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Improvements to manual control

This commit is contained in:
nsubiron 2018-10-22 00:30:35 +02:00
parent c478eb039e
commit 4b11973627
1 changed files with 42 additions and 11 deletions
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53
PythonAPI/manual_control.py
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@ -25,6 +25,7 @@ Use ARROWS or WASD keys for control.
` : next camera sensor
[1-9] : change to camera sensor [1-9]
C : change weather (Shift+C reverse)
Backspace : change vehicle
R : toggle recording images to disk
@ -75,6 +76,7 @@ try:
from pygame.locals import K_0
from pygame.locals import K_9
from pygame.locals import K_BACKQUOTE
from pygame.locals import K_BACKSPACE
from pygame.locals import K_DOWN
from pygame.locals import K_ESCAPE
from pygame.locals import K_LEFT
@ -118,15 +120,34 @@ def find_weather_presets():
class World(object):
def __init__(self, carla_world, hud):
self.world = carla_world
self.hud = hud
blueprint = random.choice(carla_world.get_blueprint_library().filter('vehicle'))
self.vehicle = carla_world.spawn_actor(blueprint, START_POSITION)
blueprint = self._get_random_blueprint()
self.vehicle = self.world.spawn_actor(blueprint, START_POSITION)
self.collision_sensor = CollisionSensor(self.vehicle, self.hud)
self.camera_manager = CameraManager(self.vehicle, self.hud)
self.camera_manager.set_sensor(0, notify=False)
self.controller = None
self._weather_presets = find_weather_presets()
self._weather_index = 0
def restart(self):
cam_index = self.camera_manager._index
cam_pos_index = self.camera_manager._transform_index
start_pose = self.vehicle.get_transform()
start_pose.location.z += 2.0
start_pose.rotation.roll = 0.0
start_pose.rotation.pitch = 0.0
blueprint = self._get_random_blueprint()
self.destroy()
self.vehicle = self.world.spawn_actor(blueprint, start_pose)
self.collision_sensor = CollisionSensor(self.vehicle, self.hud)
self.camera_manager = CameraManager(self.vehicle, self.hud)
self.camera_manager._transform_index = cam_pos_index
self.camera_manager.set_sensor(cam_index, notify=False)
actor_type = ' '.join(self.vehicle.type_id.replace('_', '.').title().split('.')[1:])
self.hud.notification(actor_type)
def next_weather(self, reverse=False):
self._weather_index += -1 if reverse else 1
self._weather_index %= len(self._weather_presets)
@ -146,6 +167,13 @@ class World(object):
if actor is not None:
actor.destroy()
def _get_random_blueprint(self):
bp = random.choice(self.world.get_blueprint_library().filter('vehicle'))
if bp.contains_attribute('color'):
color = random.choice(bp.get_attribute('color').recommended_values)
bp.set_attribute('color', color)
return bp
# ==============================================================================
# -- KeyboardControl -----------------------------------------------------------
@ -167,6 +195,8 @@ class KeyboardControl(object):
elif event.type == pygame.KEYUP:
if self._is_quit_shortcut(event.key):
return True
elif event.key == K_BACKSPACE:
world.restart()
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:
@ -281,15 +311,16 @@ class FadingText(object):
class HelpText(object):
def __init__(self, font, width, height):
lines = __doc__.split('\n')
self.font = font
self.dim = (680, 480)
self.dim = (680, len(lines) * 22 + 12)
self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
self.seconds_left = 0
self.surface = pygame.Surface(self.dim)
self.surface.fill((0, 0, 0, 0))
for n, line in enumerate(__doc__.split('\n')):
for n, line in enumerate(lines):
text_texture = self.font.render(line, True, (255, 255, 255))
self.surface.blit(text_texture, (22, n * 21))
self.surface.blit(text_texture, (22, n * 22))
self._render = False
self.surface.set_alpha(220)
@ -324,8 +355,8 @@ class CollisionSensor(object):
self = weak_self()
if not self:
return
actor_type = ' '.join(event.other_actor.type_id.title().split('.')[1:])
self._hud.notification('Collision with %s' % actor_type)
actor_type = ' '.join(event.other_actor.type_id.replace('_', '.').title().split('.')[1:])
self._hud.notification('Collision with %r' % actor_type)
# ==============================================================================
@ -343,7 +374,7 @@ class CameraManager(object):
self._camera_transforms = [
carla.Transform(carla.Location(x=1.6, z=1.7)),
carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15))]
self._transform_index = 0
self._transform_index = 1
self._sensors = [
['sensor.camera.rgb', cc.None, 'Camera RGB'],
['sensor.camera.depth', cc.None, 'Camera Depth (Raw)'],
@ -360,13 +391,12 @@ class CameraManager(object):
item.append(bp)
self._index = None
self._server_clock = pygame.time.Clock()
self.set_sensor(0)
def toggle_camera(self):
self._transform_index = (self._transform_index + 1) % len(self._camera_transforms)
self.sensor.set_transform(self._camera_transforms[self._transform_index])
def set_sensor(self, index):
def set_sensor(self, index, notify=True):
index = index % len(self._sensors)
needs_respawn = True if self._index is None \
else self._sensors[index][0] != self._sensors[self._index][0]
@ -382,7 +412,8 @@ class CameraManager(object):
# circular reference.
weak_self = weakref.ref(self)
self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image))
self._hud.notification(self._sensors[index][2])
if notify:
self._hud.notification(self._sensors[index][2])
self._index = index
def next_sensor(self):