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Some changes in the python client

This commit is contained in:
nsubiron 2017-08-30 12:55:25 +02:00
parent 8a2680428e
commit cb8e45882c
1 changed files with 34 additions and 10 deletions
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44
Util/PythonClient/carla_client.py
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@ -8,6 +8,7 @@
import argparse
import logging
import random
import time
from tcp_client import TCPClient
@ -17,12 +18,34 @@ import carla_server_pb2 as carla_protocol
CarlaSettings = """
[CARLA/Server]
SynchronousMode=true
UseNetworking=true
WorldPort=2000
ServerTimeOut=10000
SynchronousMode=false
SendNonPlayerAgentsInfo=true
[CARLA/LevelSettings]
NumberOfVehicles=10
NumberOfPedestrians=20
WeatherId=3
PlayerVehicle=
NumberOfVehicles=20
NumberOfPedestrians=30
WeatherId=1
SeedVehicles=123456789
SeedPedestrians=123456789
[CARLA/SceneCapture]
Cameras=MyCamera
[CARLA/SceneCapture/MyCamera]
PostProcessing=SceneFinal
ImageSizeX=800
ImageSizeY=600
CameraFOV=90
CameraPositionX=15
CameraPositionY=0
CameraPositionZ=123
CameraRotationPitch=8
CameraRotationRoll=0
CameraRotationYaw=0
"""
class CarlaClient(object):
@ -150,12 +173,13 @@ def test_carla_client():
logging.info('waiting for the scene description')
data = client.read_scene_description()
logging.info('received %d player start locations', len(data.player_start_spots))
number_of_start_spots = len(data.player_start_spots)
logging.info('received %d player start locations', number_of_start_spots)
for spot in data.player_start_spots:
logging.info(spot)
logging.info('sending episode start')
client.write_episode_start(2)
client.write_episode_start(random.randint(0, max(0, number_of_start_spots - 1)))
logging.info('waiting for episode to be ready')
data = client.read_episode_ready()
@ -167,7 +191,7 @@ def test_carla_client():
logging.info('connecting secondary clients')
client.connect_secondary_clients()
for x in xrange(0, 100):
for x in xrange(0, 1000):
logging.info('waiting for measurements')
data = client.read_measurements()
if not data:
@ -177,8 +201,8 @@ def test_carla_client():
else:
logging.info('received valid measurements')
logging.info('received info of %d agents', len(data.non_player_agents))
for agent in data.non_player_agents:
logging.info(agent)
# for agent in data.non_player_agents:
# logging.info(agent)
logging.info('waiting for images')
data = client.read_images()
logging.info('received %d bytes of images', len(data) if data is not None else 0)
@ -188,7 +212,7 @@ def test_carla_client():
# time.sleep(2)
logging.info('sending control')
client.write_control(steer=-2.3, throttle=1.0, reverse=True)
client.write_control(steer=random.uniform(-1.0, 1.0), throttle=0.5, reverse=False)
if os.path.isfile(args.ini_file):
logging.info('sending file %s', args.ini_file)