position -> low beam -> fog
if not self._lights & libcarla.VehicleLightState.Position:
if not self._lights & carla.VehicleLightState.Position:
world.hud.notification("Position lights")
current_lights |= libcarla.VehicleLightState.Position
current_lights |= carla.VehicleLightState.Position
else:
world.hud.notification("Low beam lights")
current_lights |= libcarla.VehicleLightState.LowBeam
if self._lights & libcarla.VehicleLightState.LowBeam:
current_lights |= carla.VehicleLightState.LowBeam
if self._lights & carla.VehicleLightState.LowBeam:
world.hud.notification("Fog lights")
current_lights |= libcarla.VehicleLightState.Fog
if self._lights & libcarla.VehicleLightState.Fog:
current_lights |= carla.VehicleLightState.Fog
if self._lights & carla.VehicleLightState.Fog:
world.hud.notification("Lights off")
current_lights ^= libcarla.VehicleLightState.Position
current_lights ^= libcarla.VehicleLightState.LowBeam
current_lights ^= libcarla.VehicleLightState.Fog
current_lights ^= carla.VehicleLightState.Position
current_lights ^= carla.VehicleLightState.LowBeam
current_lights ^= carla.VehicleLightState.Fog
elif event.key == K_i:
current_lights ^= libcarla.VehicleLightState.Interior
current_lights ^= carla.VehicleLightState.Interior
elif event.key == K_z:
current_lights ^= libcarla.VehicleLightState.LeftBlinker
current_lights ^= carla.VehicleLightState.LeftBlinker
elif event.key == K_x:
current_lights ^= libcarla.VehicleLightState.RightBlinker
current_lights ^= carla.VehicleLightState.RightBlinker
if not self._autopilot_enabled:
if isinstance(self._control, libcarla.VehicleControl):
if isinstance(self._control, carla.VehicleControl):
self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
self._control.reverse = self._control.gear < 0
# Set automatic control-related vehicle lights
if self._control.brake:
current_lights |= libcarla.VehicleLightState.Brake
current_lights |= carla.VehicleLightState.Brake
else: # Remove the Brake flag
current_lights &= ~libcarla.VehicleLightState.Brake
current_lights &= ~carla.VehicleLightState.Brake
if self._control.reverse:
current_lights |= libcarla.VehicleLightState.Reverse
current_lights |= carla.VehicleLightState.Reverse
else: # Remove the Reverse flag
current_lights &= ~libcarla.VehicleLightState.Reverse
current_lights &= ~carla.VehicleLightState.Reverse
if current_lights != self._lights: # Change the light state only if necessary
self._lights = current_lights
world.player.set_light_state(libcarla.VehicleLightState(self._lights))
world.player.set_light_state(carla.VehicleLightState(self._lights))
# Apply control
if not self._ackermann_enabled:
world.player.apply_control(self._control)
@ -579,7 +579,7 @@ class KeyboardControl(object):
# Update hud with the newest ackermann control
world.hud.update_ackermann_control(self._ackermann_control)
elif isinstance(self._control, libcarla.WalkerControl):
elif isinstance(self._control, carla.WalkerControl):
self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time(), world)
world.player.apply_control(self._control)
@ -669,7 +669,7 @@ class HUD(object):
self._server_clock = pygame.time.Clock()
self._show_ackermann_info = False
self._ackermann_control = libcarla.VehicleAckermannControl()
self._ackermann_control = carla.VehicleAckermannControl()
def on_world_tick(self, timestamp):
self._server_clock.tick()
@ -710,7 +710,7 @@ class HUD(object):
'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
'Height: % 18.0f m' % t.location.z,
'']
if isinstance(c, libcarla.VehicleControl):
if isinstance(c, carla.VehicleControl):
self._info_text += [
('Throttle:', c.throttle, 0.0, 1.0),
('Steer:', c.steer, -1.0, 1.0),
@ -725,7 +725,7 @@ class HUD(object):
'Ackermann Controller:',
' Target speed: % 8.0f km/h' % (3.6*self._ackermann_control.speed),
]
elif isinstance(c, libcarla.WalkerControl):
elif isinstance(c, carla.WalkerControl):
self._info_text += [
('Speed:', c.speed, 0.0, 5.556),
('Jump:', c.jump)]
@ -871,7 +871,7 @@ class CollisionSensor(object):
self.hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.collision')
self.sensor = world.spawn_actor(bp, libcarla.Transform(), attach_to=self._parent)
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
@ -912,7 +912,7 @@ class LaneInvasionSensor(object):
self.hud = hud
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
self.sensor = world.spawn_actor(bp, libcarla.Transform(), attach_to=self._parent)
self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
@ -941,7 +941,7 @@ class GnssSensor(object):
self.lon = 0.0
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.gnss')
self.sensor = world.spawn_actor(bp, libcarla.Transform(libcarla.Location(x=1.0, z=2.8)), attach_to=self._parent)
self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
@ -971,7 +971,7 @@ class IMUSensor(object):
world = self._parent.get_world()
bp = world.get_blueprint_library().find('sensor.other.imu')
self.sensor = world.spawn_actor(
bp, libcarla.Transform(), attach_to=self._parent)
bp, carla.Transform(), attach_to=self._parent)
# We need to pass the lambda a weak reference to self to avoid circular
# reference.
weak_self = weakref.ref(self)
@ -1016,9 +1016,9 @@ class RadarSensor(object):
bp.set_attribute('vertical_fov', str(20))
self.sensor = world.spawn_actor(
bp,
libcarla.Transform(
libcarla.Location(x=bound_x + 0.05, z=bound_z+0.05),
libcarla.Rotation(pitch=5)),
carla.Transform(
carla.Location(x=bound_x + 0.05, z=bound_z+0.05),
carla.Rotation(pitch=5)),
attach_to=self._parent)
