Adapted code to test server without rendering option, working on scaling
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Manish
parent
2b2b97d7ad
commit
e5fde35cbd
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@ -558,7 +558,7 @@ class ModuleWorld(object):
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self.host = host
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self.port = port
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self.timeout = timeout
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self.server_fps = 0
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self.server_fps = 0.0
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self.server_clock = pygame.time.Clock()
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def _get_data_from_carla(self, host, port, timeout):
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@ -606,23 +606,9 @@ class ModuleWorld(object):
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return (x_min, y_min, x_max, y_max)
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def start(self):
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self.world, self.town_map, self.actors = self._get_data_from_carla(self.host, self.port, self.timeout)
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# Store necessary modules
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self.hud_module = module_manager.get_module(MODULE_HUD)
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self.module_input = module_manager.get_module(MODULE_INPUT)
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self.surface_size = min(self.hud_module.dim[0], self.hud_module.dim[1])
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self._create_world_surfaces()
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# Generate waypoints
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waypoint_length = 1.5
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map_waypoints = self.town_map.generate_waypoints(waypoint_length)
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def prepare_waypoints_data(self):
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# compute bounding boxes
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self.x_min, self.y_min, self.x_max, self.y_max = self._compute_map_bounding_box(map_waypoints)
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self.x_min, self.y_min, self.x_max, self.y_max = self._compute_map_bounding_box(self.map_waypoints)
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# Feed map bounding box and surface size to transform helper
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self.transform_helper = TransformHelper(
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@ -631,7 +617,7 @@ class ModuleWorld(object):
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# Retrieve data from waypoints orientation, width and length and do conversions into another list
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self.normalized_point_list = []
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self.intersection_waypoints = []
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for waypoint in map_waypoints:
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for waypoint in self.map_waypoints:
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# Width of road
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screen_width = self.transform_helper.convert_world_to_screen_size(
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@ -644,7 +630,7 @@ class ModuleWorld(object):
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direction[0] * math.sin(yaw) + direction[1] * math.cos(yaw))
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wp_0 = (waypoint.transform.location.x, waypoint.transform.location.y)
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wp_1 = (wp_0[0] + wf[0] * waypoint_length, wp_0[1] + wf[1] * waypoint_length)
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wp_1 = (wp_0[0] + wf[0] * self.waypoint_length, wp_0[1] + wf[1] * self.waypoint_length)
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# Convert waypoints to screen space
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wp_0_screen = self.transform_helper.convert_world_to_screen_point(wp_0)
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@ -659,6 +645,23 @@ class ModuleWorld(object):
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self.normalized_point_list.append(
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((wp_0_screen, wp_1_screen), COLOR_DARK_GREY, screen_width, (wp_0, wp_1), waypoint.lane_width))
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def start(self):
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self.world, self.town_map, self.actors = self._get_data_from_carla(self.host, self.port, self.timeout)
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# Store necessary modules
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self.hud_module = module_manager.get_module(MODULE_HUD)
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self.module_input = module_manager.get_module(MODULE_INPUT)
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self.surface_size = min(self.hud_module.dim[0], self.hud_module.dim[1])
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self._create_world_surfaces()
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# Generate waypoints
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self.waypoint_length = 1.5
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self.map_waypoints = self.town_map.generate_waypoints(self.waypoint_length)
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self.prepare_waypoints_data()
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# Module render
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self.render_module = module_manager.get_module(MODULE_RENDER)
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self.map_rendered = False
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@ -697,6 +700,7 @@ class ModuleWorld(object):
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else:
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hero_mode_text = ['Hero Mode: OFF']
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self.server_fps = max(min(self.server_fps, 10000.0), 0.0)
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module_info_text = [
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'Server: % 16d FPS' % self.server_fps,
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'Client: % 16d FPS' % clock.get_fps()
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@ -713,7 +717,7 @@ class ModuleWorld(object):
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return
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self.server_clock.tick()
