Use batch commands to create and remove actors from recorder

PythonAPI/examples/start_recording.py

@@ -23,6 +23,7 @@ import carla
 import argparse
 import random
 import time
+import logging
 
 
 def main():
@@ -69,6 +70,7 @@ def main():
     args = argparser.parse_args()
 
     actor_list = []
+    logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
 
     try:
 
@@ -77,24 +79,6 @@ def main():
         world = client.get_world()
         blueprints = world.get_blueprint_library().filter('vehicle.*')
 
-        if args.safe:
-            blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]
-            blueprints = [x for x in blueprints if not x.id.endswith('isetta')]
-
-        def try_spawn_random_vehicle_at(transform):
-            blueprint = random.choice(blueprints)
-            if blueprint.has_attribute('color'):
-                color = random.choice(blueprint.get_attribute('color').recommended_values)
-                blueprint.set_attribute('color', color)
-            blueprint.set_attribute('role_name', 'autopilot')
-            vehicle = world.try_spawn_actor(blueprint, transform)
-            if vehicle is not None:
-                actor_list.append(vehicle)
-                vehicle.set_autopilot()
-                print('spawned %r at %s' % (vehicle.type_id, transform.location))
-                return True
-            return False
-
         # @todo Needs to be converted to list to be shuffled.
         spawn_points = list(world.get_map().get_spawn_points())
         random.shuffle(spawn_points)
@@ -103,32 +87,58 @@ def main():
 
         count = args.number_of_vehicles
 
-        print("Recording on file:", client.start_recorder(args.recorder_filename))
+        print("Recording on file: %s" % client.start_recorder(args.recorder_filename))
 
-        for spawn_point in spawn_points:
-            if try_spawn_random_vehicle_at(spawn_point):
-                count -= 1
-            if count <= 0:
+        if args.safe:
+            blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]
+            blueprints = [x for x in blueprints if not x.id.endswith('isetta')]
+            blueprints = [x for x in blueprints if not x.id.endswith('carlacola')]
+
+        spawn_points = world.get_map().get_spawn_points()
+        number_of_spawn_points = len(spawn_points)
+
+        if args.number_of_vehicles < number_of_spawn_points:
+            random.shuffle(spawn_points)
+        elif args.number_of_vehicles > number_of_spawn_points:
+            msg = 'requested %d vehicles, but could only find %d spawn points'
+            logging.warning(msg, args.number_of_vehicles, number_of_spawn_points)
+            args.number_of_vehicles = number_of_spawn_points
+
+        # @todo cannot import these directly.
+        SpawnActor = carla.command.SpawnActor
+        SetAutopilot = carla.command.SetAutopilot
+        FutureActor = carla.command.FutureActor
+
+        batch = []
+        for n, transform in enumerate(spawn_points):
+            if n >= args.number_of_vehicles:
                 break
+            blueprint = random.choice(blueprints)
+            if blueprint.has_attribute('color'):
+                color = random.choice(blueprint.get_attribute('color').recommended_values)
+                blueprint.set_attribute('color', color)
+            blueprint.set_attribute('role_name', 'autopilot')
+            batch.append(SpawnActor(blueprint, transform).then(SetAutopilot(FutureActor, True)))
 
-        while count > 0:
-            time.sleep(args.delay)
-            if try_spawn_random_vehicle_at(random.choice(spawn_points)):
-                count -= 1
+        for response in client.apply_batch_sync(batch):
+            if response.error:
+                logging.error(response.error)
+            else:
+                actor_list.append(response.actor_id)
 
-        print('spawned %d vehicles, press Ctrl+C to exit.' % args.number_of_vehicles)
+        print('spawned %d vehicles, press Ctrl+C to exit.' % len(actor_list))
 
         if (args.recorder_time > 0):
             time.sleep(args.recorder_time)
         else:
             while True:
-                time.sleep(0.1)
+                world.wait_for_tick()
+                # time.sleep(0.1)
 
     finally:
 
         print('\ndestroying %d actors' % len(actor_list))
-        for actor in actor_list:
-            actor.destroy()
+        client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
 
         print("Stop recording")
         client.stop_recorder()