Fixed the initial state of weather.py
This commit is contained in:
Marc Garcia Puig
bernat
parent
a52e97f3c3
commit
f57aaef687
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@ -1,8 +1,13 @@
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#!/usr/bin/env python
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"""
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Script to control weather parameters in simulations
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"""
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import glob
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import os
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import sys
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import argparse
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try:
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sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
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@ -14,12 +19,66 @@ except IndexError:
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import carla
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import argparse
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SUN_PRESETS = {
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'day': (90.0, 220.0),
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'night': (-90.0, 220.0),
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'sunset': (181.0, 100.0)}
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WEATHER_PRESETS = {
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'clear': [10.0, 0.0, 0.0, 5.0, 0.0, 50.0, 0.0],
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'overcast': [80.0, 0.0, 0.0, 50.0, 0.0, 50.0, 10.0],
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'rain': [100.0, 80.0, 90.0, 100.0, 20.0, 50.0, 100.0]}
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def apply_sun_presets(args, weather):
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"""Uses sun presets to set the sun position"""
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if args.sun is not None:
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if args.sun in SUN_PRESETS:
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weather.sun_altitude_angle = SUN_PRESETS[args.sun][0]
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weather.sun_azimuth_angle = SUN_PRESETS[args.sun][1]
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else:
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print("[ERROR]: Command [--sun | -s] '" + args.sun + "' not known")
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sys.exit(1)
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def apply_weather_presets(args, weather):
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"""Uses weather presets to set the weather parameters"""
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if args.weather is not None:
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if args.weather in WEATHER_PRESETS:
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weather.cloudiness = WEATHER_PRESETS[args.weather][0]
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weather.precipitation = WEATHER_PRESETS[args.weather][1]
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weather.precipitation_deposits = WEATHER_PRESETS[args.weather][2]
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weather.wind_intensity = WEATHER_PRESETS[args.weather][3]
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else:
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print("[ERROR]: Command [--weather | -w] '" + args.weather + "' not known")
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sys.exit(1)
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def apply_weather_values(args, weather):
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"""Set weather values individually"""
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if args.azimuth is not None:
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weather.sun_azimuth_angle = args.azimuth
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if args.altitude is not None:
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weather.sun_altitude_angle = args.altitude
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if args.clouds is not None:
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weather.cloudiness = args.clouds
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if args.rain is not None:
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weather.precipitation = args.rain
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if args.puddles is not None:
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weather.precipitation_deposits = args.puddles
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if args.wind is not None:
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weather.wind_intensity = args.wind
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if args.fog is not None:
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weather.fog_density = args.fog
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if args.fogdist is not None:
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weather.fog_distance = args.fogdist
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if args.wetness is not None:
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weather.wetness = args.wetness
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def main():
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argparser = argparse.ArgumentParser(
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description="CARLA weather example")
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description=__doc__)
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argparser.add_argument(
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'--host',
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metavar='H',
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@ -35,12 +94,12 @@ def main():
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'--sun',
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default=None,
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type=str,
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help='Sun position presets [day | night | sunset]')
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help='Sun position presets [' + ' | '.join([i for i in SUN_PRESETS]) + ']')
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argparser.add_argument(
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'--weather',
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default=None,
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type=str,
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help='Weather condition presets [clear | overcast | rain]')
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help='Weather condition presets [' + ' | '.join([i for i in WEATHER_PRESETS]) + ']')
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argparser.add_argument(
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'--altitude', '-alt',
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metavar='A',
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@ -97,7 +156,11 @@ def main():
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help='Wetness')
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args = argparser.parse_args()
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if not (args.sun or args.weather or args.altitude or args.azimuth or args.clouds or args.rain or args.puddles or args.wind or args.fog or args.fogdist or args.wetness):
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# since all the arguments are None by default
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# (except for the first 2, host and port)
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# we can check if all the arguments have been provided
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arg_values = [v for _, v in args.__dict__.items()][2:]
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if all(i is (None and False) for i in arg_values):
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argparser.error('No arguments provided.')
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client = carla.Client(args.host, args.port)
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@ -106,78 +169,14 @@ def main():
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weather = world.get_weather()
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#### PRESETS ###
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if args.sun is not None:
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## Sun Position ##
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if args.sun == 'day':
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weather.sun_altitude_angle = 90
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weather.sun_azimuth_angle = 220.0
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# apply presets
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apply_sun_presets(args, weather)
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apply_weather_presets(args, weather)
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elif args.sun == 'night':
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weather.sun_altitude_angle = -90
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weather.sun_azimuth_angle = 220.0
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# apply weather values individually
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apply_weather_values(args, weather)
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elif args.sun == 'sunset':
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weather.sun_altitude_angle = 181
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weather.sun_azimuth_angle = 100
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else:
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print("[ERROR]: Command [--sun | -s] '" + args.sun + "' not known")
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sys.exit(1)
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## Weather ##
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if args.weather is not None:
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if args.weather == 'clear':
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weather.cloudiness = 10.0
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weather.precipitation = 0.0
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weather.precipitation_deposits = 0.0
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weather.wind_intensity = 5.0
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elif args.weather == 'overcast':
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weather.cloudiness = 80.0
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weather.precipitation = 0.0
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weather.precipitation_deposits = 0.0
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weather.wind_intensity = 50.0
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elif args.weather == 'rain':
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weather.cloudiness = 100.0
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weather.precipitation = 80.0
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weather.precipitation_deposits = 90.0
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weather.wind_intensity = 100.0
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weather.fog_density = 20.0
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weather.fog_distance = 50.0
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weather.wetness = 100.0
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else:
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print("[ERROR]: Command [--weather | -w] '" + args.weather + "' not known")
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sys.exit(1)
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if args.azimuth is not None:
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weather.sun_azimuth_angle = args.azimuth
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if args.altitude is not None:
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weather.sun_altitude_angle = args.altitude
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if args.clouds is not None:
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weather.cloudiness = args.clouds
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if args.rain is not None:
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weather.precipitation = args.rain
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if args.puddles is not None:
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weather.precipitation_deposits = args.puddles
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if args.wind is not None:
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weather.wind_intensity = args.wind
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if args.fog is not None:
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weather.fog_density = args.fog
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if args.fogdist is not None:
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weather.fog_distance = args.fogdist
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if args.wetness is not None:
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weather.wetness = args.wetness
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world.set_weather(weather)
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if __name__ == '__main__':
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