# We need a weak reference to self to avoid circular reference.
weak_self = weakref.ref(self)
@ -1040,10 +1040,10 @@ class RadarSensor(object):
alt = math.degrees(detect.altitude)
# The 0.25 adjusts a bit the distance so the dots can
# be properly seen
fw_vec = libcarla.Vector3D(x=detect.depth - 0.25)
libcarla.Transform(
libcarla.Location(),
libcarla.Rotation(
fw_vec = carla.Vector3D(x=detect.depth - 0.25)
carla.Transform(
carla.Location(),
carla.Rotation(
pitch=current_rot.pitch + alt,
yaw=current_rot.yaw + azi,
roll=current_rot.roll)).transform(fw_vec)
@ -1060,7 +1060,7 @@ class RadarSensor(object):
size=0.075,
life_time=0.06,
persistent_lines=False,
color=libcarla.Color(r, g, b))
color=carla.Color(r, g, b))
# ==============================================================================
# -- CameraManager -------------------------------------------------------------
@ -1077,22 +1077,22 @@ class CameraManager(object):
bound_x = 0.5 + self._parent.bounding_box.extent.x
bound_y = 0.5 + self._parent.bounding_box.extent.y
bound_z = 0.5 + self._parent.bounding_box.extent.z
Attachment = libcarla.AttachmentType
Attachment = carla.AttachmentType
if not self._parent.type_id.startswith("walker.pedestrian"):
self._camera_transforms = [
(libcarla.Transform(libcarla.Location(x=-2.0*bound_x, y=+0.0*bound_y, z=2.0*bound_z), libcarla.Rotation(pitch=8.0)), Attachment.SpringArmGhost),
(libcarla.Transform(libcarla.Location(x=+0.8*bound_x, y=+0.0*bound_y, z=1.3*bound_z)), Attachment.Rigid),
(libcarla.Transform(libcarla.Location(x=+1.9*bound_x, y=+1.0*bound_y, z=1.2*bound_z)), Attachment.SpringArmGhost),
(libcarla.Transform(libcarla.Location(x=-2.8*bound_x, y=+0.0*bound_y, z=4.6*bound_z), libcarla.Rotation(pitch=6.0)), Attachment.SpringArmGhost),
(libcarla.Transform(libcarla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)]
(carla.Transform(carla.Location(x=-2.0*bound_x, y=+0.0*bound_y, z=2.0*bound_z), carla.Rotation(pitch=8.0)), Attachment.SpringArmGhost),
(carla.Transform(carla.Location(x=+0.8*bound_x, y=+0.0*bound_y, z=1.3*bound_z)), Attachment.Rigid),
(carla.Transform(carla.Location(x=+1.9*bound_x, y=+1.0*bound_y, z=1.2*bound_z)), Attachment.SpringArmGhost),
(carla.Transform(carla.Location(x=-2.8*bound_x, y=+0.0*bound_y, z=4.6*bound_z), carla.Rotation(pitch=6.0)), Attachment.SpringArmGhost),
(carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)]
else:
self._camera_transforms = [
(libcarla.Transform(libcarla.Location(x=-2.5, z=0.0), libcarla.Rotation(pitch=-8.0)), Attachment.SpringArmGhost),
(libcarla.Transform(libcarla.Location(x=1.6, z=1.7)), Attachment.Rigid),
(libcarla.Transform(libcarla.Location(x=2.5, y=0.5, z=0.0), libcarla.Rotation(pitch=-8.0)), Attachment.SpringArmGhost),
(libcarla.Transform(libcarla.Location(x=-4.0, z=2.0), libcarla.Rotation(pitch=6.0)), Attachment.SpringArmGhost),
(libcarla.Transform(libcarla.Location(x=0, y=-2.5, z=-0.0), libcarla.Rotation(yaw=90.0)), Attachment.Rigid)]
(carla.Transform(carla.Location(x=-2.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArmGhost),
(carla.Transform(carla.Location(x=1.6, z=1.7)), Attachment.Rigid),
(carla.Transform(carla.Location(x=2.5, y=0.5, z=0.0), carla.Rotation(pitch=-8.0)), Attachment.SpringArmGhost),
(carla.Transform(carla.Location(x=-4.0, z=2.0), carla.Rotation(pitch=6.0)), Attachment.SpringArmGhost),
(carla.Transform(carla.Location(x=0, y=-2.5, z=-0.0), carla.Rotation(yaw=90.0)), Attachment.Rigid)]
self.transform_index = 1
self.sensors = [
@ -1191,7 +1191,7 @@ class CameraManager(object):
lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
self.surface = pygame.surfarray.make_surface(lidar_img)
elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
# Example of converting the raw_data from a libcarla.DVSEventArray
# Example of converting the raw_data from a carla.DVSEventArray
# sensor into a NumPy array and using it as an image
dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool)]))
@ -1229,7 +1229,7 @@ def game_loop(args):
original_settings = None
try:
client = libcarla.Client(args.host, args.port)
client = carla.Client(args.host, args.port)
client.set_timeout(2000.0)
sim_world = client.get_world()

2
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -71,7 +71,6 @@ void ACarlaWheeledVehicle::SetWheelCollisionNW(UChaosWheeledVehicleMovementCompo
void ACarlaWheeledVehicle::BeginPlay()
{
Super::BeginPlay();
#if 0 // @CARLAUE5
UDefaultMovementComponent::CreateDefaultMovementComponent(this);
@ -922,3 +921,4 @@ void ACarlaWheeledVehicle::SetPhysicsConstraintAngle(
{
Component->ConstraintInstance.AngularRotationOffset = NewAngle;
}