Merge 79555a7c5d into 95728ec9a0

* Update numpy version compatible for Python 3.8-3.11

* Update comments for generations of vehicles and pedestrians

* Update generation comments in all scripts which include the filter

* Update filter and printed message in vehicle_physics.py

* Add vertical offset to avoid collision when spawning

* Fix DVS sensor bug in manual control due to np.bool deprecation

.clangd.in

@@ -0,0 +1,2 @@
+CompileFlags:
+  CompilationDatabase: "@CMAKE_CURRENT_BINARY_DIR@"

.github/pull_request_template.md

@@ -2,10 +2,12 @@
 
 Thanks for sending a pull request! Please make sure you click the link above to
 view the contribution guidelines, then fill out the blanks below.
+Please, make sure if your contribution is for UE4 version of CARLA you merge against ue4-dev branch. 
+if it is for UE5 version of CARLA you merge agaisnt ue5-dev branch
 
 Checklist:
 
-  - [ ] Your branch is up-to-date with the `dev` branch and tested with latest changes
+  - [ ] Your branch is up-to-date with the  `ue4-dev/ue5-dev` branch and tested with latest changes
   - [ ] Extended the README / documentation, if necessary
   - [ ] Code compiles correctly
   - [ ] All tests passing with `make check` (only Linux)

.gitignore

@@ -4,10 +4,13 @@
 __pycache__/
 
 Build/
+Install/
 Doxygen/
 Dist/
 out/
 
 CMakeSettings.json
 
+.clangd
+
 Help.md

CMake/Common.cmake

@@ -33,18 +33,36 @@ if (WIN32)
   endif ()
 endif ()
 
+if (CMAKE_TOOLCHAIN_FILE)
+  cmake_path (
+    ABSOLUTE_PATH
+      CMAKE_TOOLCHAIN_FILE
+    BASE_DIRECTORY
+      ${CARLA_WORKSPACE_PATH}
+    NORMALIZE
+    OUTPUT_VARIABLE
+      TOOLCHAIN_FILE
+  )
+  set (CMAKE_TOOLCHAIN_FILE ${TOOLCHAIN_FILE})
+endif ()
+
 # ================================
 #   Common Definitions
 # ================================
 
 if (WIN32)
   add_compile_definitions (_CRT_SECURE_NO_WARNINGS)
+  check_cxx_compiler_flag (/utf-8 HAS_MSVC_UTF8)
+  if (HAS_MSVC_UTF8)
+    # @TODO This causes warnings with MASM. A better approach should be looked into.
+    add_compile_options (/utf-8)
+  endif ()
 endif ()
 
 set (CARLA_COMMON_DEFINITIONS)
 
 foreach (FORMAT ${LIBCARLA_IMAGE_SUPPORTED_FORMATS})
-  carla_message ("Enabling CARLA image support for \"${FORMAT}\".")
+  carla_message_verbose ("Enabling CARLA image support for \"${FORMAT}\".")
   string (TOUPPER "${FORMAT}" FORMAT_UPPERCASE)
   list (APPEND CARLA_COMMON_DEFINITIONS LIBCARLA_IMAGE_SUPPORT_${FORMAT_UPPERCASE}=1)
 endforeach ()
@@ -56,6 +74,19 @@ if (WIN32)
   list (APPEND CARLA_COMMON_DEFINITIONS _USE_MATH_DEFINES)
 endif ()
 
+if (WIN32)
+  set (EXE_EXT .exe)
+  set (UE_SYSTEM_NAME Win64)
+elseif (LINUX)
+  set (EXE_EXT)
+  set (UE_SYSTEM_NAME Linux)
+elseif (APPLE)
+  set (EXE_EXT)
+  set (UE_SYSTEM_NAME Mac)
+else ()
+  carla_error ("Unknown target system.")
+endif ()
+
 # ================================
 #   Exception Definitions
 # ================================

CMake/Dependencies.cmake

@@ -12,8 +12,7 @@ include (FetchContent)
 
 set (CARLA_DEPENDENCIES_PENDING)
 
-macro (carla_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
-  if (PREFER_CLONE)
+macro (carla_git_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
   carla_message ("Cloning ${NAME}...")
   FetchContent_Declare (
     ${NAME}
@@ -26,7 +25,9 @@ macro (carla_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
     ${ARGN}
   )
   list (APPEND CARLA_DEPENDENCIES_PENDING ${NAME})
-  else ()
+endmacro ()
+
+macro (carla_download_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
   carla_message ("Downloading ${NAME}...")
   FetchContent_Declare (
     ${NAME}
@@ -35,6 +36,13 @@ macro (carla_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
     ${ARGN}
   )
   list (APPEND CARLA_DEPENDENCIES_PENDING ${NAME})
+endmacro ()
+
+macro (carla_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
+  if (PREFER_CLONE)
+    carla_git_dependency_add (${NAME} ${TAG} ${ARCHIVE_URL} ${GIT_URL} ${ARGN})
+  else ()
+    carla_download_dependency_add (${NAME} ${TAG} ${ARCHIVE_URL} ${GIT_URL} ${ARGN})
   endif ()
 endmacro ()
 
@@ -86,8 +94,9 @@ target_link_libraries (
   libsqlite3
 )
 
-# ==== ZLIB ====
 
+
+# ==== ZLIB ====
 carla_dependency_option (ZLIB_BUILD_EXAMPLES OFF)
 carla_dependency_add (
   zlib
@@ -109,8 +118,9 @@ endif ()
 carla_dependency_option (ZLIB_INCLUDE_DIRS ${zlib_SOURCE_DIR} ${zlib_BINARY_DIR})
 carla_dependency_option (ZLIB_LIBRARIES ${ZLIB_LIBRARY})
 
-# ==== LIBPNG ====
 
+
+# ==== LIBPNG ====
 carla_dependency_option (PNG_SHARED OFF)
 carla_dependency_option (PNG_STATIC ON)
 if (APPLE)
@@ -135,11 +145,6 @@ include_directories (
 
 
 # ==== BOOST ====
-
-carla_dependency_option (BOOST_ENABLE_PYTHON ${BUILD_PYTHON_API})
-carla_dependency_option (BOOST_ENABLE_MPI OFF)
-carla_dependency_option (BOOST_LOCALE_WITH_ICU OFF)
-carla_dependency_option (BOOST_LOCALE_WITH_ICONV OFF)
 set (
   BOOST_INCLUDED_PROJECTS
   asio
@@ -147,11 +152,22 @@ set (
   python
   date_time
   geometry
-  gil
   container
   variant2
+  gil
+)
+set (
+  BOOST_EXCLUDED_PROJECTS
+  # filesystem # <- Boost.GIL links with Boost.filesystem, so we can't remove the dependency yet.
 )
 carla_dependency_option (BOOST_INCLUDE_LIBRARIES "${BOOST_INCLUDED_PROJECTS}")
+carla_dependency_option (BOOST_EXCLUDE_LIBRARIES "${BOOST_EXCLUDED_PROJECTS}")
+carla_dependency_option (BOOST_ENABLE_PYTHON ${BUILD_PYTHON_API})
+carla_dependency_option (BOOST_ENABLE_MPI OFF)
+carla_dependency_option (BOOST_LOCALE_WITH_ICU OFF)
+carla_dependency_option (BOOST_LOCALE_WITH_ICONV OFF)
+carla_dependency_option (BOOST_GIL_BUILD_EXAMPLES OFF)
+carla_dependency_option (BOOST_GIL_BUILD_HEADER_TESTS OFF)
 carla_dependency_add(
   boost
   ${CARLA_BOOST_TAG}
@@ -159,8 +175,9 @@ carla_dependency_add(
   https://github.com/boostorg/boost.git
 )
 
-# ==== EIGEN ====
 
+
+# ==== EIGEN ====
 carla_dependency_option (EIGEN_BUILD_PKGCONFIG OFF)
 carla_dependency_option (BUILD_TESTING OFF)
 carla_dependency_option (EIGEN_BUILD_DOC OFF)
@@ -171,8 +188,9 @@ carla_dependency_add (
   https://gitlab.com/libeigen/eigen.git
 )
 
-# ==== RPCLIB ====
 
+
+# ==== RPCLIB ====
 carla_dependency_add (
   rpclib
   ${CARLA_RPCLIB_TAG}
@@ -180,9 +198,10 @@ carla_dependency_add (
   https://github.com/carla-simulator/rpclib.git
 )
 
-# ==== RECAST ====
 
-carla_dependency_option (RECASTNAVIGATION_BUILDER OFF)
+
+# ==== RECAST ====
+carla_dependency_option (RECASTNAVIGATION_BUILDER ON)
 carla_dependency_add (
   recastnavigation
   ${CARLA_RECAST_TAG}
@@ -190,9 +209,10 @@ carla_dependency_add (
   https://github.com/carla-simulator/recastnavigation.git
 )
 
-# ==== PROJ ====
+
 
 if (ENABLE_OSM2ODR)
+  # ==== PROJ ====
   carla_dependency_option (BUILD_TESTING OFF)
   carla_dependency_option (ENABLE_TIFF OFF)
   carla_dependency_option (ENABLE_CURL OFF)
@@ -204,9 +224,10 @@ if (ENABLE_OSM2ODR)
   )
 endif ()
 
-# ==== XERCESC ====
+
 
 if (ENABLE_OSM2ODR)
+  # ==== XERCESC ====
   carla_dependency_add (
     xercesc
     ${CARLA_XERCESC_TAG}
@@ -215,20 +236,18 @@ if (ENABLE_OSM2ODR)
   )
 endif ()
 
-# ==== LUNASVG ====
+
 
 if (BUILD_OSM_WORLD_RENDERER)
+  # ==== LUNASVG ====
   carla_dependency_add (
     lunasvg
     ${CARLA_LUNASVG_TAG}
     https://github.com/sammycage/lunasvg/archive/refs/tags/${CARLA_LUNASVG_TAG}.zip
     https://github.com/sammycage/lunasvg.git
   )
-endif ()
 
   # ==== LIBOSMSCOUT ====
-
-if (BUILD_OSM_WORLD_RENDERER)
   carla_dependency_add (
     libosmscout
     ${CARLA_LIBOSMSCOUT_TAG}
@@ -237,9 +256,10 @@ if (BUILD_OSM_WORLD_RENDERER)
   )
 endif ()
 
-# ==== STREETMAP ====
+
 
 if (BUILD_CARLA_UNREAL)
+  # ==== STREETMAP ====
   carla_dependency_add (
     StreetMap
     ${CARLA_STREETMAP_TAG}

CMake/Options.cmake

@@ -104,12 +104,6 @@ carla_option (
   OFF
 )
 
-carla_option (
-  BUILD_PYTHON_API_WHEEL_PACKAGE
-  "Whether to build the CARLA python API wheel package."
-  ON
-)
-
 carla_option (
   ENABLE_PEP517
   "Whether to use PEP 517."
@@ -146,6 +140,12 @@ carla_string_option (
   /usr/bin/gcc-12
 )
 
+carla_option (
+  VERBOSE_CONFIGURE
+  "Whether to emit extra messages during CMake configure."
+  OFF
+)
+
 
 
 # ================================
@@ -198,12 +198,8 @@ carla_string_option (
   "${CARLA_UNREAL_RHI_DEFAULT}"
 )
 
-if (${BUILD_CARLA_UNREAL})
-if (${CARLA_HAS_UNREAL_ENGINE_PATH})
-  carla_message (
-    "Carla UE project successfully added to build. (UE path: ${CARLA_UNREAL_ENGINE_PATH})"
-  )
-else ()
+if (BUILD_CARLA_UNREAL)
+  if (NOT ${CARLA_HAS_UNREAL_ENGINE_PATH})
     carla_error (
       "Could not add UE project to build since the carla_option CARLA_UNREAL_ENGINE_PATH "
       "is not set to a valid path (\"${CARLA_UNREAL_ENGINE_PATH}\")."
@@ -380,7 +376,6 @@ carla_string_option (
   ${CARLA_LIBOSMSCOUT_VERSION}
 )
 
-
 # ==== STREETMAP ====
 
 carla_string_option (
@@ -394,3 +389,45 @@ carla_string_option (
   "Target StreetMap git tag."
   ${CARLA_STREETMAP_VERSION}
 )
+
+# ==== FASTDDS ====
+
+carla_string_option (
+  CARLA_FASTDDS_VERSION
+  "Target Fast-DDS version."
+  2.11.2
+)
+
+carla_string_option (
+  CARLA_FASTDDS_TAG
+  "Target Fast-DDS git tag."
+  ${CARLA_FASTDDS_VERSION}
+)
+
+# ==== FASTCDR ====
+
+carla_string_option (
+  CARLA_FASTCDR_VERSION
+  "Target Fast-CDR version."
+  1.1.x
+)
+
+carla_string_option (
+  CARLA_FASTCDR_TAG
+  "Target Fast-CDR git tag."
+  ${CARLA_FASTCDR_VERSION}
+)
+
+# ==== FOONATHAN MEMORY VENDOR ====
+
+carla_string_option (
+  CARLA_FOONATHAN_MEMORY_VENDOR_VERSION
+  "Target foonathan_memory_vendor version."
+  master
+)
+
+carla_string_option (
+  CARLA_FOONATHAN_MEMORY_VENDOR_TAG
+  "Target foonathan_memory_vendor git tag."
+  ${CARLA_FOONATHAN_MEMORY_VENDOR_VERSION}
+)

CMake/Util.cmake

@@ -1,20 +1,15 @@
-# Similar to configure_file, but also expands variables
-# that are set at generate time, like generator expressions.
-function (carla_two_step_configure_file DESTINATION SOURCE)
-  carla_message ("Configuring file ${DESTINATION}")
-  # Configure-time step; evaluate variables:
-  configure_file (${SOURCE} ${DESTINATION} @ONLY)
-  # Generate-time step; evaluate generator expressions:
-  file (GENERATE OUTPUT ${DESTINATION} INPUT ${DESTINATION})
-endfunction ()
-
-
-
 # message wrapper for normal messages.
 function (carla_message)
   message (STATUS "CARLA: " ${ARGN})
 endfunction ()
 
+# message wrapper for normal messages.
+function (carla_message_verbose)
+  if (VERBOSE_CONFIGURE)
+    message (STATUS "CARLA: " ${ARGN})
+  endif ()
+endfunction ()
+
 
 
 # message() wrapper for warnings.
@@ -39,7 +34,7 @@ endfunction ()
 
 macro (carla_option NAME DESCRIPTION VALUE)
   option (${NAME} ${DESCRIPTION} ${VALUE})
-  carla_message ("(option) ${NAME} : ${VALUE}")
+  carla_message_verbose ("(option) ${NAME} : ${${NAME}}")
   get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
   string (
     APPEND
@@ -55,7 +50,7 @@ endmacro ()
 
 macro (carla_string_option NAME DESCRIPTION VALUE)
   set (${NAME} "${VALUE}")
-  carla_message ("(option) ${NAME} : \"${VALUE}\"")
+  carla_message_verbose ("(option) ${NAME} : \"${${NAME}}\"")
   get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
   string (
     APPEND
@@ -69,6 +64,18 @@ endmacro ()
 
 
 
+# Similar to configure_file, but also expands variables
+# that are set at generate time, like generator expressions.
+function (carla_two_step_configure_file DESTINATION SOURCE)
+  carla_message_verbose ("Configuring file ${DESTINATION}")
+  # Configure-time step; evaluate variables:
+  configure_file (${SOURCE} ${DESTINATION} @ONLY)
+  # Generate-time step; evaluate generator expressions:
+  file (GENERATE OUTPUT ${DESTINATION} INPUT ${DESTINATION})
+endfunction ()
+
+
+
 # If, for some reason, CARLA is configured with CMake<3.5, this is necessary:
 if (${CMAKE_VERSION} VERSION_LESS 3.5)
   include (CMakeParseArguments)
@@ -139,6 +146,34 @@ endfunction ()
 
 
 
+if (VERBOSE_CONFIGURE)
+  macro (carla_print_cmake_variable NAME)
+    carla_message ("${NAME}: \'${${NAME}}\'")
+  endmacro ()
+
+  carla_print_cmake_variable (CMAKE_C_COMPILER)
+  carla_print_cmake_variable (CMAKE_CXX_COMPILER)
+  carla_print_cmake_variable (CMAKE_ASM_COMPILER)
+  carla_print_cmake_variable (CMAKE_AR)
+  carla_print_cmake_variable (CMAKE_C_COMPILER_AR)
+  carla_print_cmake_variable (CMAKE_CXX_COMPILER_AR)
+  carla_print_cmake_variable (CMAKE_OBJCOPY)
+  carla_print_cmake_variable (CMAKE_ADDR2LINE)
+  carla_print_cmake_variable (CMAKE_C_COMPILER_RANLIB)
+  carla_print_cmake_variable (CMAKE_CXX_COMPILER_RANLIB)
+  carla_print_cmake_variable (CMAKE_LINKER)
+  carla_print_cmake_variable (CMAKE_NM)
+  carla_print_cmake_variable (CMAKE_OBJDUMP)
+  carla_print_cmake_variable (CMAKE_RANLIB)
+  carla_print_cmake_variable (CMAKE_READELF)
+  carla_print_cmake_variable (CMAKE_STRIP)
+  carla_print_cmake_variable (COVERAGE_COMMAND)
+  carla_print_cmake_variable (CMAKE_CXX_STANDARD_LIBRARIES)
+  carla_print_cmake_variable (CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES)
+endif ()
+
+
+
 carla_add_target_docs (
   NAME clean
   TYPE Builtin

CMakeLists.txt

@@ -8,9 +8,14 @@
 
 ]]
 
+set (
+  CARLA_CMAKE_MINIMUM_REQUIRED_VERSION
+  3.27.2
+)
+
 cmake_minimum_required (
   VERSION
-  3.27.2
+  ${CARLA_CMAKE_MINIMUM_REQUIRED_VERSION}
 )
 
 cmake_policy (SET CMP0097 NEW)
@@ -18,6 +23,7 @@ cmake_policy (SET CMP0091 NEW)
 cmake_policy (SET CMP0074 NEW)
 cmake_policy (SET CMP0077 NEW)
 cmake_policy (SET CMP0117 NEW)
+
 if (${CMAKE_MINOR_VERSION} GREATER_EQUAL 24)
   cmake_policy (SET CMP0135 NEW)
 endif ()
@@ -38,7 +44,7 @@ project (
   LANGUAGES
     C
     CXX
-    ASM # This is required by some dependencies, such as LibPNG.
+    ASM
   DESCRIPTION
     "Open-source simulator for autonomous driving research."
   HOMEPAGE_URL
@@ -50,9 +56,14 @@ set (
   ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
+set (
+  CARLA_BUILD_PATH
+  ${CMAKE_BINARY_DIR}
+)
+
 set (
   CARLA_PACKAGE_PATH
-  ${CMAKE_BINARY_DIR}/Package
+  ${CARLA_BUILD_PATH}/Package
 )
 
 set (
@@ -121,3 +132,10 @@ file (
   ${CMAKE_CURRENT_BINARY_DIR}/Help.md
   ${CARLA_CMAKE_HELP_MESSAGE}
 )
+
+if (CMAKE_EXPORT_COMPILE_COMMANDS)
+  configure_file (
+    ${CARLA_WORKSPACE_PATH}/.clangd.in
+    ${CARLA_WORKSPACE_PATH}/.clangd
+  )
+endif ()

CMakePresets.json

@@ -1,5 +1,11 @@
 {
-  "version": 8,
+  "version": 4,
+  "cmakeMinimumRequired":
+  {
+    "major": 3,
+    "minor": 27,
+    "patch": 2
+  },
   "configurePresets":
   [
     {
@@ -14,7 +20,7 @@
       "inherits": "Common",
       "cacheVariables":
       {
-        "CMAKE_TOOLCHAIN_FILE": "CMake/LinuxToolchain.cmake"
+        "CMAKE_TOOLCHAIN_FILE": "${sourceDir}/CMake/LinuxToolchain.cmake"
       },
       "hidden": true
     },

Co-Simulation/Carsim/Lincoln2020/Vehicles/Sprung_Mass/Lincoln2020.par

@@ -1,49 +0,0 @@
-PARSFILE
-#FullDataName Vehicle: Sprung Mass`Lincoln 2020`CARLA
-#VehCode Rigid sprung mass
-#RingCtrl0 0
-#CheckBox2 0    
-X_LENGTH 2860
-Y_LENGTH 1500
-iaxle 2
-iside 1
-LX_AXLE 2860
-LX_CG_SU 1471
-M_SU 2404
-IXX_SU 536.6
-IYY_SU 1536.7
-IZZ_SU 1536.7
-IXZ_SU 0
-*RX 0.472
-*RY 0.800
-*RZ 0.800
-Y_CG_SU 0
-H_CG_SU 359
-IXY_SU 0
-IYZ_SU 0
-Z_LENGTH 1300
-Y_LENGTH 1800
-*HWC_LF 359
-*HWC_RF 359
-*HWC_LR 359
-*HWC_RR 359
-H_WC 359
-iside 2
-H_WC 359
-iaxle 1
-iside 1
-H_WC 359
-iside 2
-H_WC 359
-iaxle 2
-iside 1
-
-LOG_ENTRY Used Dataset: Vehicle: Sprung Mass; { CARLA } Lincoln 2020
-#Library : Vehicle: Sprung Mass
-#DataSet : Lincoln 2020
-#Category: CARLA
-#FileID  : SprMass_d80b7dcb-e4b1-4456-9d41-6fc41b8cd79a
-#Product : CarSim 2020.0
-#VehCode Rigid sprung mass
-
-END

