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Allow changing map from no-rendering mode

This commit is contained in:
nsubiron 2019-03-28 22:47:21 +01:00
parent 25e1c5a0db
commit 8c7189b533
1 changed files with 27 additions and 13 deletions
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40
PythonAPI/examples/no_rendering_mode.py
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@ -643,12 +643,12 @@ class MapImage(object):
class ModuleWorld(object):
def __init__(self, name, host, port, timeout, actor_filter, no_rendering=True):
def __init__(self, name, host, port, map_name, timeout, actor_filter, no_rendering=True):
self.client = None
self.name = name
self.host = host
self.port = port
self.map_name = map_name
self.timeout = timeout
self.actor_filter = actor_filter
self.no_rendering = no_rendering
@ -687,12 +687,16 @@ class ModuleWorld(object):
self.hero_surface = None
self.actors_surface = None
def _get_data_from_carla(self, host, port, timeout):
def _get_data_from_carla(self):
try:
self.client = carla.Client(host, port)
self.client.set_timeout(timeout)
self.client = carla.Client(self.host, self.port)
self.client.set_timeout(self.timeout)
if self.map_name is None:
world = self.client.get_world()
else:
world = self.client.load_world(self.map_name)
world = self.client.get_world()
town_map = world.get_map()
return (world, town_map)
@ -701,7 +705,7 @@ class ModuleWorld(object):
exit_game()
def start(self):
self.world, self.town_map = self._get_data_from_carla(self.host, self.port, self.timeout)
self.world, self.town_map = self._get_data_from_carla()
settings = self.world.get_settings()
settings.no_rendering_mode = self.no_rendering
@ -1242,7 +1246,14 @@ def game_loop(args):
# Init modules
input_module = ModuleInput(MODULE_INPUT)
hud_module = ModuleHUD(MODULE_HUD, args.width, args.height)
world_module = ModuleWorld(MODULE_WORLD, args.host, args.port, 2.0, args.filter, args.no_rendering)
world_module = ModuleWorld(
MODULE_WORLD,
args.host,
args.port,
args.map,
2.0,
args.filter,
args.no_rendering)
# Register Modules
module_manager.register_module(world_module)
@ -1284,8 +1295,7 @@ def main():
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)'
)
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
@ -1302,11 +1312,15 @@ def main():
metavar='PATTERN',
default='vehicle.*',
help='actor filter (default: "vehicle.*")')
argparser.add_argument(
'--map',
metavar='TOWN',
default=None,
help='start a new episode at the given TOWN')
argparser.add_argument(
'--no-rendering',
type=bool,
default=False,
help='Switch off server rendering?')
action='store_true',
help='switch off server rendering')
args = argparser.parse_args()
args.description = argparser.description