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self.server_fps = self.server_clock.get_fps()
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self.server_fps = 1 / (timestamp.delta_seconds)
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self.world = self.client.get_world()
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self.actors = self.world.get_actors()
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@ -789,6 +793,8 @@ class ModuleWorld(object):
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if not self.map_rendered:
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self.render_map(display)
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self.previous_scale_factor = (int(self.surface_size * self.module_input.wheel_offset[0]),
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int(self.surface_size * self.module_input.wheel_offset[1]))
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self.map_rendered = True
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self.vehicles_surface.fill(COLOR_BLACK)
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@ -817,10 +823,15 @@ class ModuleWorld(object):
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RenderShape.render_walkers(self.render_module, self.walkers_surface, walkers,
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COLOR_WHITE, 3, self.transform_helper)
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# Scale surfaces
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# scale_factor = (int(self.surface_size * module_input.wheel_offset[0]),
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# int(self.surface_size * module_input.wheel_offset[1]))
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# self.map_surface = pygame.transform.smoothscale(self.map_surface, scale_factor)
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# if self.previous_scale_factor != self.scale_factor:
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# self.map_surface.fill(COLOR_BLACK)
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# self.transform_helper.map_size = self.scale_factor[0]
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# self.render_map(display)
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# self.vehicles_surface = pygame.transform.smoothscale(self.vehicles_surface, scale_factor)
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# self.traffic_light_surface = pygame.transform.smoothscale(self.traffic_light_surface, scale_factor)
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# self.speed_limits_surface = pygame.transform.smoothscale(self.speed_limits_surface, scale_factor)
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@ -835,12 +846,29 @@ class ModuleWorld(object):
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translation_offset = (-hero_location_screen[0] + display.get_width() / 2,
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(- hero_location_screen[1] + display.get_height() / 2))
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# Scale surfaces
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self.scale_factor = (int(self.surface_size * self.module_input.wheel_offset[0]),
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int(self.surface_size * self.module_input.wheel_offset[1]))
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final_map_surface = self.map_surface
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final_vehicles_surface = self.vehicles_surface
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final_traffic_light_surface = self.traffic_light_surface
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final_speed_limits_surface = self.speed_limits_surface
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final_walkers_surface = self.walkers_surface
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# if self.scale_factor != self.previous_scale_factor:
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# final_map_surface = pygame.transform.smoothscale(self.map_surface, self.scale_factor)
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# final_vehicles_surface = pygame.transform.smoothscale(self.vehicles_surface, self.scale_factor)
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# final_traffic_light_surface = pygame.transform.smoothscale(self.traffic_light_surface, self.scale_factor)
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# final_speed_limits_surface = pygame.transform.smoothscale(self.speed_limits_surface, self.scale_factor)
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# final_walkers_surface = pygame.transform.smoothscale(self.walkers_surface, self.scale_factor)
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# Blit surfaces
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display.blit(self.map_surface, translation_offset)
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display.blit(self.vehicles_surface, translation_offset)
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display.blit(self.traffic_light_surface, translation_offset)
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display.blit(self.speed_limits_surface, translation_offset)
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display.blit(self.walkers_surface, translation_offset)
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display.blit(final_map_surface, translation_offset)
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display.blit(final_vehicles_surface, translation_offset)
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display.blit(final_traffic_light_surface, translation_offset)
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display.blit(final_speed_limits_surface, translation_offset)
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display.blit(final_walkers_surface, translation_offset)
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actor_id_surface = self.hud_module.renderActorId(display, vehicles, self.transform_helper, translation_offset)
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if self.hero_actor is not None:
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@ -855,6 +883,8 @@ class ModuleWorld(object):
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del speed_limits[:]
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del walkers[:]
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self.previous_scale_factor = self.scale_factor
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# ==============================================================================
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# -- Input -----------------------------------------------------------
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# ==============================================================================
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