Co-Simulation/PTV-Vissim/.gitignore

@@ -1,7 +0,0 @@
-venv
-
-# Vissim files
-*.results
-*.inp0
-*.layx
-*.err

Co-Simulation/PTV-Vissim/data/vtypes.json

@@ -1,43 +0,0 @@
-{
-    "100": [
-        "vehicle.audi.a2",
-        "vehicle.audi.tt",
-        "vehicle.bmw.grandtourer",
-        "vehicle.citroen.c3",
-        "vehicle.jeep.wrangler_rubicon",
-        "vehicle.lincoln.mkz_2017",
-        "vehicle.mercedes.coupe",
-        "vehicle.mini.cooper_s",
-        "vehicle.ford.mustang",
-        "vehicle.nissan.micra",
-        "vehicle.nissan.patrol",
-        "vehicle.seat.leon",
-        "vehicle.volkswagen.t2",
-        "vehicle.toyota.prius",
-        "vehicle.tesla.model3",
-        "vehicle.audi.etron"
-    ],
-    "200": [
-        "vehicle.carlamotors.carlacola"
-    ],
-    "300": [],
-    "400": [],
-    "510": [],
-    "520": [],
-    "610": [
-        "vehicle.yamaha.yzf",
-        "vehicle.harley-davidson.low_rider",
-        "vehicle.kawasaki.ninja",
-        "vehicle.gazelle.omafiets",
-        "vehicle.diamondback.century",
-        "vehicle.bh.crossbike"
-    ],
-    "620": [
-        "vehicle.yamaha.yzf",
-        "vehicle.harley-davidson.low_rider",
-        "vehicle.kawasaki.ninja",
-        "vehicle.gazelle.omafiets",
-        "vehicle.diamondback.century",
-        "vehicle.bh.crossbike"
-    ]
-}

Co-Simulation/PTV-Vissim/run_synchronization.py

@@ -1,234 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-"""
-Script to co-simulate CARLA and PTV-Vissim.
-"""
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import argparse
-import json
-import logging
-import time
-
-# ==================================================================================================
-# -- find carla module -----------------------------------------------------------------------------
-# ==================================================================================================
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(
-        glob.glob('../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' %
-                  (sys.version_info.major, sys.version_info.minor,
-                   'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-# ==================================================================================================
-# -- vissim integration imports --------------------------------------------------------------------
-# ==================================================================================================
-
-from vissim_integration.bridge_helper import BridgeHelper
-from vissim_integration.carla_simulation import CarlaSimulation
-from vissim_integration.vissim_simulation import PTVVissimSimulation
-from vissim_integration.constants import INVALID_ACTOR_ID
-
-# ==================================================================================================
-# -- synchronization_loop --------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class SimulationSynchronization(object):
-    """
-    SimulationSynchronization class is responsible for the synchronization of ptv-vissim and carla
-    simulations.
-    """
-    def __init__(self, vissim_simulation, carla_simulation, args):
-        self.args = args
-
-        self.vissim = vissim_simulation
-        self.carla = carla_simulation
-
-        # Mapped actor ids.
-        self.vissim2carla_ids = {}  # Contains only actors controlled by vissim.
-        self.carla2vissim_ids = {}  # Contains only actors controlled by carla.
-
-        BridgeHelper.blueprint_library = self.carla.world.get_blueprint_library()
-        dir_path = os.path.dirname(os.path.realpath(__file__))
-        with open(os.path.join(dir_path, 'data', 'vtypes.json')) as f:
-            BridgeHelper.vtypes = json.load(f)
-
-        # Configuring carla simulation in sync mode.
-        settings = self.carla.world.get_settings()
-        settings.synchronous_mode = True
-        settings.fixed_delta_seconds = args.step_length
-        self.carla.world.apply_settings(settings)
-
-    def tick(self):
-        """
-        Tick to simulation synchronization
-        """
-        # -------------------
-        # vissim-->carla sync
-        # -------------------
-        self.vissim.tick()
-
-        # Spawning vissim controlled vehicles in carla.
-        vissim_spawned_actors = self.vissim.spawned_vehicles - set(self.carla2vissim_ids.values())
-        for vissim_actor_id in vissim_spawned_actors:
-            vissim_actor = self.vissim.get_actor(vissim_actor_id)
-
-            carla_blueprint = BridgeHelper.get_carla_blueprint(vissim_actor)
-            if carla_blueprint is not None:
-                carla_transform = BridgeHelper.get_carla_transform(vissim_actor.get_transform())
-                carla_actor_id = self.carla.spawn_actor(carla_blueprint, carla_transform)
-
-                if carla_actor_id != INVALID_ACTOR_ID:
-                    self.vissim2carla_ids[vissim_actor_id] = carla_actor_id
-
-        # Destroying vissim controlled vehicles in carla.
-        for vissim_actor_id in self.vissim.destroyed_vehicles:
-            if vissim_actor_id in self.vissim2carla_ids:
-                self.vissim.destroy_actor(self.vissim2carla_ids.pop(vissim_actor_id))
-
-        # Updating vissim controlled vehicles in carla.
-        for vissim_actor_id in self.vissim2carla_ids:
-            carla_actor_id = self.vissim2carla_ids[vissim_actor_id]
-
-            vissim_actor = self.vissim.get_actor(vissim_actor_id)
-            carla_actor = self.carla.get_actor(carla_actor_id)
-
-            carla_transform = BridgeHelper.get_carla_transform(vissim_actor.get_transform(),
-                                                               carla_actor.bounding_box.extent)
-            carla_velocity = BridgeHelper.get_carla_velocity(vissim_actor.get_velocity())
-            self.carla.synchronize_vehicle(carla_actor_id, carla_transform, carla_velocity)
-
-        # -------------------
-        # carla-->vissim sync
-        # -------------------
-        self.carla.tick()
-
-        # Spawning carla controlled vehicles in vissim. This also takes into account carla vehicles
-        # that could not be spawned in vissim in previous time steps.
-        carla_spawned_actors = self.carla.spawned_actors - set(self.vissim2carla_ids.values())
-        carla_spawned_actors.update(
-            [c_id for c_id, v_id in self.carla2vissim_ids.items() if v_id == INVALID_ACTOR_ID])
-        for carla_actor_id in carla_spawned_actors:
-            carla_actor = self.carla.get_actor(carla_actor_id)
-
-            vissim_transform = BridgeHelper.get_vissim_transform(carla_actor.get_transform())
-            vissim_actor_id = self.vissim.spawn_actor(vissim_transform)
-
-            # Add the vissim_actor_id even if it was not possible to spawn it (INVALID_ACTOR_ID) to
-            # try to spawn it again in next time steps.
-            self.carla2vissim_ids[carla_actor_id] = vissim_actor_id
-
-        # Destroying carla controlled vehicles in vissim.
-        for carla_actor_id in self.carla.destroyed_actors:
-            if carla_actor_id in self.carla2vissim_ids:
-                self.vissim.destroy_actor(self.carla2vissim_ids.pop(carla_actor_id))
-
-        # Updating carla controlled vehicles in vissim.
-        for carla_actor_id in self.carla2vissim_ids:
-            vissim_actor_id = self.carla2vissim_ids[carla_actor_id]
-            if vissim_actor_id != INVALID_ACTOR_ID:
-                carla_actor = self.carla.get_actor(carla_actor_id)
-
-                vissim_transform = BridgeHelper.get_vissim_transform(
-                    carla_actor.get_transform(), carla_actor.bounding_box.extent)
-                vissim_velocity = BridgeHelper.get_vissim_velocity(carla_actor.get_velocity())
-                self.vissim.synchronize_vehicle(vissim_actor_id, vissim_transform, vissim_velocity)
-
-    def close(self):
-        """
-        Cleans synchronization.
-        """
-        # Configuring carla simulation in async mode.
-        settings = self.carla.world.get_settings()
-        settings.synchronous_mode = False
-        settings.fixed_delta_seconds = None
-        self.carla.world.apply_settings(settings)
-
-        # Destroying synchronized actors.
-        for carla_actor_id in self.vissim2carla_ids.values():
-            self.carla.destroy_actor(carla_actor_id)
-
-        # Closing PTV-Vissim connection.
-        self.vissim.close()
-
-
-def synchronization_loop(args):
-    """
-    Entry point for vissim-carla co-simulation.
-    """
-    carla_simulation = CarlaSimulation(args)
-    vissim_simulation = PTVVissimSimulation(args)
-
-    try:
-        synchronization = SimulationSynchronization(vissim_simulation, carla_simulation, args)
-
-        while True:
-            start = time.time()
-
-            synchronization.tick()
-
-            end = time.time()
-            elapsed = end - start
-            if elapsed < args.step_length:
-                time.sleep(args.step_length - elapsed)
-
-    except KeyboardInterrupt:
-        logging.info('Cancelled by user.')
-
-    finally:
-        logging.info('Cleaning synchronization')
-        synchronization.close()
-
-
-# ==================================================================================================
-# -- main ------------------------------------------------------------------------------------------
-# ==================================================================================================
-
-if __name__ == '__main__':
-    argparser = argparse.ArgumentParser(description=__doc__)
-    argparser.add_argument('vissim_network', type=str, help='vissim network file')
-    argparser.add_argument('--carla-host',
-                           metavar='H',
-                           default='127.0.0.1',
-                           help='IP of the carla host server (default: 127.0.0.1)')
-    argparser.add_argument('--carla-port',
-                           metavar='P',
-                           default=2000,
-                           type=int,
-                           help='TCP port to listen to (default: 2000)')
-    argparser.add_argument('--vissim-version',
-                           default=2020,
-                           type=int,
-                           help='ptv-vissim version (default: 2020)')
-    argparser.add_argument('--step-length',
-                           default=0.05,
-                           type=float,
-                           help='set fixed delta seconds (default: 0.05s)')
-    argparser.add_argument('--simulator-vehicles',
-                           default=1,
-                           type=int,
-                           help='number of simulator vehicles to be passed to vissim (default: 1)')
-    argparser.add_argument('--debug', action='store_true', help='enable debug messages')
-    arguments = argparser.parse_args()
-
-    if arguments.debug:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.DEBUG)
-    else:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
-
-    synchronization_loop(arguments)

Co-Simulation/PTV-Vissim/vissim_integration/bridge_helper.py

@@ -1,151 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module provides a helper for the co-simulation between vissim and carla. """
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import logging
-import math
-import random
-
-import carla  # pylint: disable=import-error
-
-# ==================================================================================================
-# -- Bridge helper (VISSIM <=> CARLA) --------------------------------------------------------------
-# ==================================================================================================
-
-
-class BridgeHelper(object):
-    """
-    BridgeHelper provides methos to ease the co-simulation between vissim and carla.
-    """
-
-    blueprint_library = []
-    vtypes = {}
-
-    @staticmethod
-    def get_carla_transform(in_vissim_transform, extent=None):
-        """
-        Returns carla transform based on vissim transform.
-        """
-        in_location = in_vissim_transform.location
-        in_rotation = in_vissim_transform.rotation
-
-        # From front-center-bumper to center (vissim reference system).
-        if extent is not None:
-            out_location = (in_location.x - math.cos(math.radians(in_rotation.yaw)) * extent.x,
-                            in_location.y - math.sin(math.radians(in_rotation.yaw)) * extent.x,
-                            in_location.z - math.sin(math.radians(in_rotation.pitch)) * extent.x)
-        else:
-            out_location = (in_location.x, in_location.y, in_location.z)
-        out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
-
-        # Transform to carla reference system (left-handed system).
-        out_transform = carla.Transform(
-            carla.Location(out_location[0], -out_location[1], out_location[2]),
-            carla.Rotation(out_rotation[0], -out_rotation[1], out_rotation[2]))
-
-        return out_transform
-
-    @staticmethod
-    def get_vissim_transform(in_carla_transform, extent=None):
-        """
-        Returns vissim transform based on carla transform.
-        """
-        in_location = in_carla_transform.location
-        in_rotation = in_carla_transform.rotation
-
-        # From center to front-center-bumper (carla reference system).
-        if extent is not None:
-            yaw = -1 * in_rotation.yaw
-            pitch = in_rotation.pitch
-            out_location = (in_location.x + math.cos(math.radians(yaw)) * extent.x,
-                            in_location.y - math.sin(math.radians(yaw)) * extent.x,
-                            in_location.z - math.sin(math.radians(pitch)) * extent.x)
-        else:
-            out_location = (in_location.x, in_location.y, in_location.z)
-        out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
-
-        # Transform to vissim reference system (right-handed system).
-        out_transform = carla.Transform(
-            carla.Location(out_location[0], -out_location[1], out_location[2]),
-            carla.Rotation(out_rotation[0], -out_rotation[1], out_rotation[2]))
-
-        return out_transform
-
-    @staticmethod
-    def _flip_y(in_vector):
-        """
-        Flips y coordinate of the given vector.
-        """
-        return carla.Vector3D(in_vector.x, -in_vector.y, in_vector.z)
-
-    @staticmethod
-    def get_carla_velocity(in_vissim_velocity):
-        """
-        Returns carla velocity based on vissim velocity.
-        """
-        return BridgeHelper._flip_y(in_vissim_velocity)
-
-    @staticmethod
-    def get_vissim_velocity(in_carla_velocity):
-        """
-        Returns vissim velocity based on carla velocity.
-        """
-        return BridgeHelper._flip_y(in_carla_velocity)
-
-    @staticmethod
-    def _get_recommended_carla_blueprint(vissim_actor):
-        """
-        Returns an appropriate blueprint based on the given vissim actor.
-        """
-        blueprint = BridgeHelper.blueprint_library.filter('vehicle.seat.leon')[0]
-        color = random.choice(blueprint.get_attribute('color').recommended_values)
-        blueprint.set_attribute('color', color)
-        return blueprint
-
-    @staticmethod
-    def get_carla_blueprint(vissim_actor):
-        """
-        Returns an appropriate blueprint based on the received vissim actor.
-        """
-        type_id = str(vissim_actor.type)
-
-        if type_id in BridgeHelper.vtypes:
-            candidates = BridgeHelper.vtypes[type_id]
-            if candidates:
-                blueprint_id = random.choice(candidates)
-            else:
-                logging.error(
-                    'vissim type %s not supported. No vehicle will be spawned in carla', type_id)
-                return None
-
-            blueprint = BridgeHelper.blueprint_library.filter(blueprint_id)
-            if not blueprint:
-                logging.error(
-                    'carla blueprint %s unknown. No vehicle will be spawned', blueprint_id)
-                return None
-            blueprint = blueprint[0]
-
-            if blueprint.has_attribute('color'):
-                color = random.choice(blueprint.get_attribute('color').recommended_values)
-                blueprint.set_attribute('color', color)
-
-            if blueprint.has_attribute('driver_id'):
-                driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
-                blueprint.set_attribute('driver_id', driver_id)
-
-            blueprint.set_attribute('role_name', 'vissim_driver')
-            return blueprint
-
-        else:
-            logging.error(
-                'vissim type %s unknown. No vehicle will be spawned in carla', type_id)
-            return None

Co-Simulation/PTV-Vissim/vissim_integration/carla_simulation.py

@@ -1,114 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module is responsible for the management of the carla simulation. """
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import logging
-
-import carla  # pylint: disable=import-error
-
-from .constants import INVALID_ACTOR_ID, CARLA_SPAWN_OFFSET_Z
-
-# ==================================================================================================
-# -- carla simulation ------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class CarlaSimulation(object):
-    """
-    CarlaSimulation is responsible for the management of the carla simulation.
-    """
-    def __init__(self, args):
-        self.args = args
-        host = args.carla_host
-        port = args.carla_port
-
-        self.client = carla.Client(host, port)
-        self.client.set_timeout(2.0)
-
-        self.world = self.client.get_world()
-        self.blueprint_library = self.world.get_blueprint_library()
-
-        # The following sets contain updated information for the current frame.
-        self._active_actors = set()
-        self.spawned_actors = set()
-        self.destroyed_actors = set()
-
-    def get_actor(self, actor_id):
-        """
-        Accessor for carla actor.
-        """
-        return self.world.get_actor(actor_id)
-
-    def spawn_actor(self, blueprint, transform):
-        """
-        Spawns a new actor.
-
-            :param blueprint: blueprint of the actor to be spawned.
-            :param transform: transform where the actor will be spawned.
-            :return: actor id if the actor is successfully spawned. Otherwise, INVALID_ACTOR_ID.
-        """
-        transform = carla.Transform(transform.location + carla.Location(0, 0, CARLA_SPAWN_OFFSET_Z),
-                                    transform.rotation)
-
-        batch = [
-            carla.command.SpawnActor(blueprint, transform).then(
-                carla.command.SetSimulatePhysics(carla.command.FutureActor, False))
-        ]
-        response = self.client.apply_batch_sync(batch, False)[0]
-        if response.error:
-            logging.error('Spawn carla actor failed. %s', response.error)
-            return INVALID_ACTOR_ID
-
-        return response.actor_id
-
-    def destroy_actor(self, actor_id):
-        """
-        Destroys the given actor.
-        """
-        actor = self.world.get_actor(actor_id)
-        if actor is not None:
-            return actor.destroy()
-        return False
-
-    def synchronize_vehicle(self, vehicle_id, transform, velocity, lights=None):
-        """
-        Updates vehicle state.
-
-            :param vehicle_id: id of the actor to be updated.
-            :param transform: new vehicle transform (i.e., position and rotation).
-            :param lights: new vehicle light state.
-            :return: True if successfully updated. Otherwise, False.
-        """
-        vehicle = self.world.get_actor(vehicle_id)
-        if vehicle is None:
-            return False
-
-        vehicle.set_transform(transform)
-        if velocity is not None:
-            vehicle.set_target_velocity(velocity)
-
-        if lights is not None:
-            vehicle.set_light_state(carla.VehicleLightState(lights))
-        return True
-
-    def tick(self):
-        """
-        Tick to carla simulation.
-        """
-        self.world.tick()
-
-        # Update data structures for the current frame.
-        current_actors = set(
-            [vehicle.id for vehicle in self.world.get_actors().filter('vehicle.*')])
-        self.spawned_actors = current_actors.difference(self._active_actors)
-        self.destroyed_actors = self._active_actors.difference(current_actors)
-        self._active_actors = current_actors

Co-Simulation/PTV-Vissim/vissim_integration/constants.py

@@ -1,33 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module defines constants used for the vissim-carla co-simulation. """
-
-# ==================================================================================================
-# -- constants -------------------------------------------------------------------------------------
-# ==================================================================================================
-
-INVALID_ACTOR_ID = -1
-CARLA_SPAWN_OFFSET_Z = 25.0  # meters
-
-# Maximum distance of a Vissim veh/ped from a simulator veh/ped to be seen by the simulator (<=0
-# means unlimited radius).
-VISSIM_VISIBILITY_RADIUS = 0.0
-
-# Maximum number of simulator vehicles/pedestrians/detectors (to be passed to Vissim).
-VISSIM_MAX_SIMULATOR_VEH = 5000
-VISSIM_MAX_SIMULATOR_PED = 5000
-VISSIM_MAX_SIMULATOR_DET = 500
-
-# Maximum number of vissim vehicles/pedestrians/signal groups (to be passed to the simulator).
-VISSIM_MAX_VISSIM_VEH = 5000
-VISSIM_MAX_VISSIM_PED = 5000
-VISSIM_MAX_VISSIM_SIGGRP = 5000
-
-# VISSIM Vehicle data constants.
-NAME_MAX_LENGTH = 100
-MAX_UDA = 16

