Add synchronous mode example script

PythonAPI/synchronous_mode.py

@@ -0,0 +1,164 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+# Barcelona (UAB).
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+import glob
+import os
+import sys
+
+try:
+    sys.path.append(glob.glob('**/*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
+import carla
+
+import logging
+import random
+
+try:
+    import pygame
+except ImportError:
+    raise RuntimeError('cannot import pygame, make sure pygame package is installed')
+
+try:
+    import numpy as np
+except ImportError:
+    raise RuntimeError('cannot import numpy, make sure numpy package is installed')
+
+try:
+    import queue
+except ImportError:
+    import Queue as queue
+
+
+def draw_image(surface, image):
+    array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
+    array = np.reshape(array, (image.height, image.width, 4))
+    array = array[:, :, :3]
+    array = array[:, :, ::-1]
+    image_surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
+    surface.blit(image_surface, (0, 0))
+
+
+def get_font():
+    fonts = [x for x in pygame.font.get_fonts()]
+    default_font = 'ubuntumono'
+    font = default_font if default_font in fonts else fonts[0]
+    font = pygame.font.match_font(font)
+    return pygame.font.Font(font, 14)
+
+
+def should_quit():
+    for event in pygame.event.get():
+        if event.type == pygame.QUIT:
+            return True
+        elif event.type == pygame.KEYUP:
+            if event.key == pygame.K_ESCAPE:
+                return True
+    return False
+
+
+def main():
+    actor_list = []
+    pygame.init()
+
+    client = carla.Client('localhost', 2000)
+    client.set_timeout(2.0)
+
+    world = client.get_world()
+
+    print('enabling synchronous mode.')
+    settings = world.get_settings()
+    settings.synchronous_mode = True
+    world.apply_settings(settings)
+
+    try:
+        m = world.get_map()
+        start_pose = random.choice(m.get_spawn_points())
+        waypoint = m.get_waypoint(start_pose.location)
+
+        blueprint_library = world.get_blueprint_library()
+
+        vehicle = world.spawn_actor(
+            random.choice(blueprint_library.filter('vehicle.*')),
+            start_pose)
+        actor_list.append(vehicle)
+        vehicle.set_simulate_physics(False)
+
+        camera = world.spawn_actor(
+            blueprint_library.find('sensor.camera.rgb'),
+            carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
+            attach_to=vehicle)
+        actor_list.append(camera)
+
+        # Make sync queue for sensor data.
+        image_queue = queue.Queue()
+        camera.listen(image_queue.put)
+
+        frame = None
+
+        display = pygame.display.set_mode(
+            (800, 600),
+            pygame.HWSURFACE | pygame.DOUBLEBUF)
+        font = get_font()
+
+        clock = pygame.time.Clock()
+
+        while True:
+            if should_quit():
+                return
+
+            clock.tick()
+            world.tick()
+            ts = world.wait_for_tick()
+
+            if frame is not None:
+                if ts.frame_count != frame + 1:
+                    logging.warning('frame skip!')
+
+            frame = ts.frame_count
+
+            while True:
+                image = image_queue.get()
+                if image.frame_number == ts.frame_count:
+                    break
+                logging.warning(
+                    'wrong image time-stampstamp: frame=%d, image.frame=%d',
+                    ts.frame_count,
+                    image.frame_number)
+
+            waypoint = random.choice(waypoint.next(2))
+            vehicle.set_transform(waypoint.transform)
+
+            draw_image(display, image)
+
+            text_surface = font.render('% 5d FPS' % clock.get_fps(), True, (255, 255, 255))
+            display.blit(text_surface, (8, 10))
+
+            pygame.display.flip()
+
+    finally:
+        print('\ndisabling synchronous mode.')
+        settings = world.get_settings()
+        settings.synchronous_mode = False
+        world.apply_settings(settings)
+
+        print('destroying actors.')
+        for actor in actor_list:
+            actor.destroy()
+
+        pygame.quit()
+        print('done.')
+
+
+if __name__ == '__main__':
+
+    main()

Util/BuildTools/Package.sh

@@ -107,6 +107,7 @@ if $DO_COPY_FILES ; then
   copy_if_changed "./PythonAPI/manual_control.py" "${DESTINATION}/manual_control.py"
   copy_if_changed "./PythonAPI/no_rendering_mode.py" "${DESTINATION}/no_rendering_mode.py"
   copy_if_changed "./PythonAPI/spawn_npc.py" "${DESTINATION}/spawn_npc.py"
+  copy_if_changed "./PythonAPI/synchronous_mode.py" "${DESTINATION}/synchronous_mode.py"
   copy_if_changed "./PythonAPI/tutorial.py" "${DESTINATION}/tutorial.py"
   copy_if_changed "./PythonAPI/vehicle_gallery.py" "${DESTINATION}/vehicle_gallery.py"
   copy_if_changed "./Util/ImportMaps.sh" "${DESTINATION}/ImportMaps.sh"