Refactoring code
This commit is contained in:
manishthani
parent
c20e037b98
commit
d7f74c7d95
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@ -37,6 +37,7 @@ import carla
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import argparse
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import logging
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import weakref
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try:
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import pygame
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@ -49,19 +50,16 @@ except ImportError:
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raise RuntimeError('cannot import pygame, make sure pygame package is installed')
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# ==============================================================================
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# -- ModuleManager -------------------------------------------------------------
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# -- ModuleDefines -------------------------------------------------------------
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# ==============================================================================
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MODULE_WORLD = 'World'
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MODULE_HUD = 'Hud'
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MODULE_INPUT = 'Input'
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class Module(object):
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def __init__(self, name):
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self.module_name = name
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def tick(self, clock):
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raise NotImplementedError("Please implement this method")
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def render(self, display):
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raise NotImplementedError("Please implement this method")
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# ==============================================================================
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# -- ModuleManager -------------------------------------------------------------
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# ==============================================================================
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class ModuleManager(object):
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@ -71,6 +69,9 @@ class ModuleManager(object):
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def register_module(self, module):
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self.modules.append(module)
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def clear_modules(self):
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del self.modules[:]
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def tick(self, clock):
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# Update all the modules
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for module in self.modules:
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@ -81,18 +82,22 @@ class ModuleManager(object):
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for module in self.modules:
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module.render(display)
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def get_module(self, name):
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for module in self.modules:
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if module.name == name:
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return module
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# ==============================================================================
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# -- HUD -----------------------------------------------------------------------
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# ==============================================================================
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class HUD (Module):
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class HUDModule (object):
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def __init__(self, name, width, height, on_world_tick):
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Module.__init__(self, name)
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def __init__(self, name, width, height):
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self.name = name
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self._init_data_params(width, height)
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self._init_hud_params()
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on_world_tick(self.on_world_tick)
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def _init_hud_params(self):
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font = pygame.font.Font(pygame.font.get_default_font(), 20)
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@ -164,22 +169,32 @@ class HUD (Module):
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# ==============================================================================
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class World(Module):
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class WorldModule(object):
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def __init__(self, name, host, port, timeout):
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Module.__init__(self, name)
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self.name = name
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try:
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client = carla.Client(host, port)
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client.set_timeout(timeout)
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self.world = client.get_world()
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weak_self = weakref.ref(self)
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self.world.on_tick(lambda timestamp: WorldModule.on_world_tick(weak_self, timestamp))
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except Exception as ex:
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logging.error('Failed connecting to CARLA server')
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exit_game()
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def tick(self, clock):
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pass
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# self.hud.tick(clock)
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@staticmethod
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def on_world_tick(weak_self, timestamp):
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self = weak_self()
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if not self:
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return
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hud_module = module_manager.get_module(MODULE_HUD)
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hud_module.on_world_tick(timestamp)
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def render(self, display):
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actors = self.world.get_actors()
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@ -192,20 +207,24 @@ class World(Module):
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for vehicle in vehicles:
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vehicle_location = vehicle.get_location()
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pygame.draw.circle(display, (255, 0, 0), (int(500 + vehicle_location.x),
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500 + int(vehicle_location.y)), radius, width)
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pygame.draw.circle(display, (255, 0, 0), (int(vehicle_location.x),
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int(vehicle_location.y)), radius, width)
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for traffic in traffic_lights:
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traffic_location = traffic.get_location()
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pygame.draw.circle(display, (0, 255, 0), (int(traffic_location.x),
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int(traffic_location.y)), radius, width)
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# ==============================================================================
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# -- KeyboardInput -----------------------------------------------------------
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# -- Input -----------------------------------------------------------
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# ==============================================================================
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class Input(Module):
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class InputModule(object):
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def __init__(self, name):
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self.name = name
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def render(self, display):
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pass
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@ -215,8 +234,7 @@ class Input(Module):
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def _parse_events(self):
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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pygame.quit()
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sys.exit()
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exit_game()
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elif event.type == pygame.KEYUP:
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# Quick actions
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if event.key == K_ESCAPE:
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@ -232,10 +250,13 @@ class Input(Module):
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self._parse_keys()
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# ==============================================================================
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# -- game_loop() ---------------------------------------------------------------
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# -- Game Loop ---------------------------------------------------------------
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# ==============================================================================
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module_manager = ModuleManager()
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def game_loop(args):
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# Init Pygame
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pygame.init()
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@ -245,11 +266,9 @@ def game_loop(args):
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pygame.display.set_caption(args.description)
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# Init modules
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module_manager = ModuleManager()
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input_module = Input("Input")
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world_module = World("World", args.host, args.port, 2.0)
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hud_module = HUD("HUD", args.width, args.height, world_module.world.on_tick)
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input_module = InputModule(MODULE_INPUT)
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world_module = WorldModule(MODULE_WORLD, args.host, args.port, 2.0)
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hud_module = HUDModule(MODULE_HUD, args.width, args.height)
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# Register Modules
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module_manager.register_module(input_module)
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@ -267,11 +286,12 @@ def game_loop(args):
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def exit_game():
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module_manager.clear_modules()
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pygame.quit()
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sys.exit()
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# ==============================================================================
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# -- main() --------------------------------------------------------------------
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# -- Main --------------------------------------------------------------------
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# ==============================================================================
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@ -312,7 +332,6 @@ def main():
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logging.info('listening to server %s:%s', args.host, args.port)
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print(__doc__)
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# Call game_loop
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try:
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game_loop(args)
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except KeyboardInterrupt:
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