Co-Simulation/PTV-Vissim/vissim_integration/vissim_simulation.py

@@ -1,284 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module is responsible for the management of the ptv-vissim simulation. """
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import enum
-import logging
-import math
-import os
-
-import carla  # pylint: disable=import-error
-from ctypes import *
-
-from . import constants
-
-# ==================================================================================================
-# -- vissim definitions ----------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class Simulator_Veh_Data(Structure):
-    """
-    Structure to hold the data sent to vissim about the status of the simulator vehicles (i.e.,
-    carla vehicles).
-    """
-    _fields_ = [
-        ('Position_X', c_double),  # front center of the vehicle in m
-        ('Position_Y', c_double),  # front center of the vehicle in m
-        ('Position_Z', c_double),  # front center of the vehicle in m
-        ('Orient_Heading', c_double),  # in radians, eastbound = zero, northbound = +Pi/2 */
-        ('Orient_Pitch', c_double),  # in radians, uphill = positive
-        ('Speed', c_double),  # in m/s
-        ('ControlledByVissim', c_bool),  # affects next time step
-        ('RoutingDecisionNo', c_long),  # used once if ControlledByVissim changed from false to true
-        ('RouteNo', c_long)  # used once if ControlledByVissim changed from false to true
-    ]
-
-
-class VISSIM_Veh_Data(Structure):
-    """
-    Structure to hold the data received from vissim about the status of the traffic vehicles (i.e.,
-    vissim vehicles).
-    """
-    _fields_ = [
-        ('VehicleID', c_long),
-        ('VehicleType', c_long),  # vehicle type number from Vissim
-        ('ModelFileName', c_char * constants.NAME_MAX_LENGTH),  # .v3d
-        ('color', c_long),  # RGB
-        ('Position_X', c_double),  # front center of the vehicle in m
-        ('Position_Y', c_double),  # front center of the vehicle in m
-        ('Position_Z', c_double),  # front center of the vehicle in m
-        ('Orient_Heading', c_double),  # in radians, eastbound = zero, northbound = +Pi/2 */
-        ('Orient_Pitch', c_double),  # in radians, uphill = positive
-        ('Speed', c_double),  # in m/s
-        ('LeadingVehicleID', c_long),  # relevant vehicle in front
-        ('TrailingVehicleID', c_long),  # next vehicle back on the same lane
-        ('LinkID', c_long),  # Vissim link attribute “Number”
-        ('LinkName', c_char * constants.NAME_MAX_LENGTH),  # empty if “Name” not set in Vissim
-        ('LinkCoordinate', c_double),  # in m
-        ('LaneIndex', c_int),  # 0 = rightmost
-        ('TurningIndicator', c_int),  # 1 = left, 0 = none, -1 = right
-        ('PreviousIndex', c_long),  # for interpolation: index in the array in the previous Vissim time step, < 0 = new in the visibility area
-        ('NumUDAs', c_long),  # the number of UDA values in the following array
-        ('UDA', c_double * constants.MAX_UDA)  # the first MAX_UDA user-defined numeric vehicle attributes
-    ]
-
-
-class VissimLightState(enum.Enum):
-    """
-    VissimLightState contains the different vissim indicator states.
-    """
-    LEFT = 1
-    NONE = 0
-    RIGHT = -1
-
-
-class VissimVehicle(object):
-    """
-    VissimVehicle holds the data relative to traffic vehicles in vissim.
-    """
-    def __init__(self,
-                 vehicle_id,
-                 type_id,
-                 model_filename,
-                 color,
-                 location,
-                 rotation,
-                 velocity,
-                 lights_state=VissimLightState.NONE):
-        # Static parameters.
-        self.id = vehicle_id
-        self.type = type_id
-        self.model_filename = model_filename
-        self.color = color
-
-        # Dynamic attributes.
-        loc = carla.Location(location[0], location[1], location[2])
-        rot = carla.Rotation(math.degrees(rotation[0]), math.degrees(rotation[1]),
-                             math.degrees(rotation[2]))
-        self._transform = carla.Transform(loc, rot)
-        self._velocity = carla.Vector3D(
-            velocity * math.cos(math.radians(rot.yaw)) * math.cos(math.radians(rot.pitch)),
-            velocity * math.sin(math.radians(rot.yaw)) * math.cos(math.radians(rot.pitch)),
-            velocity * math.sin(math.radians(rot.pitch)))
-        self._lights_state = lights_state
-
-    def get_velocity(self):
-        """
-        Returns the vehicle's velocity.
-        """
-        return self._velocity
-
-    def get_transform(self):
-        """
-        Returns carla transform.
-        """
-        return self._transform
-
-
-# ==================================================================================================
-# -- vissim simulation -----------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class PTVVissimSimulation(object):
-    """
-    PTVVissimSimulation is responsible for the management of the vissim simulation.
-    """
-    def __init__(self, args):
-        # Maximum number of simulator vehicles to be tracked by the driving simulator interface.
-        self._max_simulator_vehicles = args.simulator_vehicles
-
-        # Loading driving simulator proxy library.
-        logging.info('Loading DrivingSimulatorProxy library...')
-        self.ds_proxy = cdll.LoadLibrary('DrivingSimulatorProxy.dll')
-
-        # Connection to vissim simulator.
-        logging.info('Establishing a connection with a GUI version of PTV-Vissim')
-        result = self.ds_proxy.VISSIM_Connect(args.vissim_version,
-                                              os.path.abspath(args.vissim_network),
-                                              int(1. / args.step_length),
-                                              c_double(constants.VISSIM_VISIBILITY_RADIUS),
-                                              c_ushort(constants.VISSIM_MAX_SIMULATOR_VEH),
-                                              c_ushort(constants.VISSIM_MAX_SIMULATOR_PED),
-                                              c_ushort(constants.VISSIM_MAX_SIMULATOR_DET),
-                                              c_ushort(constants.VISSIM_MAX_VISSIM_VEH),
-                                              c_ushort(constants.VISSIM_MAX_VISSIM_PED),
-                                              c_ushort(constants.VISSIM_MAX_VISSIM_SIGGRP))
-
-        if not result:
-            raise RuntimeError('There was an error when establishing a connection with PTV-Vissim')
-
-        # Structures to keep track of the simulation state at each time step.
-        self._vissim_vehicles = {}  # vissim_actor_id: VissimVehicle (only vissim traffic)
-        self._simulator_vehicles = {}  # vissim_actor_id: Simulator_Veh_Data
-
-        self.spawned_vehicles = set()
-        self.destroyed_vehicles = set()
-
-    def _get_next_actor_id(self):
-        """
-        Returns an available actor id. Otherwise, returns INVALID_ACTOR_ID.
-        """
-        all_ids = set(range(1, self._max_simulator_vehicles + 1))
-        used_ids = set(self._simulator_vehicles.keys())
-        available_ids = all_ids - used_ids
-        if len(available_ids):
-            return available_ids.pop()
-        else:
-            return constants.INVALID_ACTOR_ID
-
-    def get_actor(self, actor_id):
-        """
-        Accessor for vissim actor.
-        """
-        return self._vissim_vehicles[actor_id]
-
-    def spawn_actor(self, transform):
-        """
-        Spawns a new actor.
-
-        Warning: When the maximum number of simulator vehicles being tracked at the same time is
-        reached, no new vehicles are spawned.
-        """
-        # Checks number of simulator vehicles currently being tracked.
-        if (len(self._simulator_vehicles) < self._max_simulator_vehicles):
-            actor_id = self._get_next_actor_id()
-            self._simulator_vehicles[actor_id] = Simulator_Veh_Data(
-                transform.location.x, transform.location.y, transform.location.z,
-                math.radians(transform.rotation.yaw), math.radians(transform.rotation.pitch), 0.0,
-                False, 0, 0)
-            return actor_id
-        else:
-            logging.warning(
-                'Maximum number of simulator vehicles reached. No vehicle will be spawned.')
-            return constants.INVALID_ACTOR_ID
-
-    def destroy_actor(self, actor_id):
-        """
-        Destroys the given actor.
-
-            :param actor_id: id of the vehicle to be destroyed.
-            :return: True if successfully destroyed. Otherwise, False.
-        """
-        if actor_id in self._simulator_vehicles:
-            del self._simulator_vehicles[actor_id]
-            return True
-        return False
-
-    def synchronize_vehicle(self, vehicle_id, transform, velocity):
-        """
-        Updates vehicle state.
-
-            :param int vehicle_id: id of the vehicle to be updated.
-            :param carla.Transform transform: new vehicle transform (i.e., position and rotation).
-            :param carla.Vector3D velocity: new vehicle velocity.
-            :return: True if successfully updated. Otherwise, False.
-        """
-        self._simulator_vehicles[vehicle_id] = Simulator_Veh_Data(
-            transform.location.x, transform.location.y, transform.location.z,
-            math.radians(transform.rotation.yaw), math.radians(transform.rotation.pitch),
-            math.sqrt(velocity.x**2 + velocity.y**2 + velocity.z**2), False, 0, 0)
-        return True
-
-    def _get_simulator_veh_data(self):
-        """
-        Returns list of Simulator_Veh_Data structures ready to be sent to the driving simulator
-        interface.
-        """
-        data = []
-        for i in range(1, self._max_simulator_vehicles + 1):
-            if i in self._simulator_vehicles:
-                data.append(self._simulator_vehicles[i])
-            else:
-                # Invalid Simulator_Veh_Data to set the position of simulator vehicles in vissim
-                # that are not yet in carla.
-                data.append(
-                    Simulator_Veh_Data(float('inf'), float('inf'), float('inf'), 0.0, 0.0, 0.0,
-                                       False, 0, 0))
-        return data
-
-    def tick(self):
-        """
-        Tick to vissim simulation.
-        """
-        # Updating simulator vehicles data.
-        arr = (Simulator_Veh_Data * self._max_simulator_vehicles)(*self._get_simulator_veh_data())
-        self.ds_proxy.VISSIM_SetDriverVehicles(self._max_simulator_vehicles, byref(arr))
-
-        # Retrieving vissim traffic data.
-        num_vehicles = c_int(0)
-        traffic_data = POINTER(VISSIM_Veh_Data)()
-        self.ds_proxy.VISSIM_GetTrafficVehicles(byref(num_vehicles), byref(traffic_data))
-
-        vehicles = {}
-        for i in range(num_vehicles.value):
-            vehicle_data = traffic_data[i]
-
-            vehicles[vehicle_data.VehicleID] = VissimVehicle(
-                vehicle_data.VehicleID, vehicle_data.VehicleType, vehicle_data.ModelFileName,
-                vehicle_data.color,
-                [vehicle_data.Position_X, vehicle_data.Position_Y, vehicle_data.Position_Z],
-                [vehicle_data.Orient_Pitch, vehicle_data.Orient_Heading, 0.0], vehicle_data.Speed,
-                vehicle_data.TurningIndicator)
-
-        # Update data structures for the current time step.
-        active_vehicles = set(self._vissim_vehicles.keys())
-        current_vehicles = set(vehicles.keys())
-
-        self.spawned_vehicles = current_vehicles.difference(active_vehicles)
-        self.destroyed_vehicles = active_vehicles.difference(current_vehicles)
-
-        self._vissim_vehicles = vehicles
-
-    def close(self):
-        self.ds_proxy.VISSIM_Disconnect()

Co-Simulation/Sumo/.gitignore

@@ -1 +0,0 @@
-venv

Co-Simulation/Sumo/data/vtypes.json

@@ -1,94 +0,0 @@
-{
-    "DEFAULT_2_WHEELED_VEHICLE": {
-        "vClass": "motorcycle"
-    },
-    "DEFAULT_WHEELED_VEHICLE": {
-        "vClass": "passenger"
-    },
-    "carla_blueprints": {
-        "vehicle.audi.a2": {
-            "vClass": "passenger"
-        },
-        "vehicle.audi.tt": {
-            "vClass": "passenger"
-        },
-        "vehicle.bmw.grandtourer": {
-            "vClass": "passenger"
-        },
-        "vehicle.chevrolet.impala": {
-            "vClass": "passenger"
-        },
-        "vehicle.citroen.c3": {
-            "vClass": "passenger"
-        },
-        "vehicle.jeep.wrangler_rubicon": {
-            "vClass": "passenger"
-        },
-        "vehicle.lincoln.mkz_2017": {
-            "vClass": "passenger"
-        },
-        "vehicle.mercedes.coupe": {
-            "vClass": "passenger"
-        },
-        "vehicle.mini.cooper_s": {
-            "vClass": "passenger"
-        },
-        "vehicle.ford.mustang": {
-            "vClass": "passenger"
-        },
-        "vehicle.nissan.micra": {
-            "vClass": "passenger"
-        },
-        "vehicle.nissan.patrol": {
-            "vClass": "passenger"
-        },
-        "vehicle.seat.leon": {
-            "vClass": "passenger"
-        },
-        "vehicle.volkswagen.t2": {
-            "vClass": "passenger",
-            "guiShape": "passenger/van"
-        },
-        "vehicle.dodge.charger_police": {
-            "vClass": "authority",
-            "guiShape": "police"
-        },
-        "vehicle.micro.microlino": {
-            "vClass": "evehicle"
-        },
-        "vehicle.toyota.prius": {
-            "vClass": "evehicle"
-        },
-        "vehicle.tesla.cybertruck": {
-            "vClass": "evehicle"
-        },
-        "vehicle.tesla.model3": {
-            "vClass": "evehicle"
-        },
-        "vehicle.audi.etron": {
-            "vClass": "evehicle"
-        },
-        "vehicle.carlamotors.carlacola": {
-            "vClass": "truck",
-            "guiShape": "truck"
-        },
-        "vehicle.yamaha.yzf": {
-            "vClass": "motorcycle"
-        },
-        "vehicle.harley-davidson.low_rider": {
-            "vClass": "motorcycle"
-        },
-        "vehicle.kawasaki.ninja": {
-            "vClass": "motorcycle"
-        },
-        "vehicle.gazelle.omafiets": {
-            "vClass": "bicycle"
-        },
-        "vehicle.diamondback.century": {
-            "vClass": "bicycle"
-        },
-        "vehicle.bh.crossbike": {
-            "vClass": "bicycle"
-        }
-    }
-}

Co-Simulation/Sumo/examples/Town01.sumocfg

@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
-
-    <input>
-        <net-file value="net/Town01.net.xml"/>
-        <route-files value="carlavtypes.rou.xml,rou/Town01.rou.xml"/>
-    </input>
-
-    <gui_only>
-        <gui-settings-file value="viewsettings.xml"/>
-    </gui_only>
-
-</configuration>

Co-Simulation/Sumo/examples/Town04.sumocfg

@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
-
-    <input>
-        <net-file value="net/Town04.net.xml"/>
-        <route-files value="carlavtypes.rou.xml,rou/Town04.rou.xml"/>
-    </input>
-
-    <gui_only>
-        <gui-settings-file value="viewsettings.xml"/>
-    </gui_only>
-
-</configuration>

Co-Simulation/Sumo/examples/Town05.sumocfg

@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/sumoConfiguration.xsd">
-
-    <input>
-        <net-file value="net/Town05.net.xml"/>
-        <route-files value="carlavtypes.rou.xml,rou/Town05.rou.xml"/>
-    </input>
-
-    <gui_only>
-        <gui-settings-file value="viewsettings.xml"/>
-    </gui_only>
-
-</configuration>

Co-Simulation/Sumo/examples/carlavtypes.rou.xml

@@ -1,31 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<!--generated on 2020-03-04 18:25:00 by create_sumo_vtypes.py-->
-<routes>
-  <vType id="vehicle.audi.a2" length="3.7186214923858643" width="1.7924479246139526" height="1.5354934930801392" vClass="passenger"/>
-  <vType id="vehicle.audi.tt" length="4.147226333618164" width="2.0032031536102295" height="1.382421851158142" vClass="passenger"/>
-  <vType id="vehicle.carlamotors.carlacola" length="5.1992292404174805" width="2.6150190830230713" height="2.4768505096435547" vClass="truck" guiShape="truck"/>
-  <vType id="vehicle.dodge.charger_police" length="5.010976314544678" width="2.054335832595825" height="1.5807031393051147" vClass="authority" guiShape="police"/>
-  <vType id="vehicle.jeep.wrangler_rubicon" length="3.8681068420410156" width="1.906570553779602" height="1.8799999952316284" vClass="passenger"/>
-  <vType id="vehicle.chevrolet.impala" length="5.369193077087402" width="2.052736520767212" height="1.4150995016098022" vClass="passenger"/>
-  <vType id="vehicle.mini.cooper_s" length="3.8021926879882812" width="1.9740344285964966" height="1.4750006198883057" vClass="passenger"/>
-  <vType id="vehicle.micro.microlino" length="2.2024967670440674" width="1.4853248596191406" height="1.3464953899383545" vClass="evehicle"/>
-  <vType id="vehicle.audi.etron" length="4.892005443572998" width="2.08632230758667" height="1.6511509418487549" vClass="evehicle"/>
-  <vType id="vehicle.mercedes.coupe" length="5.043785095214844" width="2.1629974842071533" height="1.640134572982788" vClass="passenger"/>
-  <vType id="vehicle.bmw.grandtourer" length="4.639087677001953" width="2.259321928024292" height="1.6781779527664185" vClass="passenger"/>
-  <vType id="vehicle.toyota.prius" length="4.538333415985107" width="2.0011305809020996" height="1.5373616218566895" vClass="evehicle"/>
-  <vType id="vehicle.citroen.c3" length="3.9753477573394775" width="1.862074851989746" height="1.6257729530334473" vClass="passenger"/>
-  <vType id="vehicle.ford.mustang" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
-  <vType id="vehicle.tesla.model3" length="4.808821678161621" width="2.1695058345794678" height="1.5231821537017822" vClass="evehicle"/>
-  <vType id="vehicle.diamondback.century" length="1.6562436819076538" width="0.42141881585121155" height="1.49351167678833" vClass="bicycle"/>
-  <vType id="vehicle.gazelle.omafiets" length="1.843441367149353" width="0.4674844741821289" height="1.590073823928833" vClass="bicycle"/>
-  <vType id="vehicle.harley-davidson.low_rider" length="2.350175619125366" width="0.7662330269813538" height="1.4637391567230225" vClass="motorcycle"/>
-  <vType id="vehicle.bh.crossbike" length="1.5093227624893188" width="0.8659406304359436" height="1.5306309461593628" vClass="bicycle"/>
-  <vType id="vehicle.tesla.cybertruck" length="6.364232063293457" width="2.3934903144836426" height="2.1439828872680664" vClass="evehicle"/>
-  <vType id="vehicle.volkswagen.t2" length="4.473711013793945" width="1.8112499713897705" height="2.0543651580810547" vClass="passenger" guiShape="passenger/van"/>
-  <vType id="vehicle.kawasaki.ninja" length="2.043684244155884" width="0.7969123125076294" height="1.374603033065796" vClass="motorcycle"/>
-  <vType id="vehicle.lincoln.mkz_2017" length="4.904701232910156" width="2.0606582164764404" height="1.478397011756897" vClass="passenger"/>
-  <vType id="vehicle.seat.leon" length="4.207873821258545" width="1.8198652267456055" height="1.4694602489471436" vClass="passenger"/>
-  <vType id="vehicle.yamaha.yzf" length="2.1907684803009033" width="0.7662330269813538" height="1.6345058679580688" vClass="motorcycle"/>
-  <vType id="vehicle.nissan.patrol" length="4.519999980926514" width="1.9199999570846558" height="1.8871309757232666" vClass="passenger"/>
-  <vType id="vehicle.nissan.micra" length="3.6688475608825684" width="1.8561522960662842" height="1.5232137441635132" vClass="passenger"/>
-</routes>

Co-Simulation/Sumo/examples/net/Town01.net.xml

@@ -1,812 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<net version="1.6" junctionCornerDetail="5" rectangularLaneCut="true" limitTurnSpeed="5.50" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
-
-    <location netOffset="0.06,328.61" convBoundary="0.00,0.00,394.44,328.66" origBoundary="-0.06,-328.61,394.38,0.05" projParameter="!"/>
-
-    <type id="bidirectional" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="biking" priority="-1" speed="5.56" allow="bicycle" width="1.50"/>
-    <type id="border" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
-    <type id="driving" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="entry" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="exit" priority="1" speed="22.22" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="median" priority="0" speed="1.39" disallow="all" discard="1" width="0.10"/>
-    <type id="mwyEntry" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="mwyExit" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="none" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-    <type id="offRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="onRamp" priority="1" speed="22.22" allow="private emergency authority army vip passenger hov taxi bus coach delivery truck trailer motorcycle evehicle custom1 custom2" width="3.65"/>
-    <type id="parking" priority="1" speed="1.39" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="2.50"/>
-    <type id="rail" priority="3" speed="33.33" allow="rail_urban rail rail_electric rail_fast" width="3.65"/>
-    <type id="restricted" priority="0" speed="13.89" disallow="all" width="3.65"/>
-    <type id="roadWorks" priority="0" speed="1.39" allow="authority" width="3.65"/>
-    <type id="shoulder" priority="0" speed="1.39" disallow="all" discard="1" width="1.00"/>
-    <type id="sidewalk" priority="-2" speed="2.78" allow="pedestrian" width="2.50"/>
-    <type id="special1" priority="1" speed="22.22" allow="custom1" discard="1" width="3.65"/>
-    <type id="special2" priority="1" speed="22.22" allow="custom2" discard="1" width="3.65"/>
-    <type id="special3" priority="1" speed="22.22" allow="custom1 custom2" discard="1" width="3.65"/>
-    <type id="stop" priority="1" speed="13.89" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" width="3.65"/>
-    <type id="tram" priority="2" speed="13.89" allow="tram" width="3.65"/>
-
-    <edge id=":111_0" function="internal">
-        <lane id=":111_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.22" length="14.76" width="4.00" shape="334.93,282.20 334.35,278.23 332.62,275.40 329.73,273.71 325.69,273.14"/>
-    </edge>
-    <edge id=":111_1" function="internal">
-        <lane id=":111_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.62" width="4.00" shape="334.93,282.20 334.92,259.58"/>
-    </edge>
-    <edge id=":111_2" function="internal">
-        <lane id=":111_2_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.62" width="4.00" shape="338.92,259.58 338.93,282.19"/>
-    </edge>
-    <edge id=":111_3" function="internal">
-        <lane id=":111_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.81" length="8.31" width="4.00" shape="338.92,259.58 338.09,265.51 336.92,267.51"/>
-    </edge>
-    <edge id=":111_6" function="internal">
-        <lane id=":111_6_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.81" length="13.30" width="4.00" shape="336.92,267.51 335.61,269.75 331.48,272.29 325.69,273.14"/>
-    </edge>
-    <edge id=":111_4" function="internal">
-        <lane id=":111_4_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.32" length="15.16" width="4.00" shape="325.69,269.14 329.73,268.54 332.61,266.75 334.34,263.76 334.92,259.58"/>
-    </edge>
-    <edge id=":111_5" function="internal">
-        <lane id=":111_5_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.73" length="21.20" width="4.00" shape="325.69,269.14 331.48,269.96 335.62,272.40 338.10,276.48 338.93,282.19"/>
-    </edge>
-    <edge id=":128_0" function="internal">
-        <lane id=":128_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.00" width="4.00" shape="88.46,142.28 88.46,120.28"/>
-    </edge>
-    <edge id=":128_1" function="internal">
-        <lane id=":128_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.65" length="7.94" width="4.00" shape="88.46,142.28 89.27,136.68 90.46,134.73"/>
-    </edge>
-    <edge id=":128_6" function="internal">
-        <lane id=":128_6_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.65" length="12.89" width="4.00" shape="90.46,134.73 91.72,132.67 95.79,130.27 101.48,129.47"/>
-    </edge>
-    <edge id=":128_2" function="internal">
-        <lane id=":128_2_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.12" length="14.39" width="4.00" shape="101.49,133.47 97.54,134.02 94.72,135.67 93.02,138.43 92.46,142.29"/>
-    </edge>
-    <edge id=":128_3" function="internal">
-        <lane id=":128_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.71" length="21.13" width="4.00" shape="101.49,133.47 95.79,132.65 91.72,130.17 89.27,126.05 88.46,120.28"/>
-    </edge>
-    <edge id=":128_4" function="internal">
-        <lane id=":128_4_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.20" length="14.68" width="4.00" shape="92.46,120.28 93.03,124.30 94.72,127.17 97.54,128.90 101.48,129.47"/>
-    </edge>
-    <edge id=":128_5" function="internal">
-        <lane id=":128_5_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="22.00" width="4.00" shape="92.46,120.28 92.46,142.29"/>
-    </edge>
-    <edge id=":139_0" function="internal">
-        <lane id=":139_0_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="8.18" length="14.62" width="4.00" shape="334.89,208.03 334.31,204.12 332.59,201.33 329.72,199.65 325.70,199.09"/>
-    </edge>
-    <edge id=":139_1" function="internal">
-        <lane id=":139_1_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="23.09" width="4.00" shape="334.89,208.03 334.87,184.94"/>
-    </edge>
-    <edge id=":139_2" function="internal">
-        <lane id=":139_2_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="13.89" length="23.09" width="4.00" shape="338.87,184.94 338.89,208.03"/>
-    </edge>
-    <edge id=":139_3" function="internal">
-        <lane id=":139_3_0" index="0" disallow="pedestrian tram rail_urban rail rail_electric rail_fast ship" speed="9.91" length="8.65" width="4.00" shape="338.87,184.94 338.05,191.13 336.88,193.24"/>
-    </edge>
-    <edge id=":139_6" function="internal">
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-
-</net>

