Small fixes to manual_control.py

PythonAPI/manual_control.py

@@ -268,8 +268,10 @@ class HUD(object):
     def __init__(self, width, height):
         self.dim = (width, height)
         font = pygame.font.Font(pygame.font.get_default_font(), 20)
-        mono = next(x for x in pygame.font.get_fonts() if 'mono' in x) # hope for the best...
+        fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
-        mono = pygame.font.match_font(mono, bold=True)
+        default_font = 'ubuntumono'
+        mono = default_font if default_font in fonts else fonts[0]
+        mono = pygame.font.match_font(mono)
         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)
@@ -300,31 +302,33 @@ class HUD(object):
         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.*')
+        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,
+            '',
+            'Number of vehicles: % 8d' % len(vehicles)
+        ]
         if len(vehicles) > 1:
-            self._info_text += ['', 'nearby vehicles:']
+            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):
@@ -474,7 +478,7 @@ class CollisionSensor(object):
         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:
+        if len(self._history) > 4000:
             self._history.pop(0)
 
 
@@ -502,7 +506,7 @@ class LaneInvasionSensor(object):
         if not self:
             return
         text = ['%r' % str(x).split()[-1] for x in set(event.crossed_lane_markings)]
-        self._hud.notification('Crossed lane %s' % ' and '.join(text))
+        self._hud.notification('Crossed line %s' % ' and '.join(text))
 
 
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