Added generation to manual_control and generate_traffic

PythonAPI/examples/generate_traffic.py

@@ -29,6 +29,25 @@ import argparse
 import logging
 from numpy import random
 
+def get_actor_blueprints(world, filter, generation):
+    bps = world.get_blueprint_library().filter(filter)
+
+    if generation == "All":
+        return bps
+
+    try:
+        int_generation = int(generation)
+        # Check if generation is in available generations
+        if int_generation in [1, 2]:
+            bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
+            return bps
+        else:
+            print("   Warning! Actor Generation is not valid. No actor will be spawned.")
+            return []
+    except:
+        print("   Warning! Actor Generation is not valid. No actor will be spawned.")
+        return []
+
 def main():
     argparser = argparse.ArgumentParser(
         description=__doc__)
@@ -64,11 +83,21 @@ def main():
         metavar='PATTERN',
         default='vehicle.*',
         help='Filter vehicle model (default: "vehicle.*")')
+    argparser.add_argument(
+        '--generationv',
+        metavar='G',
+        default='All',
+        help='restrict to certain vehicle generation (values: "1","2","All" - default: "2")')
     argparser.add_argument(
         '--filterw',
         metavar='PATTERN',
         default='walker.pedestrian.*',
         help='Filter pedestrian type (default: "walker.pedestrian.*")')
+    argparser.add_argument(
+        '--generationw',
+        metavar='G',
+        default='2',
+        help='restrict to certain pedestrian generation (values: "1","2","All" - default: "2")')
     argparser.add_argument(
         '--tm-port',
         metavar='P',
@@ -152,8 +181,8 @@ def main():
             settings.no_rendering_mode = True
         world.apply_settings(settings)
 
-        blueprints = world.get_blueprint_library().filter(args.filterv)
-        blueprintsWalkers = world.get_blueprint_library().filter(args.filterw)
+        blueprints = get_actor_blueprints(world, args.filterv, args.generationv)
+        blueprintsWalkers = get_actor_blueprints(world, args.filterw, args.generationw)
 
         if args.safe:
             blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]

PythonAPI/examples/manual_control.py

@@ -156,6 +156,26 @@ def get_actor_display_name(actor, truncate=250):
     name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
     return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
 
+def get_actor_blueprints(world, filter, generation):
+    bps = world.get_blueprint_library().filter(filter)
+
+    if generation == "All":
+        return bps
+
+    try:
+        int_generation = int(generation)
+        # Check if generation is in available generations
+        if int_generation in [1, 2]:
+            bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
+            return bps
+        else:
+            print("   Warning! Actor Generation is not valid. No actor will be spawned.")
+            return []
+    except:
+        print("   Warning! Actor Generation is not valid. No actor will be spawned.")
+        return []
+
+
 # ==============================================================================
 # -- World ---------------------------------------------------------------------
 # ==============================================================================
@@ -184,6 +204,7 @@ class World(object):
         self._weather_presets = find_weather_presets()
         self._weather_index = 0
         self._actor_filter = args.filter
+        self._actor_generation = args.generation
         self._gamma = args.gamma
         self.restart()
         self.world.on_tick(hud.on_world_tick)
@@ -213,7 +234,7 @@ class World(object):
         cam_index = self.camera_manager.index if self.camera_manager is not None else 0
         cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
         # Get a random blueprint.
-        blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
+        blueprint = random.choice(get_actor_blueprints(self.world, self._actor_filter, self._actor_generation))
         blueprint.set_attribute('role_name', self.actor_role_name)
         if blueprint.has_attribute('color'):
             color = random.choice(blueprint.get_attribute('color').recommended_values)
@@ -1235,6 +1256,11 @@ def main():
         metavar='PATTERN',
         default='vehicle.*',
         help='actor filter (default: "vehicle.*")')
+    argparser.add_argument(
+        '--generation',
+        metavar='G',
+        default='2',
+        help='restrict to certain actor generation (values: "1","2","All" - default: "2")')
     argparser.add_argument(
         '--rolename',
         metavar='NAME',