Co-Simulation/Sumo/examples/rou/Town01.rou.xml

@@ -1,303 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
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-    </vehicle>
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-        <route edges="-4.0.00 17.0.00 10.0.00 25.0.00 1.0.00 -16.0.00 -17.0.00 4.0.00"/>
-    </vehicle>
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-        <route edges="-24.0.00 -6.0.00 19.0.00 18.0.00 17.0.00 16.0.00 0.0.00 -14.0.00 7.0.00 6.0.00"/>
-    </vehicle>
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-        <route edges="-8.0.00 -1.0.00 -2.0.00 -21.0.00 -22.0.00 -23.0.00 -12.0.00 18.0.00"/>
-    </vehicle>
-    <vehicle id="4" type="vehicle.harley-davidson.low_rider" depart="4.00">
-        <route edges="22.0.00 21.0.00 2.0.00 1.0.00 0.0.00"/>
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-    </vehicle>
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-        <route edges="-25.0.00 -10.0.00 -17.0.00 -18.0.00 -19.0.00 -7.0.00 14.0.00 -8.0.00"/>
-    </vehicle>
-    <vehicle id="7" type="vehicle.audi.tt" depart="7.00">
-        <route edges="-18.0.00 12.0.00 23.0.00 22.0.00 21.0.00 -3.0.00"/>
-    </vehicle>
-    <vehicle id="8" type="vehicle.toyota.prius" depart="8.00">
-        <route edges="-14.0.00 7.0.00 19.0.00 18.0.00 17.0.00 16.0.00 0.0.00"/>
-    </vehicle>
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-        <route edges="-3.0.00 -6.0.00 19.0.00 12.0.00 -24.0.00"/>
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-    </vehicle>
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-        <route edges="18.0.00 4.0.00 -23.0.00 -24.0.00"/>
-    </vehicle>
-    <vehicle id="12" type="vehicle.micro.microlino" depart="12.00">
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-    </vehicle>
-    <vehicle id="14" type="vehicle.bmw.grandtourer" depart="14.00">
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-    </vehicle>
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-    <vehicle id="16" type="vehicle.bmw.grandtourer" depart="16.00">
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-    </vehicle>
-    <vehicle id="17" type="vehicle.toyota.prius" depart="17.00">
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-    </vehicle>
-    <vehicle id="18" type="vehicle.dodge.charger_police" depart="18.00">
-        <route edges="21.0.00 -3.0.00 -6.0.00"/>
-    </vehicle>
-    <vehicle id="19" type="vehicle.mercedes.coupe" depart="19.00">
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-    </vehicle>
-    <vehicle id="22" type="vehicle.dodge.charger_police" depart="22.00">
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-    </vehicle>
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-    </vehicle>
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-        <route edges="17.0.00 10.0.00 25.0.00 1.0.00"/>
-    </vehicle>
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Co-Simulation/Sumo/examples/rou/Town04.rou.xml

@@ -1,603 +0,0 @@
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Co-Simulation/Sumo/examples/rou/Town05.rou.xml

@@ -1,603 +0,0 @@
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-        <route edges="33.0.00 -39.0.00 -0.0.00 17.0.00 -7.0.00 -5.0.00"/>
-    </vehicle>
-    <vehicle id="157" type="vehicle.seat.leon" depart="157.00">
-        <route edges="-18.0.00 21.0.00 -29.0.00 39.0.00 31.0.00"/>
-    </vehicle>
-    <vehicle id="158" type="vehicle.bh.crossbike" depart="158.00">
-        <route edges="-14.0.00 -6.0.00 46.0.00"/>
-    </vehicle>
-    <vehicle id="159" type="vehicle.carlamotors.carlacola" depart="159.00">
-        <route edges="35.0.00 -27.0.00 20.0.00 48.0.00"/>
-    </vehicle>
-    <vehicle id="160" type="vehicle.gazelle.omafiets" depart="160.00">
-        <route edges="6.0.00 33.0.00 -48.0.00 19.0.00"/>
-    </vehicle>
-    <vehicle id="161" type="vehicle.yamaha.yzf" depart="161.00">
-        <route edges="23.0.00 -52.0.00 -2.0.00 -44.0.00 8.0.00 -5.0.00"/>
-    </vehicle>
-    <vehicle id="162" type="vehicle.tesla.cybertruck" depart="162.00">
-        <route edges="17.0.00 -7.0.00"/>
-    </vehicle>
-    <vehicle id="163" type="vehicle.seat.leon" depart="163.00">
-        <route edges="-24.0.00 11.0.00 10.0.00"/>
-    </vehicle>
-    <vehicle id="164" type="vehicle.ford.mustang" depart="164.00">
-        <route edges="24.0.00 23.0.00 -52.0.00"/>
-    </vehicle>
-    <vehicle id="165" type="vehicle.audi.etron" depart="165.00">
-        <route edges="-8.0.00 44.0.00 2.0.00 1.0.00 17.0.00"/>
-    </vehicle>
-    <vehicle id="166" type="vehicle.bh.crossbike" depart="166.00">
-        <route edges="24.0.00 23.0.00 22.0.00 21.0.00 28.0.00 27.0.00 -38.0.00 -13.0.00"/>
-    </vehicle>
-    <vehicle id="167" type="vehicle.lincoln.mkz_2017" depart="167.00">
-        <route edges="37.0.00 -13.0.00 -14.0.00 -6.0.00 -7.0.00 -5.0.00 -50.0.00 -23.0.00"/>
-    </vehicle>
-    <vehicle id="168" type="vehicle.yamaha.yzf" depart="168.00">
-        <route edges="-26.0.00 -21.0.00 40.0.00 -1.0.00 -2.0.00"/>
-    </vehicle>
-    <vehicle id="169" type="vehicle.citroen.c3" depart="169.00">
-        <route edges="-7.0.00 -8.0.00"/>
-    </vehicle>
-    <vehicle id="170" type="vehicle.mercedes.coupe" depart="170.00">
-        <route edges="25.0.00 -6.0.00 -7.0.00 -8.0.00"/>
-    </vehicle>
-    <vehicle id="171" type="vehicle.mini.cooper_s" depart="171.00">
-        <route edges="9.0.00 44.0.00 43.0.00 42.0.00 -51.0.00"/>
-    </vehicle>
-    <vehicle id="172" type="vehicle.seat.leon" depart="172.00">
-        <route edges="-30.0.00 -39.0.00 25.0.00 33.0.00"/>
-    </vehicle>
-    <vehicle id="173" type="vehicle.nissan.micra" depart="173.00">
-        <route edges="-50.0.00 22.0.00 21.0.00 28.0.00 27.0.00 37.0.00"/>
-    </vehicle>
-    <vehicle id="174" type="vehicle.citroen.c3" depart="174.00">
-        <route edges="-3.0.00 10.0.00 9.0.00 8.0.00 -5.0.00 -2.0.00"/>
-    </vehicle>
-    <vehicle id="175" type="vehicle.volkswagen.t2" depart="175.00">
-        <route edges="33.0.00 31.0.00"/>
-    </vehicle>
-    <vehicle id="176" type="vehicle.dodge.charger_police" depart="176.00">
-        <route edges="-19.0.00 48.0.00 31.0.00 -21.0.00 -22.0.00 51.0.00 41.0.00"/>
-    </vehicle>
-    <vehicle id="177" type="vehicle.ford.mustang" depart="177.00">
-        <route edges="-0.0.00 17.0.00 6.0.00 -16.0.00 -26.0.00"/>
-    </vehicle>
-    <vehicle id="178" type="vehicle.citroen.c3" depart="178.00">
-        <route edges="45.0.00 8.0.00 7.0.00 6.0.00 15.0.00 -19.0.00 48.0.00"/>
-    </vehicle>
-    <vehicle id="179" type="vehicle.kawasaki.ninja" depart="179.00">
-        <route edges="6.0.00 15.0.00 -19.0.00 48.0.00"/>
-    </vehicle>
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-        <route edges="-9.0.00 -10.0.00 3.0.00 2.0.00 49.0.00 7.0.00 6.0.00 -16.0.00 -0.0.00"/>
-    </vehicle>
-    <vehicle id="181" type="vehicle.seat.leon" depart="181.00">
-        <route edges="-20.0.00 -28.0.00 -29.0.00 -0.0.00 17.0.00 46.0.00 45.0.00"/>
-    </vehicle>
-    <vehicle id="182" type="vehicle.audi.etron" depart="182.00">
-        <route edges="-22.0.00 51.0.00 41.0.00 21.0.00 28.0.00 27.0.00 -38.0.00 -13.0.00"/>
-    </vehicle>
-    <vehicle id="183" type="vehicle.toyota.prius" depart="183.00">
-        <route edges="2.0.00 1.0.00 0.0.00 -26.0.00 28.0.00 27.0.00 -38.0.00 -13.0.00"/>
-    </vehicle>
-    <vehicle id="184" type="vehicle.ford.mustang" depart="184.00">
-        <route edges="-16.0.00 -0.0.00 -1.0.00 -2.0.00 -3.0.00 10.0.00"/>
-    </vehicle>
-    <vehicle id="185" type="vehicle.lincoln.mkz_2017" depart="185.00">
-        <route edges="41.0.00 40.0.00 17.0.00 6.0.00"/>
-    </vehicle>
-    <vehicle id="186" type="vehicle.diamondback.century" depart="186.00">
-        <route edges="-4.0.00 -5.0.00 1.0.00 -18.0.00 -22.0.00"/>
-    </vehicle>
-    <vehicle id="187" type="vehicle.jeep.wrangler_rubicon" depart="187.00">
-        <route edges="46.0.00 45.0.00 44.0.00 43.0.00 -24.0.00 11.0.00"/>
-    </vehicle>
-    <vehicle id="188" type="vehicle.audi.tt" depart="188.00">
-        <route edges="42.0.00 -51.0.00 -52.0.00 -2.0.00"/>
-    </vehicle>
-    <vehicle id="189" type="vehicle.gazelle.omafiets" depart="189.00">
-        <route edges="25.0.00 -6.0.00 -7.0.00 4.0.00 -46.0.00 6.0.00 -16.0.00"/>
-    </vehicle>
-    <vehicle id="190" type="vehicle.diamondback.century" depart="190.00">
-        <route edges="3.0.00 2.0.00 1.0.00"/>
-    </vehicle>
-    <vehicle id="191" type="vehicle.mini.cooper_s" depart="191.00">
-        <route edges="-6.0.00 -47.0.00 -18.0.00 21.0.00 -29.0.00"/>
-    </vehicle>
-    <vehicle id="192" type="vehicle.yamaha.yzf" depart="192.00">
-        <route edges="-10.0.00 3.0.00 2.0.00 -50.0.00"/>
-    </vehicle>
-    <vehicle id="193" type="vehicle.dodge.charger_police" depart="193.00">
-        <route edges="19.0.00 13.0.00 35.0.00 -27.0.00 -28.0.00 -21.0.00 40.0.00"/>
-    </vehicle>
-    <vehicle id="194" type="vehicle.audi.tt" depart="194.00">
-        <route edges="-43.0.00 2.0.00 1.0.00 0.0.00 -26.0.00 28.0.00 27.0.00"/>
-    </vehicle>
-    <vehicle id="195" type="vehicle.mercedes.coupe" depart="195.00">
-        <route edges="-30.0.00 -39.0.00 -0.0.00 -1.0.00 -2.0.00 -3.0.00 10.0.00"/>
-    </vehicle>
-    <vehicle id="196" type="vehicle.nissan.micra" depart="196.00">
-        <route edges="51.0.00 41.0.00 21.0.00 -30.0.00 -48.0.00"/>
-    </vehicle>
-    <vehicle id="197" type="vehicle.toyota.prius" depart="197.00">
-        <route edges="-23.0.00 -43.0.00 -44.0.00"/>
-    </vehicle>
-    <vehicle id="198" type="vehicle.micro.microlino" depart="198.00">
-        <route edges="51.0.00 -42.0.00 -24.0.00 11.0.00 10.0.00 9.0.00"/>
-    </vehicle>
-    <vehicle id="199" type="vehicle.bmw.grandtourer" depart="199.00">
-        <route edges="-39.0.00 -0.0.00 -1.0.00 -2.0.00 -3.0.00 -11.0.00 24.0.00"/>
-    </vehicle>
-</routes>

