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Fix Python scripts

This commit is contained in:
nsubiron 2019-03-30 12:27:47 +01:00
parent 6d62bec3c3
commit f8edbb081f
4 changed files with 26 additions and 23 deletions
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3
PythonAPI/automatic_control.py
View File

@ -584,7 +584,8 @@ class LaneInvasionSensor(object):
self = weak_self() self = weak_self()
if not self: if not self:
return return
text = ['%r' % str(x).split()[-1] for x in set(event.crossed_lane_markings)] lane_types = set(x.type for x in event.crossed_lane_markings)
text = ['%r' % str(x).split()[-1] for x in lane_types]
self.hud.notification('Crossed line %s' % ' and '.join(text)) self.hud.notification('Crossed line %s' % ' and '.join(text))
# ============================================================================== # ==============================================================================

3
PythonAPI/manual_control.py
View File

@ -617,7 +617,8 @@ class LaneInvasionSensor(object):
self = weak_self() self = weak_self()
if not self: if not self:
return return
text = ['%r' % str(x).split()[-1] for x in set(event.crossed_lane_markings)] lane_types = set(x.type for x in event.crossed_lane_markings)
text = ['%r' % str(x).split()[-1] for x in lane_types]
self.hud.notification('Crossed line %s' % ' and '.join(text)) self.hud.notification('Crossed line %s' % ' and '.join(text))
# ============================================================================== # ==============================================================================

3
PythonAPI/manual_control_steeringwheel.py
View File

@ -629,7 +629,8 @@ class LaneInvasionSensor(object):
self = weak_self() self = weak_self()
if not self: if not self:
return return
text = ['%r' % str(x).split()[-1] for x in set(event.crossed_lane_markings)] lane_types = set(x.type for x in event.crossed_lane_markings)
text = ['%r' % str(x).split()[-1] for x in lane_types]
self.hud.notification('Crossed line %s' % ' and '.join(text)) self.hud.notification('Crossed line %s' % ' and '.join(text))
# ============================================================================== # ==============================================================================

40
PythonAPI/no_rendering_mode.py
View File

@ -441,22 +441,22 @@ class MapImage(object):
map_surface.fill(COLOR_ALUMINIUM_4) map_surface.fill(COLOR_ALUMINIUM_4)
precision = 0.05 precision = 0.05
def road_mark_color_to_tango(road_mark_color): def lane_marking_color_to_tango(lane_marking_color):
tango_color = COLOR_BLACK tango_color = COLOR_BLACK
if road_mark_color == carla.RoadMarkColor.White: if lane_marking_color == carla.LaneMarkingColor.White:
tango_color = COLOR_ALUMINIUM_2 tango_color = COLOR_ALUMINIUM_2
elif road_mark_color == carla.RoadMarkColor.Blue: elif lane_marking_color == carla.LaneMarkingColor.Blue:
tango_color = COLOR_SKY_BLUE_0 tango_color = COLOR_SKY_BLUE_0
elif road_mark_color == carla.RoadMarkColor.Green: elif lane_marking_color == carla.LaneMarkingColor.Green:
tango_color = COLOR_CHAMELEON_0 tango_color = COLOR_CHAMELEON_0
elif road_mark_color == carla.RoadMarkColor.Red: elif lane_marking_color == carla.LaneMarkingColor.Red:
tango_color = COLOR_SCARLET_RED_0 tango_color = COLOR_SCARLET_RED_0
elif road_mark_color == carla.RoadMarkColor.Yellow: elif lane_marking_color == carla.LaneMarkingColor.Yellow:
tango_color = COLOR_ORANGE_0 tango_color = COLOR_ORANGE_0
return tango_color return tango_color
@ -472,46 +472,46 @@ class MapImage(object):
def draw_lane_marking(surface, waypoints, is_left, sample): def draw_lane_marking(surface, waypoints, is_left, sample):
sign = 0.0 sign = 0.0
marking_type = carla.LaneMarking.NONE marking_type = carla.LaneMarkingType.NONE
marking_color = carla.RoadMarkColor.Other marking_color = carla.LaneMarkingColor.Other
road_mark = None lane_marking = None
if is_left: if is_left:
sign = -1 sign = -1
road_mark = sample.left_road_mark lane_marking = sample.left_lane_marking
else: else:
sign = 1 sign = 1
road_mark = sample.right_road_mark lane_marking = sample.right_lane_marking
if road_mark is not None: if lane_marking is not None:
marking_type = road_mark.type marking_type = lane_marking.type
marking_color = road_mark.color marking_color = lane_marking.color
margin = 0.20 margin = 0.20
w = carla_map.get_waypoint(lateral_shift(sample.transform, sign * sample.lane_width), project_to_road=False) w = carla_map.get_waypoint(lateral_shift(sample.transform, sign * sample.lane_width), project_to_road=False)
tango_color = road_mark_color_to_tango(marking_color) tango_color = lane_marking_color_to_tango(marking_color)
if marking_type == carla.LaneMarking.SolidSolid: if marking_type == carla.LaneMarkingType.SolidSolid:
marking = [world_to_pixel(lateral_shift(w.transform, sign * ( (w.lane_width * 0.5) - margin))) for w in waypoints] marking = [world_to_pixel(lateral_shift(w.transform, sign * ( (w.lane_width * 0.5) - margin))) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2) draw_solid_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.BrokenBroken: elif marking_type == carla.LaneMarkingType.BrokenBroken:
marking = [world_to_pixel(lateral_shift(w.transform, sign *(w.lane_width * 0.5 - margin))) for w in waypoints] marking = [world_to_pixel(lateral_shift(w.transform, sign *(w.lane_width * 0.5 - margin))) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2) draw_broken_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.SolidBroken or marking_type == carla.LaneMarking.BrokenSolid: elif marking_type == carla.LaneMarkingType.SolidBroken or marking_type == carla.LaneMarkingType.BrokenSolid:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints] marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2) draw_solid_line(surface, tango_color, False, marking, 2)
marking = [world_to_pixel(lateral_shift(w.transform, sign * (w.lane_width * 0.5 + margin))) for w in waypoints] marking = [world_to_pixel(lateral_shift(w.transform, sign * (w.lane_width * 0.5 + margin))) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2) draw_broken_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.Broken: elif marking_type == carla.LaneMarkingType.Broken:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints] marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2) draw_broken_line(surface, tango_color, False, marking, 2)
elif (marking_type == carla.LaneMarking.Solid or w is None) and marking_type != carla.LaneMarking.NONE: elif (marking_type == carla.LaneMarkingType.Solid or w is None) and marking_type != carla.LaneMarkingType.NONE:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints] marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2) draw_solid_line(surface, tango_color, False, marking, 2)