Co-Simulation/Sumo/examples/viewsettings.xml

@@ -1,774 +0,0 @@
-<viewsettings>
-    <scheme name="custom_1">
-        <opengl dither="0" fps="0" drawBoundaries="0" forceDrawPositionSelection="0" forceDrawRectangleSelection="0"/>
-        <background backgroundColor="white" showGrid="0" gridXSize="100.00" gridYSize="100.00"/>
-        <edges laneEdgeMode="0" scaleMode="0" laneShowBorders="1" showBikeMarkings="1" showLinkDecals="1" showLinkRules="1" showRails="1" hideConnectors="0" widthExaggeration="1.00" minSize="0.00" showDirection="0" showSublanes="1" spreadSuperposed="0" edgeParam="EDGE_KEY" laneParam="LANE_KEY" vehicleParam="PARAM_NUMERICAL" vehicleTextParam="PARAM_TEXT" edgeData="speed"
-                edgeName_show="0" edgeName_size="60.00" edgeName_color="orange" edgeName_bgColor="128,0,0,0" edgeName_constantSize="1"
-                internalEdgeName_show="0" internalEdgeName_size="45.00" internalEdgeName_color="128,64,0" internalEdgeName_bgColor="128,0,0,0" internalEdgeName_constantSize="1"
-                cwaEdgeName_show="0" cwaEdgeName_size="60.00" cwaEdgeName_color="magenta" cwaEdgeName_bgColor="128,0,0,0" cwaEdgeName_constantSize="1"
-                streetName_show="0" streetName_size="60.00" streetName_color="yellow" streetName_bgColor="128,0,0,0" streetName_constantSize="1"
-                edgeValue_show="0" edgeValue_size="100.00" edgeValue_color="cyan" edgeValue_bgColor="128,0,0,0" edgeValue_constantSize="1">
-            <colorScheme name="uniform">
-                <entry color="black" name="road"/>
-                <entry color="grey" name="sidewalk"/>
-                <entry color="192,66,44" name="bike lane"/>
-                <entry color="0,0,0,0" name="green verge"/>
-                <entry color="150,200,200" name="waterway"/>
-                <entry color="black" name="railway"/>
-                <entry color="92,92,92" name="no passenger"/>
-                <entry color="red" name="closed"/>
-                <entry color="green" name="connector"/>
-                <entry color="orange" name="forbidden"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="grey" name="unselected"/>
-                <entry color="0,80,180" name="selected"/>
-            </colorScheme>
-            <colorScheme name="by permission code" interpolated="1">
-                <entry color="240,240,240" threshold="0.00" name="nobody"/>
-                <entry color="grey" threshold="32.00" name="pedestrian"/>
-                <entry color="10,10,10" threshold="64.00" name="passenger"/>
-                <entry color="166,147,26" threshold="256.00" name="taxi"/>
-                <entry color="40,100,40" threshold="512.00" name="bus"/>
-                <entry color="80,80,80" threshold="2080.00" name="pedestrian_delivery"/>
-                <entry color="192,66,44" threshold="65536.00" name="bicycle"/>
-                <entry color="150,200,200" threshold="8388608.00" name="waterway"/>
-                <entry color="255,206,0" threshold="50495455.00" name="motorway"/>
-                <entry color="black" threshold="50593759.00" name="disallow_pedestrian"/>
-                <entry color="black" threshold="50593791.00" name="normal_road"/>
-                <entry color="green" threshold="67108863.00" name="all"/>
-            </colorScheme>
-            <colorScheme name="by allowed speed (lanewise)" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by current occupancy (lanewise, brutto)" interpolated="1">
-                <entry color="235,235,235" threshold="0.00"/>
-                <entry color="green" threshold="0.25"/>
-                <entry color="yellow" threshold="0.50"/>
-                <entry color="orange" threshold="0.75"/>
-                <entry color="red" threshold="1.00"/>
-            </colorScheme>
-            <colorScheme name="by current occupancy (lanewise, netto)" interpolated="1">
-                <entry color="235,235,235" threshold="0.00"/>
-                <entry color="green" threshold="0.25"/>
-                <entry color="yellow" threshold="0.50"/>
-                <entry color="orange" threshold="0.75"/>
-                <entry color="red" threshold="1.00"/>
-            </colorScheme>
-            <colorScheme name="by first vehicle waiting time (lanewise)" interpolated="1">
-                <entry color="235,235,235" threshold="0.00"/>
-                <entry color="cyan" threshold="30.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="yellow" threshold="200.00"/>
-                <entry color="red" threshold="300.00"/>
-            </colorScheme>
-            <colorScheme name="by lane number (streetwise)" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="blue" threshold="5.00"/>
-            </colorScheme>
-            <colorScheme name="by CO2 emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.27"/>
-            </colorScheme>
-            <colorScheme name="by CO emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.00"/>
-            </colorScheme>
-            <colorScheme name="by PMx emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.00"/>
-            </colorScheme>
-            <colorScheme name="by NOx emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.00"/>
-            </colorScheme>
-            <colorScheme name="by HC emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.00"/>
-            </colorScheme>
-            <colorScheme name="by fuel consumption" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.07"/>
-            </colorScheme>
-            <colorScheme name="by noise emissions (Harmonoise)" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by global travel time" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by global speed percentage" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="50.00"/>
-                <entry color="green" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by given length/geometrical length" interpolated="1">
-                <entry color="black" threshold="0.00"/>
-                <entry color="red" threshold="0.25"/>
-                <entry color="yellow" threshold="0.50"/>
-                <entry color="179,179,179" threshold="1.00"/>
-                <entry color="green" threshold="2.00"/>
-                <entry color="blue" threshold="4.00"/>
-            </colorScheme>
-            <colorScheme name="by angle">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="by loaded weight" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by priority" interpolated="1">
-                <entry color="red" threshold="-20.00"/>
-                <entry color="yellow" threshold="0.00"/>
-                <entry color="green" threshold="20.00"/>
-            </colorScheme>
-            <colorScheme name="by height at start" interpolated="1">
-                <entry color="blue" threshold="-10.00"/>
-                <entry color="grey" threshold="0.00"/>
-                <entry color="red" threshold="10.00"/>
-                <entry color="yellow" threshold="50.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="magenta" threshold="200.00"/>
-            </colorScheme>
-            <colorScheme name="by height at geometry-segment start" interpolated="1">
-                <entry color="blue" threshold="-10.00"/>
-                <entry color="grey" threshold="0.00"/>
-                <entry color="red" threshold="10.00"/>
-                <entry color="yellow" threshold="50.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="magenta" threshold="200.00"/>
-            </colorScheme>
-            <colorScheme name="by inclination" interpolated="1">
-                <entry color="blue" threshold="-0.30"/>
-                <entry color="green" threshold="-0.10"/>
-                <entry color="grey" threshold="0.00"/>
-                <entry color="yellow" threshold="0.10"/>
-                <entry color="red" threshold="0.30"/>
-            </colorScheme>
-            <colorScheme name="by geometry-segment inclination" interpolated="1">
-                <entry color="blue" threshold="-0.30"/>
-                <entry color="green" threshold="-0.10"/>
-                <entry color="grey" threshold="0.00"/>
-                <entry color="yellow" threshold="0.10"/>
-                <entry color="red" threshold="0.30"/>
-            </colorScheme>
-            <colorScheme name="by average speed" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by average relative speed " interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="0.25"/>
-                <entry color="green" threshold="0.50"/>
-                <entry color="cyan" threshold="0.75"/>
-                <entry color="blue" threshold="1.00"/>
-                <entry color="magenta" threshold="1.25"/>
-            </colorScheme>
-            <colorScheme name="by routing device assumed speed " interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by electricity consumption" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.03"/>
-            </colorScheme>
-            <colorScheme name="by insertion-backlog (streetwise)" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-                <entry color="green" threshold="1.00"/>
-                <entry color="yellow" threshold="10.00"/>
-                <entry color="red" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by TAZ (streetwise)">
-                <entry color="204,204,204" name="no TAZ"/>
-            </colorScheme>
-            <colorScheme name="by param (numerical, streetwise)" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-            </colorScheme>
-            <colorScheme name="by param (numerical, lanewise)" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-            </colorScheme>
-            <colorScheme name="by edgeData (numerical, streetwise)" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-            </colorScheme>
-            <colorScheme name="by distance (kilometrage)" interpolated="1">
-                <entry color="blue" threshold="-10000.00"/>
-                <entry color="204,204,255" threshold="-1.00"/>
-                <entry color="204,204,204" threshold="0.00"/>
-                <entry color="255,204,204" threshold="1.00"/>
-                <entry color="red" threshold="10000.00"/>
-            </colorScheme>
-            <colorScheme name="by abs distance (kilometrage)" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-                <entry color="red" threshold="1.00"/>
-            </colorScheme>
-            <colorScheme name="by reachability (traveltime)" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-                <entry color="red" threshold="1.00"/>
-            </colorScheme>
-            <colorScheme name="by thread index" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-                <entry color="red" threshold="1.00"/>
-            </colorScheme>
-            <scalingScheme name="default">
-                <entry color="1.00" name="uniform"/>
-            </scalingScheme>
-            <scalingScheme name="by selection">
-                <entry color="0.50" name="unselected"/>
-                <entry color="5.00" name="selected"/>
-            </scalingScheme>
-            <scalingScheme name="by allowed speed (lanewise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="41.67"/>
-            </scalingScheme>
-            <scalingScheme name="by current occupancy (lanewise, brutto)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.95"/>
-            </scalingScheme>
-            <scalingScheme name="by current occupancy (lanewise, netto)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.95"/>
-            </scalingScheme>
-            <scalingScheme name="by first vehicle waiting time (lanewise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="300.00"/>
-            </scalingScheme>
-            <scalingScheme name="by lane number (streetwise)" interpolated="1">
-                <entry color="1.00" threshold="0.00"/>
-                <entry color="10.00" threshold="5.00"/>
-            </scalingScheme>
-            <scalingScheme name="by CO2 emissions" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.27"/>
-            </scalingScheme>
-            <scalingScheme name="by CO emissions" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.00"/>
-            </scalingScheme>
-            <scalingScheme name="by PMx emissions" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.00"/>
-            </scalingScheme>
-            <scalingScheme name="by NOx emissions" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.00"/>
-            </scalingScheme>
-            <scalingScheme name="by HC emissions" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.00"/>
-            </scalingScheme>
-            <scalingScheme name="by fuel consumption" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.07"/>
-            </scalingScheme>
-            <scalingScheme name="by noise emissions (Harmonoise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="100.00"/>
-            </scalingScheme>
-            <scalingScheme name="by global travel time" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="100.00"/>
-            </scalingScheme>
-            <scalingScheme name="by global speed percentage" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="100.00"/>
-            </scalingScheme>
-            <scalingScheme name="by given length/geometrical length" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="10.00"/>
-            </scalingScheme>
-            <scalingScheme name="by loaded weight" interpolated="1">
-                <entry color="-1000.00" threshold="-1000.00"/>
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="1000.00" threshold="1000.00"/>
-            </scalingScheme>
-            <scalingScheme name="by priority" interpolated="1">
-                <entry color="0.50" threshold="-20.00"/>
-                <entry color="1.00" threshold="0.00"/>
-                <entry color="5.00" threshold="20.00"/>
-            </scalingScheme>
-            <scalingScheme name="by average speed" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="41.67"/>
-            </scalingScheme>
-            <scalingScheme name="by average relative speed" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="0.50" threshold="0.50"/>
-                <entry color="2.00" threshold="1.00"/>
-                <entry color="10.00" threshold="2.00"/>
-            </scalingScheme>
-            <scalingScheme name="by electricity consumption" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.03"/>
-            </scalingScheme>
-            <scalingScheme name="by insertion-backlog (streetwise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="1.00" threshold="1.00"/>
-                <entry color="10.00" threshold="10.00"/>
-                <entry color="50.00" threshold="100.00"/>
-            </scalingScheme>
-            <colorScheme name="uniform">
-                <entry color="0,0,0,0"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="grey" name="unselected"/>
-                <entry color="0,80,180" name="selected"/>
-            </colorScheme>
-            <colorScheme name="by purpose (streetwise)">
-                <entry color="0,0,0,0" name="normal"/>
-                <entry color="128,0,128" name="connector"/>
-                <entry color="blue" name="internal"/>
-            </colorScheme>
-            <colorScheme name="by allowed speed (streetwise)" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by current occupancy (streetwise, brutto)" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="red" threshold="0.95"/>
-            </colorScheme>
-            <colorScheme name="by current speed (streetwise)" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by current flow (streetwise)" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="red" threshold="5000.00"/>
-            </colorScheme>
-            <colorScheme name="by relative speed (streetwise)" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="0.25"/>
-                <entry color="green" threshold="0.50"/>
-                <entry color="cyan" threshold="0.75"/>
-                <entry color="blue" threshold="1.00"/>
-                <entry color="magenta" threshold="1.25"/>
-            </colorScheme>
-            <colorScheme name="by routing device assumed speed" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by angle">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="by segments (alternating)">
-                <entry color="blue" name="odd"/>
-                <entry color="red" name="even"/>
-            </colorScheme>
-            <colorScheme name="by jammed state (segmentwise)">
-                <entry color="green" name="free"/>
-                <entry color="red" name="jammed"/>
-            </colorScheme>
-            <colorScheme name="by current occupancy (segmentwise, brutto)" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="red" threshold="0.95"/>
-            </colorScheme>
-            <colorScheme name="by current speed (segmentwise)" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by current flow (segmentwise)" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="red" threshold="5000.00"/>
-            </colorScheme>
-            <colorScheme name="by relative speed (segmentwise)" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="0.25"/>
-                <entry color="green" threshold="0.50"/>
-                <entry color="cyan" threshold="0.75"/>
-                <entry color="blue" threshold="1.00"/>
-                <entry color="magenta" threshold="1.25"/>
-            </colorScheme>
-            <colorScheme name="by insertion-backlog (streetwise)" interpolated="1">
-                <entry color="grey" threshold="0.00"/>
-                <entry color="green" threshold="1.00"/>
-                <entry color="yellow" threshold="10.00"/>
-                <entry color="red" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by TAZ (streetwise)">
-                <entry color="204,204,204" name="no TAZ"/>
-            </colorScheme>
-            <scalingScheme name="uniform">
-                <entry color="1.00"/>
-            </scalingScheme>
-            <scalingScheme name="by selection">
-                <entry color="0.50" name="unselected"/>
-                <entry color="5.00" name="selected"/>
-            </scalingScheme>
-            <scalingScheme name="by allowed speed (streetwise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="41.67"/>
-            </scalingScheme>
-            <scalingScheme name="by current occupancy (streetwise, brutto)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="0.95"/>
-            </scalingScheme>
-            <scalingScheme name="by current speed (streetwise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="10.00" threshold="41.67"/>
-            </scalingScheme>
-            <scalingScheme name="by current flow (streetwise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="20.00" threshold="5000.00"/>
-            </scalingScheme>
-            <scalingScheme name="by relative speed (streetwise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="20.00" threshold="1.00"/>
-            </scalingScheme>
-            <scalingScheme name="by insertion-backlog (streetwise)" interpolated="1">
-                <entry color="0.00" threshold="0.00"/>
-                <entry color="1.00" threshold="1.00"/>
-                <entry color="10.00" threshold="10.00"/>
-                <entry color="50.00" threshold="100.00"/>
-            </scalingScheme>
-        </edges>
-        <vehicles vehicleMode="0" vehicleQuality="3" vehicle_minSize="1.00" vehicle_exaggeration="1.00" vehicle_constantSize="0" vehicle_constantSizeSelected="0" showBlinker="1" drawMinGap="0" drawBrakeGap="0" showBTRange="0" showRouteIndex="0"
-                  vehicleName_show="0" vehicleName_size="60.00" vehicleName_color="204,153,0" vehicleName_bgColor="128,0,0,0" vehicleName_constantSize="1"
-                  vehicleValue_show="0" vehicleValue_size="80.00" vehicleValue_color="cyan" vehicleValue_bgColor="128,0,0,0" vehicleValue_constantSize="1"
-                  vehicleText_show="0" vehicleText_size="80.00" vehicleText_color="red" vehicleText_bgColor="128,0,0,0" vehicleText_constantSize="1">
-            <colorScheme name="given vehicle/type/route color">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="uniform">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="given/assigned vehicle color">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="given/assigned type color">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="given/assigned route color">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="depart position as HSV">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="arrival position as HSV">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="direction/distance as HSV">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="by speed" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by action step">
-                <entry color="grey" name="no action"/>
-                <entry color="green" name="action in next step"/>
-                <entry color="80,160,80" name="had action step"/>
-            </colorScheme>
-            <colorScheme name="by waiting time" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="cyan" threshold="30.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="yellow" threshold="200.00"/>
-                <entry color="red" threshold="300.00"/>
-            </colorScheme>
-            <colorScheme name="by accumulated waiting time" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="cyan" threshold="25.00"/>
-                <entry color="green" threshold="50.00"/>
-                <entry color="yellow" threshold="75.00"/>
-                <entry color="red" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by time since lane change" interpolated="1">
-                <entry color="189,189,179" threshold="-180.00"/>
-                <entry color="yellow" threshold="-20.00"/>
-                <entry color="red" threshold="-0.00"/>
-                <entry color="179,179,179" threshold="0.00" name="0"/>
-                <entry color="blue" threshold="0.00"/>
-                <entry color="cyan" threshold="20.00"/>
-                <entry color="179,189,189" threshold="180.00"/>
-            </colorScheme>
-            <colorScheme name="by max speed" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="8.33"/>
-                <entry color="green" threshold="15.28"/>
-                <entry color="cyan" threshold="22.22"/>
-                <entry color="blue" threshold="33.33"/>
-                <entry color="magenta" threshold="41.67"/>
-            </colorScheme>
-            <colorScheme name="by CO2 emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="5.00"/>
-            </colorScheme>
-            <colorScheme name="by CO emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.05"/>
-            </colorScheme>
-            <colorScheme name="by PMx emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.01"/>
-            </colorScheme>
-            <colorScheme name="by NOx emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.12"/>
-            </colorScheme>
-            <colorScheme name="by HC emissions" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.02"/>
-            </colorScheme>
-            <colorScheme name="by fuel consumption" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="0.01"/>
-            </colorScheme>
-            <colorScheme name="by noise emissions (Harmonoise)" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="100.00"/>
-            </colorScheme>
-            <colorScheme name="by reroute number" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="1.00"/>
-                <entry color="white" threshold="10.00"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="179,179,179" name="unselected"/>
-                <entry color="0,102,204" name="selected"/>
-            </colorScheme>
-            <colorScheme name="by offset from best lane" interpolated="1">
-                <entry color="magenta" threshold="-100.00" name="opposite lane"/>
-                <entry color="red" threshold="-3.00" name="-3"/>
-                <entry color="yellow" threshold="-1.00" name="-1"/>
-                <entry color="179,179,179" threshold="0.00" name="0"/>
-                <entry color="cyan" threshold="1.00" name="1"/>
-                <entry color="blue" threshold="3.00" name="3"/>
-            </colorScheme>
-            <colorScheme name="by acceleration" interpolated="1">
-                <entry color="64,0,0" threshold="-9.00"/>
-                <entry color="red" threshold="-4.50"/>
-                <entry color="yellow" threshold="-0.10"/>
-                <entry color="179,179,179" threshold="0.00" name="0"/>
-                <entry color="cyan" threshold="0.10"/>
-                <entry color="blue" threshold="2.60"/>
-                <entry color="magenta" threshold="5.20"/>
-            </colorScheme>
-            <colorScheme name="by time gap on lane" interpolated="1">
-                <entry color="179,179,179" threshold="-1.00"/>
-                <entry color="yellow" threshold="0.00" name="0"/>
-                <entry color="cyan" threshold="1.00"/>
-                <entry color="blue" threshold="2.00"/>
-            </colorScheme>
-            <colorScheme name="by depart delay" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="cyan" threshold="30.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="yellow" threshold="200.00"/>
-                <entry color="red" threshold="300.00"/>
-            </colorScheme>
-            <colorScheme name="by electricity consumption" interpolated="1">
-                <entry color="green" threshold="0.00"/>
-                <entry color="red" threshold="5.00"/>
-            </colorScheme>
-            <colorScheme name="by time loss" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="cyan" threshold="10.00"/>
-                <entry color="green" threshold="60.00"/>
-                <entry color="yellow" threshold="180.00"/>
-                <entry color="red" threshold="900.00"/>
-            </colorScheme>
-            <colorScheme name="by lateral speed" interpolated="1">
-                <entry color="red" threshold="-3.00" name="-1.5"/>
-                <entry color="yellow" threshold="-1.00" name="-0.5"/>
-                <entry color="179,179,179" threshold="0.00" name="0"/>
-                <entry color="cyan" threshold="1.00" name="0.5"/>
-                <entry color="blue" threshold="3.00" name="1.5"/>
-            </colorScheme>
-            <colorScheme name="random">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="by param (numerical)" interpolated="1">
-                <entry color="204,204,204" threshold="0.00"/>
-            </colorScheme>
-        </vehicles>
-        <persons personMode="0" personQuality="3" person_minSize="1.00" person_exaggeration="1.00" person_constantSize="0" person_constantSizeSelected="0"
-                 personName_show="0" personName_size="60.00" personName_color="0,153,204" personName_bgColor="128,0,0,0" personName_constantSize="1"
-                  personValue_show="0" personValue_size="80.00" personValue_color="cyan" personValue_bgColor="128,0,0,0" personValue_constantSize="1">
-            <colorScheme name="given person/type color">
-                <entry color="blue"/>
-            </colorScheme>
-            <colorScheme name="uniform">
-                <entry color="blue"/>
-            </colorScheme>
-            <colorScheme name="given/assigned person color">
-                <entry color="blue"/>
-            </colorScheme>
-            <colorScheme name="given/assigned type color">
-                <entry color="blue"/>
-            </colorScheme>
-            <colorScheme name="by speed" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="0.69"/>
-                <entry color="green" threshold="1.39"/>
-                <entry color="blue" threshold="2.78"/>
-            </colorScheme>
-            <colorScheme name="by mode">
-                <entry color="grey" name="waiting for insertion"/>
-                <entry color="red" name="stopped"/>
-                <entry color="green" name="walking"/>
-                <entry color="blue" name="riding"/>
-                <entry color="cyan" name="accessing trainStop"/>
-                <entry color="yellow" name="waiting for ride"/>
-            </colorScheme>
-            <colorScheme name="by waiting time" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="cyan" threshold="30.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="yellow" threshold="200.00"/>
-                <entry color="red" threshold="300.00"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="179,179,179" name="unselected"/>
-                <entry color="0,102,204" name="selected"/>
-            </colorScheme>
-            <colorScheme name="by angle">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="random">
-                <entry color="yellow"/>
-            </colorScheme>
-        </persons>
-        <containers containerMode="0" containerQuality="0" container_minSize="1.00" container_exaggeration="1.00" container_constantSize="0" container_constantSizeSelected="0"
-                 containerName_show="0" containerName_size="60.00" containerName_color="0,153,204" containerName_bgColor="128,0,0,0" containerName_constantSize="1">
-            <colorScheme name="given container/type color">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="uniform">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="given/assigned container color">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="given/assigned type color">
-                <entry color="yellow"/>
-            </colorScheme>
-            <colorScheme name="by speed" interpolated="1">
-                <entry color="red" threshold="0.00"/>
-                <entry color="yellow" threshold="0.69"/>
-                <entry color="green" threshold="1.39"/>
-                <entry color="blue" threshold="2.78"/>
-            </colorScheme>
-            <colorScheme name="by mode">
-                <entry color="grey" name="waiting for insertion"/>
-                <entry color="red" name="stopped"/>
-                <entry color="green" name="tranship"/>
-                <entry color="blue" name="transport"/>
-                <entry color="cyan" name="accessing trainStop"/>
-                <entry color="yellow" name="waiting for transport"/>
-            </colorScheme>
-            <colorScheme name="by waiting time" interpolated="1">
-                <entry color="blue" threshold="0.00"/>
-                <entry color="cyan" threshold="30.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="yellow" threshold="200.00"/>
-                <entry color="red" threshold="300.00"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="179,179,179" name="unselected"/>
-                <entry color="0,102,204" name="selected"/>
-            </colorScheme>
-            <colorScheme name="by angle">
-                <entry color="yellow"/>
-            </colorScheme>
-        </containers>
-        <junctions junctionMode="0"
-                   drawLinkTLIndex_show="0" drawLinkTLIndex_size="50.00" drawLinkTLIndex_color="128,128,255" drawLinkTLIndex_bgColor="128,0,0,0" drawLinkTLIndex_constantSize="1"
-                   drawLinkJunctionIndex_show="0" drawLinkJunctionIndex_size="50.00" drawLinkJunctionIndex_color="128,128,255" drawLinkJunctionIndex_bgColor="128,0,0,0" drawLinkJunctionIndex_constantSize="1"
-                   junctionName_show="0" junctionName_size="60.00" junctionName_color="0,255,128" junctionName_bgColor="128,0,0,0" junctionName_constantSize="1"
-                   internalJunctionName_show="0" internalJunctionName_size="50.00" internalJunctionName_color="0,204,128" internalJunctionName_bgColor="128,0,0,0" internalJunctionName_constantSize="1"
-                   tlsPhaseIndex_show="0" tlsPhaseIndex_size="150.00" tlsPhaseIndex_color="yellow" tlsPhaseIndex_bgColor="128,0,0,0" tlsPhaseIndex_constantSize="1"
-                   showLane2Lane="0" drawShape="1" drawCrossingsAndWalkingareas="1" junction_minSize="1.00" junction_exaggeration="1.00" junction_constantSize="0" junction_constantSizeSelected="0">
-            <colorScheme name="uniform">
-                <entry color="black"/>
-                <entry color="150,200,200" name="waterway"/>
-                <entry color="0,0,0,0" name="railway"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="grey" name="unselected"/>
-                <entry color="0,80,180" name="selected"/>
-            </colorScheme>
-            <colorScheme name="by type">
-                <entry color="green" name="traffic_light"/>
-                <entry color="0,128,0" name="traffic_light_unregulated"/>
-                <entry color="yellow" name="priority"/>
-                <entry color="red" name="priority_stop"/>
-                <entry color="blue" name="right_before_left"/>
-                <entry color="cyan" name="allway_stop"/>
-                <entry color="grey" name="district"/>
-                <entry color="magenta" name="unregulated"/>
-                <entry color="black" name="dead_end"/>
-                <entry color="orange" name="rail_signal"/>
-                <entry color="172,108,44" name="zipper"/>
-                <entry color="192,255,192" name="traffic_light_right_on_red"/>
-                <entry color="128,0,128" name="rail_crossing"/>
-            </colorScheme>
-            <colorScheme name="by height" interpolated="1">
-                <entry color="blue" threshold="-10.00"/>
-                <entry color="grey" threshold="0.00"/>
-                <entry color="red" threshold="10.00"/>
-                <entry color="yellow" threshold="50.00"/>
-                <entry color="green" threshold="100.00"/>
-                <entry color="magenta" threshold="200.00"/>
-            </colorScheme>
-        </junctions>
-        <additionals addMode="0" add_minSize="1.00" add_exaggeration="1.00" add_constantSize="0" add_constantSizeSelected="0" addName_show="0" addName_size="60.00" addName_color="255,0,128" addName_bgColor="128,0,0,0" addName_constantSize="1" addFullName_show="0" addFullName_size="60.00" addFullName_color="255,0,128" addFullName_bgColor="128,0,0,0" addFullName_constantSize="1"/>
-        <pois poi_minSize="0.00" poi_exaggeration="1.00" poi_constantSize="0" poi_constantSizeSelected="0" poiName_show="0" poiName_size="50.00" poiName_color="255,0,128" poiName_bgColor="128,0,0,0" poiName_constantSize="1" poiType_show="0" poiType_size="60.00" poiType_color="255,0,128" poiType_bgColor="128,0,0,0" poiType_constantSize="1">
-            <colorScheme name="given POI color">
-                <entry color="red"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="179,179,179" name="unselected"/>
-                <entry color="0,102,204" name="selected"/>
-            </colorScheme>
-            <colorScheme name="uniform">
-                <entry color="red"/>
-            </colorScheme>
-        </pois>
-        <polys poly_minSize="0.00" poly_exaggeration="1.00" poly_constantSize="0" poly_constantSizeSelected="0" polyName_show="0" polyName_size="50.00" polyName_color="255,0,128" polyName_bgColor="128,0,0,0" polyName_constantSize="1" polyType_show="0" polyType_size="60.00" polyType_color="255,0,128" polyType_bgColor="128,0,0,0" polyType_constantSize="1">
-            <colorScheme name="given polygon color">
-                <entry color="orange"/>
-            </colorScheme>
-            <colorScheme name="by selection">
-                <entry color="179,179,179" name="unselected"/>
-                <entry color="0,102,204" name="selected"/>
-            </colorScheme>
-            <colorScheme name="uniform">
-                <entry color="orange"/>
-            </colorScheme>
-        </polys>
-        <legend showSizeLegend="1" showColorLegend="0"/>
-    </scheme>
-</viewsettings>

Co-Simulation/Sumo/requirements.txt

@@ -1 +0,0 @@
-lxml==4.6.2

Co-Simulation/Sumo/run_synchronization.py

@@ -1,319 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-"""
-Script to integrate CARLA and SUMO simulations
-"""
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import argparse
-import logging
-import time
-
-# ==================================================================================================
-# -- find carla module -----------------------------------------------------------------------------
-# ==================================================================================================
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(
-        glob.glob('../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' %
-                  (sys.version_info.major, sys.version_info.minor,
-                   'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-# ==================================================================================================
-# -- find traci module -----------------------------------------------------------------------------
-# ==================================================================================================
-
-if 'SUMO_HOME' in os.environ:
-    sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools'))
-else:
-    sys.exit("please declare environment variable 'SUMO_HOME'")
-
-# ==================================================================================================
-# -- sumo integration imports ----------------------------------------------------------------------
-# ==================================================================================================
-
-from sumo_integration.bridge_helper import BridgeHelper  # pylint: disable=wrong-import-position
-from sumo_integration.carla_simulation import CarlaSimulation  # pylint: disable=wrong-import-position
-from sumo_integration.constants import INVALID_ACTOR_ID  # pylint: disable=wrong-import-position
-from sumo_integration.sumo_simulation import SumoSimulation  # pylint: disable=wrong-import-position
-
-# ==================================================================================================
-# -- synchronization_loop --------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class SimulationSynchronization(object):
-    """
-    SimulationSynchronization class is responsible for the synchronization of sumo and carla
-    simulations.
-    """
-    def __init__(self,
-                 sumo_simulation,
-                 carla_simulation,
-                 tls_manager='none',
-                 sync_vehicle_color=False,
-                 sync_vehicle_lights=False):
-
-        self.sumo = sumo_simulation
-        self.carla = carla_simulation
-
-        self.tls_manager = tls_manager
-        self.sync_vehicle_color = sync_vehicle_color
-        self.sync_vehicle_lights = sync_vehicle_lights
-
-        if tls_manager == 'carla':
-            self.sumo.switch_off_traffic_lights()
-        elif tls_manager == 'sumo':
-            self.carla.switch_off_traffic_lights()
-
-        # Mapped actor ids.
-        self.sumo2carla_ids = {}  # Contains only actors controlled by sumo.
-        self.carla2sumo_ids = {}  # Contains only actors controlled by carla.
-
-        BridgeHelper.blueprint_library = self.carla.world.get_blueprint_library()
-        BridgeHelper.offset = self.sumo.get_net_offset()
-
-        # Configuring carla simulation in sync mode.
-        settings = self.carla.world.get_settings()
-        settings.synchronous_mode = True
-        settings.fixed_delta_seconds = self.carla.step_length
-        self.carla.world.apply_settings(settings)
-
-        traffic_manager = self.carla.client.get_trafficmanager()
-        traffic_manager.set_synchronous_mode(True)
-
-    def tick(self):
-        """
-        Tick to simulation synchronization
-        """
-        # -----------------
-        # sumo-->carla sync
-        # -----------------
-        self.sumo.tick()
-
-        # Spawning new sumo actors in carla (i.e, not controlled by carla).
-        sumo_spawned_actors = self.sumo.spawned_actors - set(self.carla2sumo_ids.values())
-        for sumo_actor_id in sumo_spawned_actors:
-            self.sumo.subscribe(sumo_actor_id)
-            sumo_actor = self.sumo.get_actor(sumo_actor_id)
-
-            carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor, self.sync_vehicle_color)
-            if carla_blueprint is not None:
-                carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
-                                                                   sumo_actor.extent)
-
-                carla_actor_id = self.carla.spawn_actor(carla_blueprint, carla_transform)
-                if carla_actor_id != INVALID_ACTOR_ID:
-                    self.sumo2carla_ids[sumo_actor_id] = carla_actor_id
-            else:
-                self.sumo.unsubscribe(sumo_actor_id)
-
-        # Destroying sumo arrived actors in carla.
-        for sumo_actor_id in self.sumo.destroyed_actors:
-            if sumo_actor_id in self.sumo2carla_ids:
-                self.carla.destroy_actor(self.sumo2carla_ids.pop(sumo_actor_id))
-
-        # Updating sumo actors in carla.
-        for sumo_actor_id in self.sumo2carla_ids:
-            carla_actor_id = self.sumo2carla_ids[sumo_actor_id]
-
-            sumo_actor = self.sumo.get_actor(sumo_actor_id)
-            carla_actor = self.carla.get_actor(carla_actor_id)
-
-            carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
-                                                               sumo_actor.extent)
-            if self.sync_vehicle_lights:
-                carla_lights = BridgeHelper.get_carla_lights_state(carla_actor.get_light_state(),
-                                                                   sumo_actor.signals)
-            else:
-                carla_lights = None
-
-            self.carla.synchronize_vehicle(carla_actor_id, carla_transform, carla_lights)
-
-        # Updates traffic lights in carla based on sumo information.
-        if self.tls_manager == 'sumo':
-            common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids
-            for landmark_id in common_landmarks:
-                sumo_tl_state = self.sumo.get_traffic_light_state(landmark_id)
-                carla_tl_state = BridgeHelper.get_carla_traffic_light_state(sumo_tl_state)
-
-                self.carla.synchronize_traffic_light(landmark_id, carla_tl_state)
-
-        # -----------------
-        # carla-->sumo sync
-        # -----------------
-        self.carla.tick()
-
-        # Spawning new carla actors (not controlled by sumo)
-        carla_spawned_actors = self.carla.spawned_actors - set(self.sumo2carla_ids.values())
-        for carla_actor_id in carla_spawned_actors:
-            carla_actor = self.carla.get_actor(carla_actor_id)
-
-            type_id = BridgeHelper.get_sumo_vtype(carla_actor)
-            color = carla_actor.attributes.get('color', None) if self.sync_vehicle_color else None
-            if type_id is not None:
-                sumo_actor_id = self.sumo.spawn_actor(type_id, color)
-                if sumo_actor_id != INVALID_ACTOR_ID:
-                    self.carla2sumo_ids[carla_actor_id] = sumo_actor_id
-                    self.sumo.subscribe(sumo_actor_id)
-
-        # Destroying required carla actors in sumo.
-        for carla_actor_id in self.carla.destroyed_actors:
-            if carla_actor_id in self.carla2sumo_ids:
-                self.sumo.destroy_actor(self.carla2sumo_ids.pop(carla_actor_id))
-
-        # Updating carla actors in sumo.
-        for carla_actor_id in self.carla2sumo_ids:
-            sumo_actor_id = self.carla2sumo_ids[carla_actor_id]
-
-            carla_actor = self.carla.get_actor(carla_actor_id)
-            sumo_actor = self.sumo.get_actor(sumo_actor_id)
-
-            sumo_transform = BridgeHelper.get_sumo_transform(carla_actor.get_transform(),
-                                                             carla_actor.bounding_box.extent)
-            if self.sync_vehicle_lights:
-                carla_lights = self.carla.get_actor_light_state(carla_actor_id)
-                if carla_lights is not None:
-                    sumo_lights = BridgeHelper.get_sumo_lights_state(sumo_actor.signals,
-                                                                     carla_lights)
-                else:
-                    sumo_lights = None
-            else:
-                sumo_lights = None
-
-            self.sumo.synchronize_vehicle(sumo_actor_id, sumo_transform, sumo_lights)
-
-        # Updates traffic lights in sumo based on carla information.
-        if self.tls_manager == 'carla':
-            common_landmarks = self.sumo.traffic_light_ids & self.carla.traffic_light_ids
-            for landmark_id in common_landmarks:
-                carla_tl_state = self.carla.get_traffic_light_state(landmark_id)
-                sumo_tl_state = BridgeHelper.get_sumo_traffic_light_state(carla_tl_state)
-
-                # Updates all the sumo links related to this landmark.
-                self.sumo.synchronize_traffic_light(landmark_id, sumo_tl_state)
-
-    def close(self):
-        """
-        Cleans synchronization.
-        """
-        # Configuring carla simulation in async mode.
-        settings = self.carla.world.get_settings()
-        settings.synchronous_mode = False
-        settings.fixed_delta_seconds = None
-        self.carla.world.apply_settings(settings)
-
-        # Destroying synchronized actors.
-        for carla_actor_id in self.sumo2carla_ids.values():
-            self.carla.destroy_actor(carla_actor_id)
-
-        for sumo_actor_id in self.carla2sumo_ids.values():
-            self.sumo.destroy_actor(sumo_actor_id)
-
-        # Closing sumo and carla client.
-        self.carla.close()
-        self.sumo.close()
-
-
-def synchronization_loop(args):
-    """
-    Entry point for sumo-carla co-simulation.
-    """
-    sumo_simulation = SumoSimulation(args.sumo_cfg_file, args.step_length, args.sumo_host,
-                                     args.sumo_port, args.sumo_gui, args.client_order)
-    carla_simulation = CarlaSimulation(args.carla_host, args.carla_port, args.step_length)
-
-    synchronization = SimulationSynchronization(sumo_simulation, carla_simulation, args.tls_manager,
-                                                args.sync_vehicle_color, args.sync_vehicle_lights)
-    try:
-        while True:
-            start = time.time()
-
-            synchronization.tick()
-
-            end = time.time()
-            elapsed = end - start
-            if elapsed < args.step_length:
-                time.sleep(args.step_length - elapsed)
-
-    except KeyboardInterrupt:
-        logging.info('Cancelled by user.')
-
-    finally:
-        logging.info('Cleaning synchronization')
-
-        synchronization.close()
-
-
-if __name__ == '__main__':
-    argparser = argparse.ArgumentParser(description=__doc__)
-    argparser.add_argument('sumo_cfg_file', type=str, help='sumo configuration file')
-    argparser.add_argument('--carla-host',
-                           metavar='H',
-                           default='127.0.0.1',
-                           help='IP of the carla host server (default: 127.0.0.1)')
-    argparser.add_argument('--carla-port',
-                           metavar='P',
-                           default=2000,
-                           type=int,
-                           help='TCP port to listen to (default: 2000)')
-    argparser.add_argument('--sumo-host',
-                           metavar='H',
-                           default=None,
-                           help='IP of the sumo host server (default: 127.0.0.1)')
-    argparser.add_argument('--sumo-port',
-                           metavar='P',
-                           default=None,
-                           type=int,
-                           help='TCP port to listen to (default: 8813)')
-    argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
-    argparser.add_argument('--step-length',
-                           default=0.05,
-                           type=float,
-                           help='set fixed delta seconds (default: 0.05s)')
-    argparser.add_argument('--client-order',
-                           metavar='TRACI_CLIENT_ORDER',
-                           default=1,
-                           type=int,
-                           help='client order number for the co-simulation TraCI connection (default: 1)')
-    argparser.add_argument('--sync-vehicle-lights',
-                           action='store_true',
-                           help='synchronize vehicle lights state (default: False)')
-    argparser.add_argument('--sync-vehicle-color',
-                           action='store_true',
-                           help='synchronize vehicle color (default: False)')
-    argparser.add_argument('--sync-vehicle-all',
-                           action='store_true',
-                           help='synchronize all vehicle properties (default: False)')
-    argparser.add_argument('--tls-manager',
-                           type=str,
-                           choices=['none', 'sumo', 'carla'],
-                           help="select traffic light manager (default: none)",
-                           default='none')
-    argparser.add_argument('--debug', action='store_true', help='enable debug messages')
-    arguments = argparser.parse_args()
-
-    if arguments.sync_vehicle_all is True:
-        arguments.sync_vehicle_lights = True
-        arguments.sync_vehicle_color = True
-
-    if arguments.debug:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.DEBUG)
-    else:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
-
-    synchronization_loop(arguments)

Co-Simulation/Sumo/spawn_npc_sumo.py

@@ -1,300 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-"""Spawn Sumo NPCs vehicles into the simulation"""
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import argparse
-import json
-import logging
-import random
-import re
-import shutil
-import tempfile
-import time
-
-import lxml.etree as ET  # pylint: disable=wrong-import-position
-
-# ==================================================================================================
-# -- find carla module -----------------------------------------------------------------------------
-# ==================================================================================================
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(
-        glob.glob('../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' %
-                  (sys.version_info.major, sys.version_info.minor,
-                   'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-# ==================================================================================================
-# -- find traci module -----------------------------------------------------------------------------
-# ==================================================================================================
-
-if 'SUMO_HOME' in os.environ:
-    sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools'))
-else:
-    sys.exit("please declare environment variable 'SUMO_HOME'")
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import sumolib  # pylint: disable=wrong-import-position
-import traci  # pylint: disable=wrong-import-position
-
-from sumo_integration.carla_simulation import CarlaSimulation  # pylint: disable=wrong-import-position
-from sumo_integration.sumo_simulation import SumoSimulation  # pylint: disable=wrong-import-position
-
-from run_synchronization import SimulationSynchronization  # pylint: disable=wrong-import-position
-
-from util.netconvert_carla import netconvert_carla
-
-# ==================================================================================================
-# -- main ------------------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-def write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file, additional_traci_clients=0):
-    """
-    Writes sumo configuration xml file.
-    """
-    root = ET.Element('configuration')
-
-    input_tag = ET.SubElement(root, 'input')
-    ET.SubElement(input_tag, 'net-file', {'value': net_file})
-    ET.SubElement(input_tag, 'route-files', {'value': vtypes_file})
-
-    gui_tag = ET.SubElement(root, 'gui_only')
-    ET.SubElement(gui_tag, 'gui-settings-file', {'value': viewsettings_file})
-
-    ET.SubElement(root, 'num-clients', {'value': str(additional_traci_clients+1)})
-
-    tree = ET.ElementTree(root)
-    tree.write(cfg_file, pretty_print=True, encoding='UTF-8', xml_declaration=True)
-
-
-def main(args):
-
-    # Temporal folder to save intermediate files.
-    tmpdir = tempfile.mkdtemp()
-
-    # ----------------
-    # carla simulation
-    # ----------------
-    carla_simulation = CarlaSimulation(args.host, args.port, args.step_length)
-
-    world = carla_simulation.client.get_world()
-    current_map = world.get_map()
-
-    xodr_file = os.path.join(tmpdir, current_map.name + '.xodr')
-    current_map.save_to_disk(xodr_file)
-
-    # ---------------
-    # sumo simulation
-    # ---------------
-    net_file = os.path.join(tmpdir, current_map.name + '.net.xml')
-    netconvert_carla(xodr_file, net_file, guess_tls=True)
-
-    basedir = os.path.dirname(os.path.realpath(__file__))
-    cfg_file = os.path.join(tmpdir, current_map.name + '.sumocfg')
-    vtypes_file = os.path.join(basedir, 'examples', 'carlavtypes.rou.xml')
-    viewsettings_file = os.path.join(basedir, 'examples', 'viewsettings.xml')
-    write_sumocfg_xml(cfg_file, net_file, vtypes_file, viewsettings_file, args.additional_traci_clients)
-
-    sumo_net = sumolib.net.readNet(net_file)
-    sumo_simulation = SumoSimulation(cfg_file,
-                                     args.step_length,
-                                     host=args.sumo_host,
-                                     port=args.sumo_port,
-                                     sumo_gui=args.sumo_gui,
-                                     client_order=args.client_order)
-
-    # ---------------
-    # synchronization
-    # ---------------
-    synchronization = SimulationSynchronization(sumo_simulation, carla_simulation, args.tls_manager,
-                                                args.sync_vehicle_color, args.sync_vehicle_lights)
-
-    try:
-        # ----------
-        # Blueprints
-        # ----------
-        with open('data/vtypes.json') as f:
-            vtypes = json.load(f)['carla_blueprints']
-
-        blueprints = vtypes.keys()
-
-        filterv = re.compile(args.filterv)
-        blueprints = list(filter(filterv.search, blueprints))
-
-        if args.safe:
-            blueprints = [
-                x for x in blueprints if vtypes[x]['vClass'] not in ('motorcycle', 'bicycle')
-            ]
-            blueprints = [x for x in blueprints if not x.endswith('microlino')]
-            blueprints = [x for x in blueprints if not x.endswith('carlacola')]
-            blueprints = [x for x in blueprints if not x.endswith('cybertruck')]
-            blueprints = [x for x in blueprints if not x.endswith('t2')]
-            blueprints = [x for x in blueprints if not x.endswith('sprinter')]
-            blueprints = [x for x in blueprints if not x.endswith('firetruck')]
-            blueprints = [x for x in blueprints if not x.endswith('ambulance')]
-
-        if not blueprints:
-            raise RuntimeError('No blueprints available due to user restrictions.')
-
-        if args.number_of_walkers > 0:
-            logging.warning('Pedestrians are not supported yet. No walkers will be spawned.')
-
-        # --------------
-        # Spawn vehicles
-        # --------------
-        # Spawns sumo NPC vehicles.
-        sumo_edges = sumo_net.getEdges()
-
-        for i in range(args.number_of_vehicles):
-            type_id = random.choice(blueprints)
-            vclass = vtypes[type_id]['vClass']
-
-            allowed_edges = [e for e in sumo_edges if e.allows(vclass)]
-            if allowed_edges:
-                edge = random.choice(allowed_edges)
-
-                traci.route.add('route_{}'.format(i), [edge.getID()])
-                traci.vehicle.add('sumo_{}'.format(i), 'route_{}'.format(i), typeID=type_id)
-            else:
-                logging.error(
-                    'Could not found a route for %s. No vehicle will be spawned in sumo',
-                    type_id)
-
-        while True:
-            start = time.time()
-
-            synchronization.tick()
-
-            # Updates vehicle routes
-            for vehicle_id in traci.vehicle.getIDList():
-                route = traci.vehicle.getRoute(vehicle_id)
-                index = traci.vehicle.getRouteIndex(vehicle_id)
-                vclass = traci.vehicle.getVehicleClass(vehicle_id)
-
-                if index == (len(route) - 1):
-                    current_edge = sumo_net.getEdge(route[index])
-                    available_edges = list(current_edge.getAllowedOutgoing(vclass).keys())
-                    if available_edges:
-                        next_edge = random.choice(available_edges)
-
-                        new_route = [current_edge.getID(), next_edge.getID()]
-                        traci.vehicle.setRoute(vehicle_id, new_route)
-
-            end = time.time()
-            elapsed = end - start
-            if elapsed < args.step_length:
-                time.sleep(args.step_length - elapsed)
-
-    except KeyboardInterrupt:
-        logging.info('Cancelled by user.')
-
-    finally:
-        synchronization.close()
-
-        if os.path.exists(tmpdir):
-            shutil.rmtree(tmpdir)
-
-
-
-if __name__ == '__main__':
-    argparser = argparse.ArgumentParser(description=__doc__)
-    argparser.add_argument('--host',
-                           metavar='H',
-                           default='127.0.0.1',
-                           help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument('-p',
-                           '--port',
-                           metavar='P',
-                           default=2000,
-                           type=int,
-                           help='TCP port to listen to (default: 2000)')
-    argparser.add_argument('--sumo-host',
-                           default=None,
-                           help='IP of the sumo host server (default: None)')
-    argparser.add_argument('--sumo-port',
-                           default=None,
-                           type=int,
-                           help='TCP port to listen to (default: None)')
-    argparser.add_argument('-n',
-                           '--number-of-vehicles',
-                           metavar='N',
-                           default=10,
-                           type=int,
-                           help='number of vehicles (default: 10)')
-    argparser.add_argument('-w',
-                           '--number-of-walkers',
-                           metavar='W',
-                           default=0,
-                           type=int,
-                           help='number of walkers (default: 0)')
-    argparser.add_argument('--safe',
-                           action='store_true',
-                           help='avoid spawning vehicles prone to accidents')
-    argparser.add_argument('--filterv',
-                           metavar='PATTERN',
-                           default='vehicle.*',
-                           help='vehicles filter (default: "vehicle.*")')
-    argparser.add_argument('--filterw',
-                           metavar='PATTERN',
-                           default='walker.pedestrian.*',
-                           help='pedestrians filter (default: "walker.pedestrian.*")')
-    argparser.add_argument('--sumo-gui', action='store_true', help='run the gui version of sumo')
-    argparser.add_argument('--step-length',
-                           default=0.05,
-                           type=float,
-                           help='set fixed delta seconds (default: 0.05s)')
-    argparser.add_argument('--additional-traci-clients',
-                           metavar='TRACI_CLIENTS',
-                           default=0,
-                           type=int,
-                           help='number of additional TraCI clients to wait for (default: 0)')
-    argparser.add_argument('--client-order',
-                           metavar='TRACI_CLIENT_ORDER',
-                           default=1,
-                           type=int,
-                           help='client order number for the co-simulation TraCI connection (default: 1)')
-    argparser.add_argument('--sync-vehicle-lights',
-                           action='store_true',
-                           help='synchronize vehicle lights state (default: False)')
-    argparser.add_argument('--sync-vehicle-color',
-                           action='store_true',
-                           help='synchronize vehicle color (default: False)')
-    argparser.add_argument('--sync-vehicle-all',
-                           action='store_true',
-                           help='synchronize all vehicle properties (default: False)')
-    argparser.add_argument('--tls-manager',
-                           type=str,
-                           choices=['none', 'sumo', 'carla'],
-                           help="select traffic light manager (default: none)",
-                           default='none')
-    argparser.add_argument('--debug', action='store_true', help='enable debug messages')
-    args = argparser.parse_args()
-
-    if args.sync_vehicle_all is True:
-        args.sync_vehicle_lights = True
-        args.sync_vehicle_color = True
-
-    if args.debug:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.DEBUG)
-    else:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
-
-    main(args)

Co-Simulation/Sumo/sumo_integration/bridge_helper.py

@@ -1,369 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module provides a helper for the co-simulation between sumo and carla ."""
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import json
-import logging
-import math
-import os
-import random
-
-import carla  # pylint: disable=import-error
-import traci  # pylint: disable=import-error
-
-from .sumo_simulation import SumoSignalState, SumoVehSignal
-
-# ==================================================================================================
-# -- Bridge helper (SUMO <=> CARLA) ----------------------------------------------------------------
-# ==================================================================================================
-
-
-class BridgeHelper(object):
-    """
-    BridgeHelper provides methos to ease the co-simulation between sumo and carla.
-    """
-
-    blueprint_library = []
-    offset = (0, 0)
-
-    _vtypes_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", "data",
-                                "vtypes.json")
-    with open(_vtypes_path) as f:
-        _VTYPES = json.load(f)['carla_blueprints']
-
-    @staticmethod
-    def get_carla_transform(in_sumo_transform, extent):
-        """
-        Returns carla transform based on sumo transform.
-        """
-        offset = BridgeHelper.offset
-        in_location = in_sumo_transform.location
-        in_rotation = in_sumo_transform.rotation
-
-        # From front-center-bumper to center (sumo reference system).
-        # (http://sumo.sourceforge.net/userdoc/Purgatory/Vehicle_Values.html#angle)
-        yaw = -1 * in_rotation.yaw + 90
-        pitch = in_rotation.pitch
-        out_location = (in_location.x - math.cos(math.radians(yaw)) * extent.x,
-                        in_location.y - math.sin(math.radians(yaw)) * extent.x,
-                        in_location.z - math.sin(math.radians(pitch)) * extent.x)
-        out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
-
-        # Applying offset sumo-carla net.
-        out_location = (out_location[0] - offset[0], out_location[1] - offset[1], out_location[2])
-
-        # Transform to carla reference system (left-handed system).
-        out_transform = carla.Transform(
-            carla.Location(out_location[0], -out_location[1], out_location[2]),
-            carla.Rotation(out_rotation[0], out_rotation[1] - 90, out_rotation[2]))
-
-        return out_transform
-
-    @staticmethod
-    def get_sumo_transform(in_carla_transform, extent):
-        """
-        Returns sumo transform based on carla transform.
-        """
-        offset = BridgeHelper.offset
-        in_location = in_carla_transform.location
-        in_rotation = in_carla_transform.rotation
-
-        # From center to front-center-bumper (carla reference system).
-        yaw = -1 * in_rotation.yaw
-        pitch = in_rotation.pitch
-        out_location = (in_location.x + math.cos(math.radians(yaw)) * extent.x,
-                        in_location.y - math.sin(math.radians(yaw)) * extent.x,
-                        in_location.z - math.sin(math.radians(pitch)) * extent.x)
-        out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
-
-        # Applying offset carla-sumo net
-        out_location = (out_location[0] + offset[0], out_location[1] - offset[1], out_location[2])
-
-        # Transform to sumo reference system.
-        out_transform = carla.Transform(
-            carla.Location(out_location[0], -out_location[1], out_location[2]),
-            carla.Rotation(out_rotation[0], out_rotation[1] + 90, out_rotation[2]))
-
-        return out_transform
-
-    @staticmethod
-    def _get_recommended_carla_blueprint(sumo_actor):
-        """
-        Returns an appropriate blueprint based on the given sumo actor.
-        """
-        vclass = sumo_actor.vclass.value
-
-        blueprints = []
-        for blueprint in BridgeHelper.blueprint_library:
-            if blueprint.id in BridgeHelper._VTYPES and \
-               BridgeHelper._VTYPES[blueprint.id]['vClass'] == vclass:
-                blueprints.append(blueprint)
-
-        if not blueprints:
-            return None
-
-        return random.choice(blueprints)
-
-    @staticmethod
-    def get_carla_blueprint(sumo_actor, sync_color=False):
-        """
-        Returns an appropriate blueprint based on the received sumo actor.
-        """
-        blueprint_library = BridgeHelper.blueprint_library
-        type_id = sumo_actor.type_id
-
-        if type_id in [bp.id for bp in blueprint_library]:
-            blueprint = blueprint_library.filter(type_id)[0]
-            logging.debug('[BridgeHelper] sumo vtype %s found in carla blueprints', type_id)
-        else:
-            blueprint = BridgeHelper._get_recommended_carla_blueprint(sumo_actor)
-            if blueprint is not None:
-                logging.warning(
-                    'sumo vtype %s not found in carla. The following blueprint will be used: %s',
-                    type_id, blueprint.id)
-            else:
-                logging.error('sumo vtype %s not supported. No vehicle will be spawned in carla',
-                              type_id)
-                return None
-
-        if blueprint.has_attribute('color'):
-            if sync_color:
-                color = "{},{},{}".format(sumo_actor.color[0], sumo_actor.color[1],
-                                          sumo_actor.color[2])
-            else:
-                color = random.choice(blueprint.get_attribute('color').recommended_values)
-            blueprint.set_attribute('color', color)
-
-        if blueprint.has_attribute('driver_id'):
-            driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
-            blueprint.set_attribute('driver_id', driver_id)
-
-        blueprint.set_attribute('role_name', 'sumo_driver')
-
-        logging.debug(
-            '''[BridgeHelper] sumo vtype %s will be spawned in carla with the following attributes:
-            \tblueprint: %s
-            \tcolor: %s''', type_id, blueprint.id,
-            sumo_actor.color if blueprint.has_attribute('color') else (-1, -1, -1))
-
-        return blueprint
-
-    @staticmethod
-    def _create_sumo_vtype(carla_actor):
-        """
-        Creates an appropriate vtype based on the given carla_actor.
-        """
-        type_id = carla_actor.type_id
-        attrs = carla_actor.attributes
-        extent = carla_actor.bounding_box.extent
-
-        if int(attrs['number_of_wheels']) == 2:
-            traci.vehicletype.copy('DEFAULT_BIKETYPE', type_id)
-        else:
-            traci.vehicletype.copy('DEFAULT_VEHTYPE', type_id)
-
-        if type_id in BridgeHelper._VTYPES:
-            if 'vClass' in BridgeHelper._VTYPES[type_id]:
-                _class = BridgeHelper._VTYPES[type_id]['vClass']
-                traci.vehicletype.setVehicleClass(type_id, _class)
-
-            if 'guiShape' in BridgeHelper._VTYPES[type_id]:
-                shape = BridgeHelper._VTYPES[type_id]['guiShape']
-                traci.vehicletype.setShapeClass(type_id, shape)
-
-        if 'color' in attrs:
-            color = attrs['color'].split(',')
-            traci.vehicletype.setColor(type_id, color)
-
-        traci.vehicletype.setLength(type_id, 2.0 * extent.x)
-        traci.vehicletype.setWidth(type_id, 2.0 * extent.y)
-        traci.vehicletype.setHeight(type_id, 2.0 * extent.z)
-
-        logging.debug(
-            '''[BridgeHelper] blueprint %s not found in sumo vtypes
-            \tdefault vtype: %s
-            \tvtype: %s
-            \tclass: %s
-            \tshape: %s
-            \tcolor: %s
-            \tlenght: %s
-            \twidth: %s
-            \theight: %s''', type_id,
-            'DEFAULT_BIKETYPE' if int(attrs['number_of_wheels']) == 2 else 'DEFAULT_VEHTYPE',
-            type_id, traci.vehicletype.getVehicleClass(type_id),
-            traci.vehicletype.getShapeClass(type_id), traci.vehicletype.getColor(type_id),
-            traci.vehicletype.getLength(type_id), traci.vehicletype.getWidth(type_id),
-            traci.vehicletype.getHeight(type_id))
-
-        return type_id
-
-    @staticmethod
-    def get_sumo_vtype(carla_actor):
-        """
-        Returns an appropriate vtype based on the type id and attributes.
-        """
-        type_id = carla_actor.type_id
-
-        if not type_id.startswith('vehicle'):
-            logging.error(
-                '[BridgeHelper] Blueprint %s not supported. No vehicle will be spawned in sumo',
-                type_id)
-            return None
-
-        if type_id in traci.vehicletype.getIDList():
-            logging.debug('[BridgeHelper] blueprint %s found in sumo vtypes', type_id)
-            return type_id
-        return BridgeHelper._create_sumo_vtype(carla_actor)
-
-    @staticmethod
-    def get_carla_lights_state(current_carla_lights, sumo_lights):
-        """
-        Returns carla vehicle light state based on sumo signals.
-        """
-        current_lights = current_carla_lights
-
-        # Blinker right / emergency.
-        if (any([
-                bool(sumo_lights & SumoVehSignal.BLINKER_RIGHT),
-                bool(sumo_lights & SumoVehSignal.BLINKER_EMERGENCY)
-        ]) != bool(current_lights & carla.VehicleLightState.RightBlinker)):
-            current_lights ^= carla.VehicleLightState.RightBlinker
-
-        # Blinker left / emergency.
-        if (any([
-                bool(sumo_lights & SumoVehSignal.BLINKER_LEFT),
-                bool(sumo_lights & SumoVehSignal.BLINKER_EMERGENCY)
-        ]) != bool(current_lights & carla.VehicleLightState.LeftBlinker)):
-            current_lights ^= carla.VehicleLightState.LeftBlinker
-
-        # Break.
-        if (bool(sumo_lights & SumoVehSignal.BRAKELIGHT) !=
-                bool(current_lights & carla.VehicleLightState.Brake)):
-            current_lights ^= carla.VehicleLightState.Brake
-
-        # Front (low beam).
-        if (bool(sumo_lights & SumoVehSignal.FRONTLIGHT) !=
-                bool(current_lights & carla.VehicleLightState.LowBeam)):
-            current_lights ^= carla.VehicleLightState.LowBeam
-
-        # Fog.
-        if (bool(sumo_lights & SumoVehSignal.FOGLIGHT) !=
-                bool(current_lights & carla.VehicleLightState.Fog)):
-            current_lights ^= carla.VehicleLightState.Fog
-
-        # High beam.
-        if (bool(sumo_lights & SumoVehSignal.HIGHBEAM) !=
-                bool(current_lights & carla.VehicleLightState.HighBeam)):
-            current_lights ^= carla.VehicleLightState.HighBeam
-
-        # Backdrive (reverse).
-        if (bool(sumo_lights & SumoVehSignal.BACKDRIVE) !=
-                bool(current_lights & carla.VehicleLightState.Reverse)):
-            current_lights ^= carla.VehicleLightState.Reverse
-
-        # Door open left/right.
-        if (any([
-                bool(sumo_lights & SumoVehSignal.DOOR_OPEN_LEFT),
-                bool(sumo_lights & SumoVehSignal.DOOR_OPEN_RIGHT)
-        ]) != bool(current_lights & carla.VehicleLightState.Position)):
-            current_lights ^= carla.VehicleLightState.Position
-
-        return current_lights
-
-    @staticmethod
-    def get_sumo_lights_state(current_sumo_lights, carla_lights):
-        """
-        Returns sumo signals based on carla vehicle light state.
-        """
-        current_lights = current_sumo_lights
-
-        # Blinker right.
-        if (bool(carla_lights & carla.VehicleLightState.RightBlinker) !=
-                bool(current_lights & SumoVehSignal.BLINKER_RIGHT)):
-            current_lights ^= SumoVehSignal.BLINKER_RIGHT
-
-        # Blinker left.
-        if (bool(carla_lights & carla.VehicleLightState.LeftBlinker) !=
-                bool(current_lights & SumoVehSignal.BLINKER_LEFT)):
-            current_lights ^= SumoVehSignal.BLINKER_LEFT
-
-        # Emergency.
-        if (all([
-                bool(carla_lights & carla.VehicleLightState.RightBlinker),
-                bool(carla_lights & carla.VehicleLightState.LeftBlinker)
-        ]) != (current_lights & SumoVehSignal.BLINKER_EMERGENCY)):
-            current_lights ^= SumoVehSignal.BLINKER_EMERGENCY
-
-        # Break.
-        if (bool(carla_lights & carla.VehicleLightState.Brake) !=
-                bool(current_lights & SumoVehSignal.BRAKELIGHT)):
-            current_lights ^= SumoVehSignal.BRAKELIGHT
-
-        # Front (low beam)
-        if (bool(carla_lights & carla.VehicleLightState.LowBeam) !=
-                bool(current_lights & SumoVehSignal.FRONTLIGHT)):
-            current_lights ^= SumoVehSignal.FRONTLIGHT
-
-        # Fog light.
-        if (bool(carla_lights & carla.VehicleLightState.Fog) !=
-                bool(current_lights & SumoVehSignal.FOGLIGHT)):
-            current_lights ^= SumoVehSignal.FOGLIGHT
-
-        # High beam ligth.
-        if (bool(carla_lights & carla.VehicleLightState.HighBeam) !=
-                bool(current_lights & SumoVehSignal.HIGHBEAM)):
-            current_lights ^= SumoVehSignal.HIGHBEAM
-
-        # Backdrive (reverse)
-        if (bool(carla_lights & carla.VehicleLightState.Reverse) !=
-                bool(current_lights & SumoVehSignal.BACKDRIVE)):
-            current_lights ^= SumoVehSignal.BACKDRIVE
-
-        return current_lights
-
-    @staticmethod
-    def get_carla_traffic_light_state(sumo_tl_state):
-        """
-        Returns carla traffic light state based on sumo traffic light state.
-        """
-        if sumo_tl_state == SumoSignalState.RED or sumo_tl_state == SumoSignalState.RED_YELLOW:
-            return carla.TrafficLightState.Red
-
-        elif sumo_tl_state == SumoSignalState.YELLOW:
-            return carla.TrafficLightState.Yellow
-
-        elif sumo_tl_state == SumoSignalState.GREEN or \
-             sumo_tl_state == SumoSignalState.GREEN_WITHOUT_PRIORITY:
-            return carla.TrafficLightState.Green
-
-        elif sumo_tl_state == SumoSignalState.OFF:
-            return carla.TrafficLightState.Off
-
-        else:  # SumoSignalState.GREEN_RIGHT_TURN and SumoSignalState.OFF_BLINKING
-            return carla.TrafficLightState.Unknown
-
-    @staticmethod
-    def get_sumo_traffic_light_state(carla_tl_state):
-        """
-        Returns sumo traffic light state based on carla traffic light state.
-        """
-        if carla_tl_state == carla.TrafficLightState.Red:
-            return SumoSignalState.RED
-
-        elif carla_tl_state == carla.TrafficLightState.Yellow:
-            return SumoSignalState.YELLOW
-
-        elif carla_tl_state == carla.TrafficLightState.Green:
-            return SumoSignalState.GREEN
-
-        else:  # carla.TrafficLightState.Off and carla.TrafficLightState.Unknown
-            return SumoSignalState.OFF

Co-Simulation/Sumo/sumo_integration/carla_simulation.py

@@ -1,184 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module is responsible for the management of the carla simulation. """
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import logging
-
-import carla  # pylint: disable=import-error
-
-from .constants import INVALID_ACTOR_ID, SPAWN_OFFSET_Z
-
-# ==================================================================================================
-# -- carla simulation ------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class CarlaSimulation(object):
-    """
-    CarlaSimulation is responsible for the management of the carla simulation.
-    """
-    def __init__(self, host, port, step_length):
-        self.client = carla.Client(host, port)
-        self.client.set_timeout(2.0)
-
-        self.world = self.client.get_world()
-        self.blueprint_library = self.world.get_blueprint_library()
-        self.step_length = step_length
-
-        # The following sets contain updated information for the current frame.
-        self._active_actors = set()
-        self.spawned_actors = set()
-        self.destroyed_actors = set()
-
-        # Set traffic lights.
-        self._tls = {}  # {landmark_id: traffic_ligth_actor}
-
-        tmp_map = self.world.get_map()
-        for landmark in tmp_map.get_all_landmarks_of_type('1000001'):
-            if landmark.id != '':
-                traffic_ligth = self.world.get_traffic_light(landmark)
-                if traffic_ligth is not None:
-                    self._tls[landmark.id] = traffic_ligth
-                else:
-                    logging.warning('Landmark %s is not linked to any traffic light', landmark.id)
-
-    def get_actor(self, actor_id):
-        """
-        Accessor for carla actor.
-        """
-        return self.world.get_actor(actor_id)
-
-    # This is a workaround to fix synchronization issues when other carla clients remove an actor in
-    # carla without waiting for tick (e.g., running sumo co-simulation and manual control at the
-    # same time)
-    def get_actor_light_state(self, actor_id):
-        """
-        Accessor for carla actor light state.
-
-        If the actor is not alive, returns None.
-        """
-        try:
-            actor = self.get_actor(actor_id)
-            return actor.get_light_state()
-        except RuntimeError:
-            return None
-
-    @property
-    def traffic_light_ids(self):
-        return set(self._tls.keys())
-
-    def get_traffic_light_state(self, landmark_id):
-        """
-        Accessor for traffic light state.
-
-        If the traffic ligth does not exist, returns None.
-        """
-        if landmark_id not in self._tls:
-            return None
-        return self._tls[landmark_id].state
-
-    def switch_off_traffic_lights(self):
-        """
-        Switch off all traffic lights.
-        """
-        for actor in self.world.get_actors():
-            if actor.type_id == 'traffic.traffic_light':
-                actor.freeze(True)
-                # We set the traffic light to 'green' because 'off' state sets the traffic light to
-                # 'red'.
-                actor.set_state(carla.TrafficLightState.Green)
-
-    def spawn_actor(self, blueprint, transform):
-        """
-        Spawns a new actor.
-
-            :param blueprint: blueprint of the actor to be spawned.
-            :param transform: transform where the actor will be spawned.
-            :return: actor id if the actor is successfully spawned. Otherwise, INVALID_ACTOR_ID.
-        """
-        transform = carla.Transform(transform.location + carla.Location(0, 0, SPAWN_OFFSET_Z),
-                                    transform.rotation)
-
-        batch = [
-            carla.command.SpawnActor(blueprint, transform).then(
-                carla.command.SetSimulatePhysics(carla.command.FutureActor, False))
-        ]
-        response = self.client.apply_batch_sync(batch, False)[0]
-        if response.error:
-            logging.error('Spawn carla actor failed. %s', response.error)
-            return INVALID_ACTOR_ID
-
-        return response.actor_id
-
-    def destroy_actor(self, actor_id):
-        """
-        Destroys the given actor.
-        """
-        actor = self.world.get_actor(actor_id)
-        if actor is not None:
-            return actor.destroy()
-        return False
-
-    def synchronize_vehicle(self, vehicle_id, transform, lights=None):
-        """
-        Updates vehicle state.
-
-            :param vehicle_id: id of the actor to be updated.
-            :param transform: new vehicle transform (i.e., position and rotation).
-            :param lights: new vehicle light state.
-            :return: True if successfully updated. Otherwise, False.
-        """
-        vehicle = self.world.get_actor(vehicle_id)
-        if vehicle is None:
-            return False
-
-        vehicle.set_transform(transform)
-        if lights is not None:
-            vehicle.set_light_state(carla.VehicleLightState(lights))
-        return True
-
-    def synchronize_traffic_light(self, landmark_id, state):
-        """
-        Updates traffic light state.
-
-            :param landmark_id: id of the landmark to be updated.
-            :param state: new traffic light state.
-            :return: True if successfully updated. Otherwise, False.
-        """
-        if not landmark_id in self._tls:
-            logging.warning('Landmark %s not found in carla', landmark_id)
-            return False
-
-        traffic_light = self._tls[landmark_id]
-        traffic_light.set_state(state)
-        return True
-
-    def tick(self):
-        """
-        Tick to carla simulation.
-        """
-        self.world.tick()
-
-        # Update data structures for the current frame.
-        current_actors = set(
-            [vehicle.id for vehicle in self.world.get_actors().filter('vehicle.*')])
-        self.spawned_actors = current_actors.difference(self._active_actors)
-        self.destroyed_actors = self._active_actors.difference(current_actors)
-        self._active_actors = current_actors
-
-    def close(self):
-        """
-        Closes carla client.
-        """
-        for actor in self.world.get_actors():
-            if actor.type_id == 'traffic.traffic_light':
-                actor.freeze(False)

Co-Simulation/Sumo/sumo_integration/constants.py

@@ -1,15 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module defines constants used for the sumo-carla co-simulation. """
-
-# ==================================================================================================
-# -- constants -------------------------------------------------------------------------------------
-# ==================================================================================================
-
-INVALID_ACTOR_ID = -1
-SPAWN_OFFSET_Z = 25.0  # meters

Co-Simulation/Sumo/sumo_integration/sumo_simulation.py

@@ -1,517 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-""" This module is responsible for the management of the sumo simulation. """
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import collections
-import enum
-import logging
-import os
-
-import carla  # pylint: disable=import-error
-import sumolib  # pylint: disable=import-error
-import traci  # pylint: disable=import-error
-
-from .constants import INVALID_ACTOR_ID
-
-import lxml.etree as ET  # pylint: disable=import-error
-
-# ==================================================================================================
-# -- sumo definitions ------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-# https://sumo.dlr.de/docs/Simulation/Traffic_Lights.html#signal_state_definitions
-class SumoSignalState(object):
-    """
-    SumoSignalState contains the different traffic light states.
-    """
-    RED = 'r'
-    YELLOW = 'y'
-    GREEN = 'G'
-    GREEN_WITHOUT_PRIORITY = 'g'
-    GREEN_RIGHT_TURN = 's'
-    RED_YELLOW = 'u'
-    OFF_BLINKING = 'o'
-    OFF = 'O'
-
-
-# https://sumo.dlr.de/docs/TraCI/Vehicle_Signalling.html
-class SumoVehSignal(object):
-    """
-    SumoVehSignal contains the different sumo vehicle signals.
-    """
-    BLINKER_RIGHT = 1 << 0
-    BLINKER_LEFT = 1 << 1
-    BLINKER_EMERGENCY = 1 << 2
-    BRAKELIGHT = 1 << 3
-    FRONTLIGHT = 1 << 4
-    FOGLIGHT = 1 << 5
-    HIGHBEAM = 1 << 6
-    BACKDRIVE = 1 << 7
-    WIPER = 1 << 8
-    DOOR_OPEN_LEFT = 1 << 9
-    DOOR_OPEN_RIGHT = 1 << 10
-    EMERGENCY_BLUE = 1 << 11
-    EMERGENCY_RED = 1 << 12
-    EMERGENCY_YELLOW = 1 << 13
-
-
-# https://sumo.dlr.de/docs/Definition_of_Vehicles,_Vehicle_Types,_and_Routes.html#abstract_vehicle_class
-class SumoActorClass(enum.Enum):
-    """
-    SumoActorClass enumerates the different sumo actor classes.
-    """
-    IGNORING = "ignoring"
-    PRIVATE = "private"
-    EMERGENCY = "emergency"
-    AUTHORITY = "authority"
-    ARMY = "army"
-    VIP = "vip"
-    PEDESTRIAN = "pedestrian"
-    PASSENGER = "passenger"
-    HOV = "hov"
-    TAXI = "taxi"
-    BUS = "bus"
-    COACH = "coach"
-    DELIVERY = "delivery"
-    TRUCK = "truck"
-    TRAILER = "trailer"
-    MOTORCYCLE = "motorcycle"
-    MOPED = "moped"
-    BICYCLE = "bicycle"
-    EVEHICLE = "evehicle"
-    TRAM = "tram"
-    RAIL_URBAN = "rail_urban"
-    RAIL = "rail"
-    RAIL_ELECTRIC = "rail_electric"
-    RAIL_FAST = "rail_fast"
-    SHIP = "ship"
-    CUSTOM1 = "custom1"
-    CUSTOM2 = "custom2"
-
-
-SumoActor = collections.namedtuple('SumoActor', 'type_id vclass transform signals extent color')
-
-# ==================================================================================================
-# -- sumo traffic lights ---------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class SumoTLLogic(object):
-    """
-    SumoTLLogic holds the data relative to a traffic light in sumo.
-    """
-    def __init__(self, tlid, states, parameters):
-        self.tlid = tlid
-        self.states = states
-
-        self._landmark2link = {}
-        self._link2landmark = {}
-        for link_index, landmark_id in parameters.items():
-            # Link index information is added in the parameter as 'linkSignalID:x'
-            link_index = int(link_index.split(':')[1])
-
-            if landmark_id not in self._landmark2link:
-                self._landmark2link[landmark_id] = []
-            self._landmark2link[landmark_id].append((tlid, link_index))
-            self._link2landmark[(tlid, link_index)] = landmark_id
-
-    def get_number_signals(self):
-        """
-        Returns number of internal signals of the traffic light.
-        """
-        if len(self.states) > 0:
-            return len(self.states[0])
-        return 0
-
-    def get_all_signals(self):
-        """
-        Returns all the signals of the traffic light.
-            :returns list: [(tlid, link_index), (tlid, link_index), ...]
-        """
-        return [(self.tlid, i) for i in range(self.get_number_signals())]
-
-    def get_all_landmarks(self):
-        """
-        Returns all the landmarks associated with this traffic light.
-        """
-        return self._landmark2link.keys()
-
-    def get_associated_signals(self, landmark_id):
-        """
-        Returns all the signals associated with the given landmark.
-            :returns list: [(tlid, link_index), (tlid, link_index), ...]
-        """
-        return self._landmark2link.get(landmark_id, [])
-
-
-class SumoTLManager(object):
-    """
-    SumoTLManager is responsible for the management of the sumo traffic lights (i.e., keeps control
-    of the current program, phase, ...)
-    """
-    def __init__(self):
-        self._tls = {}  # {tlid: {program_id: SumoTLLogic}
-        self._current_program = {}  # {tlid: program_id}
-        self._current_phase = {}  # {tlid: index_phase}
-
-        for tlid in traci.trafficlight.getIDList():
-            self.subscribe(tlid)
-
-            self._tls[tlid] = {}
-            for tllogic in traci.trafficlight.getAllProgramLogics(tlid):
-                states = [phase.state for phase in tllogic.getPhases()]
-                parameters = tllogic.getParameters()
-                tl = SumoTLLogic(tlid, states, parameters)
-                self._tls[tlid][tllogic.programID] = tl
-
-            # Get current status of the traffic lights.
-            self._current_program[tlid] = traci.trafficlight.getProgram(tlid)
-            self._current_phase[tlid] = traci.trafficlight.getPhase(tlid)
-
-        self._off = False
-
-    @staticmethod
-    def subscribe(tlid):
-        """
-        Subscribe the given traffic ligth to the following variables:
-
-            * Current program.
-            * Current phase.
-        """
-        traci.trafficlight.subscribe(tlid, [
-            traci.constants.TL_CURRENT_PROGRAM,
-            traci.constants.TL_CURRENT_PHASE,
-        ])
-
-    @staticmethod
-    def unsubscribe(tlid):
-        """
-        Unsubscribe the given traffic ligth from receiving updated information each step.
-        """
-        traci.trafficlight.unsubscribe(tlid)
-
-    def get_all_signals(self):
-        """
-        Returns all the traffic light signals.
-        """
-        signals = set()
-        for tlid, program_id in self._current_program.items():
-            signals.update(self._tls[tlid][program_id].get_all_signals())
-        return signals
-
-    def get_all_landmarks(self):
-        """
-        Returns all the landmarks associated with a traffic light in the simulation.
-        """
-        landmarks = set()
-        for tlid, program_id in self._current_program.items():
-            landmarks.update(self._tls[tlid][program_id].get_all_landmarks())
-        return landmarks
-
-    def get_all_associated_signals(self, landmark_id):
-        """
-        Returns all the signals associated with the given landmark.
-            :returns list: [(tlid, link_index), (tlid, link_index), ...]
-        """
-        signals = set()
-        for tlid, program_id in self._current_program.items():
-            signals.update(self._tls[tlid][program_id].get_associated_signals(landmark_id))
-        return signals
-
-    def get_state(self, landmark_id):
-        """
-        Returns the traffic light state of the signals associated with the given landmark.
-        """
-        states = set()
-        for tlid, link_index in self.get_all_associated_signals(landmark_id):
-            current_program = self._current_program[tlid]
-            current_phase = self._current_phase[tlid]
-
-            tl = self._tls[tlid][current_program]
-            states.update(tl.states[current_phase][link_index])
-
-        if len(states) == 1:
-            return states.pop()
-        elif len(states) > 1:
-            logging.warning('Landmark %s is associated with signals with different states',
-                            landmark_id)
-            return SumoSignalState.RED
-        else:
-            return None
-
-    def set_state(self, landmark_id, state):
-        """
-        Updates the state of all the signals associated with the given landmark.
-        """
-        for tlid, link_index in self.get_all_associated_signals(landmark_id):
-            traci.trafficlight.setLinkState(tlid, link_index, state)
-        return True
-
-    def switch_off(self):
-        """
-        Switch off all traffic lights.
-        """
-        for tlid, link_index in self.get_all_signals():
-            traci.trafficlight.setLinkState(tlid, link_index, SumoSignalState.OFF)
-        self._off = True
-
-    def tick(self):
-        """
-        Tick to traffic light manager
-        """
-        if self._off is False:
-            for tl_id in traci.trafficlight.getIDList():
-                results = traci.trafficlight.getSubscriptionResults(tl_id)
-                current_program = results[traci.constants.TL_CURRENT_PROGRAM]
-                current_phase = results[traci.constants.TL_CURRENT_PHASE]
-
-                if current_program != 'online':
-                    self._current_program[tl_id] = current_program
-                    self._current_phase[tl_id] = current_phase
-
-
-# ==================================================================================================
-# -- sumo simulation -------------------------------------------------------------------------------
-# ==================================================================================================
-
-def _get_sumo_net(cfg_file):
-    """
-    Returns sumo net.
-
-    This method reads the sumo configuration file and retrieve the sumo net filename to create the
-    net.
-    """
-    cfg_file = os.path.join(os.getcwd(), cfg_file)
-
-    tree = ET.parse(cfg_file)
-    tag = tree.find('//net-file')
-    if tag is None:
-        return None
-
-    net_file = os.path.join(os.path.dirname(cfg_file), tag.get('value'))
-    logging.debug('Reading net file: %s', net_file)
-
-    sumo_net = traci.sumolib.net.readNet(net_file)
-    return sumo_net
-
-class SumoSimulation(object):
-    """
-    SumoSimulation is responsible for the management of the sumo simulation.
-    """
-    def __init__(self, cfg_file, step_length, host=None, port=None, sumo_gui=False, client_order=1):
-        if sumo_gui is True:
-            sumo_binary = sumolib.checkBinary('sumo-gui')
-        else:
-            sumo_binary = sumolib.checkBinary('sumo')
-
-        if host is None or port is None:
-            logging.info('Starting new sumo server...')
-            if sumo_gui is True:
-                logging.info('Remember to press the play button to start the simulation')
-
-            traci.start([sumo_binary,
-                '--configuration-file', cfg_file,
-                '--step-length', str(step_length),
-                '--lateral-resolution', '0.25',
-                '--collision.check-junctions'
-            ])
-
-        else:
-            logging.info('Connection to sumo server. Host: %s Port: %s', host, port)
-            traci.init(host=host, port=port)
-
-        traci.setOrder(client_order)
-
-        # Retrieving net from configuration file.
-        self.net = _get_sumo_net(cfg_file)
-
-        # To keep track of the vehicle classes for which a route has been generated in sumo.
-        self._routes = set()
-
-        # Variable to asign an id to new added actors.
-        self._sequential_id = 0
-
-        # Structures to keep track of the spawned and destroyed vehicles at each time step.
-        self.spawned_actors = set()
-        self.destroyed_actors = set()
-
-        # Traffic light manager.
-        self.traffic_light_manager = SumoTLManager()
-
-    @property
-    def traffic_light_ids(self):
-        return self.traffic_light_manager.get_all_landmarks()
-
-    @staticmethod
-    def subscribe(actor_id):
-        """
-        Subscribe the given actor to the following variables:
-
-            * Type.
-            * Vehicle class.
-            * Color.
-            * Length, Width, Height.
-            * Position3D (i.e., x, y, z).
-            * Angle, Slope.
-            * Speed.
-            * Lateral speed.
-            * Signals.
-        """
-        traci.vehicle.subscribe(actor_id, [
-            traci.constants.VAR_TYPE, traci.constants.VAR_VEHICLECLASS, traci.constants.VAR_COLOR,
-            traci.constants.VAR_LENGTH, traci.constants.VAR_WIDTH, traci.constants.VAR_HEIGHT,
-            traci.constants.VAR_POSITION3D, traci.constants.VAR_ANGLE, traci.constants.VAR_SLOPE,
-            traci.constants.VAR_SPEED, traci.constants.VAR_SPEED_LAT, traci.constants.VAR_SIGNALS
-        ])
-
-    @staticmethod
-    def unsubscribe(actor_id):
-        """
-        Unsubscribe the given actor from receiving updated information each step.
-        """
-        traci.vehicle.unsubscribe(actor_id)
-
-    def get_net_offset(self):
-        """
-        Accessor for sumo net offset.
-        """
-        if self.net is None:
-            return (0, 0)
-        return self.net.getLocationOffset()
-
-    @staticmethod
-    def get_actor(actor_id):
-        """
-        Accessor for sumo actor.
-        """
-        results = traci.vehicle.getSubscriptionResults(actor_id)
-
-        type_id = results[traci.constants.VAR_TYPE]
-        vclass = SumoActorClass(results[traci.constants.VAR_VEHICLECLASS])
-        color = results[traci.constants.VAR_COLOR]
-
-        length = results[traci.constants.VAR_LENGTH]
-        width = results[traci.constants.VAR_WIDTH]
-        height = results[traci.constants.VAR_HEIGHT]
-
-        location = list(results[traci.constants.VAR_POSITION3D])
-        rotation = [results[traci.constants.VAR_SLOPE], results[traci.constants.VAR_ANGLE], 0.0]
-        transform = carla.Transform(carla.Location(location[0], location[1], location[2]),
-                                    carla.Rotation(rotation[0], rotation[1], rotation[2]))
-
-        signals = results[traci.constants.VAR_SIGNALS]
-        extent = carla.Vector3D(length / 2.0, width / 2.0, height / 2.0)
-
-        return SumoActor(type_id, vclass, transform, signals, extent, color)
-
-    def spawn_actor(self, type_id, color=None):
-        """
-        Spawns a new actor.
-
-            :param type_id: vtype to be spawned.
-            :param color: color attribute for this specific actor.
-            :return: actor id if the actor is successfully spawned. Otherwise, INVALID_ACTOR_ID.
-        """
-        actor_id = 'carla' + str(self._sequential_id)
-        try:
-            vclass = traci.vehicletype.getVehicleClass(type_id)
-            if vclass not in self._routes:
-                logging.debug('Creating route for %s vehicle class', vclass)
-                allowed_edges = [e for e in self.net.getEdges() if e.allows(vclass)]
-                if allowed_edges:
-                    traci.route.add("carla_route_{}".format(vclass), [allowed_edges[0].getID()])
-                    self._routes.add(vclass)
-                else:
-                    logging.error(
-                        'Could not found a route for %s. No vehicle will be spawned in sumo',
-                        type_id)
-                    return INVALID_ACTOR_ID
-
-            traci.vehicle.add(actor_id, 'carla_route_{}'.format(vclass), typeID=type_id)
-        except traci.exceptions.TraCIException as error:
-            logging.error('Spawn sumo actor failed: %s', error)
-            return INVALID_ACTOR_ID
-
-        if color is not None:
-            color = color.split(',')
-            traci.vehicle.setColor(actor_id, color)
-
-        self._sequential_id += 1
-
-        return actor_id
-
-    @staticmethod
-    def destroy_actor(actor_id):
-        """
-        Destroys the given actor.
-        """
-        traci.vehicle.remove(actor_id)
-
-    def get_traffic_light_state(self, landmark_id):
-        """
-        Accessor for traffic light state.
-
-        If the traffic ligth does not exist, returns None.
-        """
-        return self.traffic_light_manager.get_state(landmark_id)
-
-    def switch_off_traffic_lights(self):
-        """
-        Switch off all traffic lights.
-        """
-        self.traffic_light_manager.switch_off()
-
-    def synchronize_vehicle(self, vehicle_id, transform, signals=None):
-        """
-        Updates vehicle state.
-
-            :param vehicle_id: id of the actor to be updated.
-            :param transform: new vehicle transform (i.e., position and rotation).
-            :param signals: new vehicle signals.
-            :return: True if successfully updated. Otherwise, False.
-        """
-        loc_x, loc_y = transform.location.x, transform.location.y
-        yaw = transform.rotation.yaw
-
-        traci.vehicle.moveToXY(vehicle_id, "", 0, loc_x, loc_y, angle=yaw, keepRoute=2)
-        if signals is not None:
-            traci.vehicle.setSignals(vehicle_id, signals)
-        return True
-
-    def synchronize_traffic_light(self, landmark_id, state):
-        """
-        Updates traffic light state.
-
-            :param tl_id: id of the traffic light to be updated (logic id, link index).
-            :param state: new traffic light state.
-            :return: True if successfully updated. Otherwise, False.
-        """
-        self.traffic_light_manager.set_state(landmark_id, state)
-
-    def tick(self):
-        """
-        Tick to sumo simulation.
-        """
-        traci.simulationStep()
-        self.traffic_light_manager.tick()
-
-        # Update data structures for the current frame.
-        self.spawned_actors = set(traci.simulation.getDepartedIDList())
-        self.destroyed_actors = set(traci.simulation.getArrivedIDList())
-
-    @staticmethod
-    def close():
-        """
-        Closes traci client.
-        """
-        traci.close()

Co-Simulation/Sumo/util/create_sumo_vtypes.py

@@ -1,174 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-"""
-Script to create sumo vtypes based on carla blueprints.
-"""
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import argparse
-import glob
-import datetime
-import json
-import logging
-import os
-import sys
-
-import lxml.etree as ET  # pylint: disable=import-error
-
-# ==================================================================================================
-# -- find carla module -----------------------------------------------------------------------------
-# ==================================================================================================
-
-try:
-    sys.path.append(
-        glob.glob('../../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' %
-                  (sys.version_info.major, sys.version_info.minor,
-                   'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import carla  # pylint: disable=import-error, wrong-import-position
-
-
-# ==================================================================================================
-# -- load specs definition -------------------------------------------------------------------------
-# ==================================================================================================
-
-with open('../data/vtypes.json') as f:
-    SPECS = json.load(f)
-
-    DEFAULT_2_WHEELED_VEHICLE = SPECS['DEFAULT_2_WHEELED_VEHICLE']
-    DEFAULT_WHEELED_VEHICLE = SPECS['DEFAULT_WHEELED_VEHICLE']
-    CARLA_BLUEPRINTS_SPECS = SPECS['carla_blueprints']
-
-# ==================================================================================================
-# -- main ------------------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-def write_vtype_xml(filename, vtypes):
-    """
-    Write route xml file.
-    """
-    root = ET.Element('routes')
-
-    root.addprevious(
-        ET.Comment('generated on {date:%Y-%m-%d %H:%M:%S} by {script:}'.format(
-            date=datetime.datetime.now(), script=os.path.basename(__file__))))
-
-    for vtype in vtypes:
-        ET.SubElement(root, 'vType', vtype)
-
-    tree = ET.ElementTree(root)
-    tree.write(filename, pretty_print=True, encoding='UTF-8', xml_declaration=True)
-
-
-def generate_vtype(vehicle):
-    """Generates sumo vtype specification for a given carla vehicle.
-
-        :param vehicle: carla actor (carla.Actor)
-        :return: sumo vtype specifications
-    """
-    type_id = vehicle.type_id
-
-    if type_id not in CARLA_BLUEPRINTS_SPECS:
-        number_of_wheels = int(vehicle.attributes['number_of_wheels'])
-        if number_of_wheels == 2:
-            logging.warning(
-                '''type id %s not mapped to any sumo vtype.
-                \tUsing default specification for two-wheeled vehicles: %s''', type_id,
-                DEFAULT_2_WHEELED_VEHICLE)
-            user_specs = DEFAULT_2_WHEELED_VEHICLE
-        else:
-            logging.warning(
-                '''type id %s not mapped to any sumo vtype.
-                \tUsing default specification for wheeled vehicles: %s''', type_id,
-                DEFAULT_WHEELED_VEHICLE)
-            user_specs = DEFAULT_WHEELED_VEHICLE
-
-    else:
-        logging.info('type id %s mapped to the following specifications: %s', type_id,
-                     CARLA_BLUEPRINTS_SPECS[type_id])
-        user_specs = CARLA_BLUEPRINTS_SPECS[type_id]
-
-    specs = {
-        'id': vehicle.type_id,
-        'length': str(2.0 * vehicle.bounding_box.extent.x),
-        'width': str(2.0 * vehicle.bounding_box.extent.y),
-        'height': str(2.0 * vehicle.bounding_box.extent.z)
-    }
-
-    specs.update(user_specs)
-    return specs
-
-
-def main(args):
-    """
-    Main method.
-    """
-    client = carla.Client(args.carla_host, args.carla_port)
-    client.set_timeout(2.0)
-
-    try:
-        world = client.get_world()
-        vehicle_blueprints = world.get_blueprint_library().filter('vehicle.*')
-
-        transform = world.get_map().get_spawn_points()[0]
-
-        vtypes = []
-        for blueprint in vehicle_blueprints:
-            logging.info('processing vtype for %s', blueprint.id)
-            vehicle = world.spawn_actor(blueprint, transform)
-
-            vtype = generate_vtype(vehicle)
-            if vtype:
-                vtypes.append(vtype)
-            else:
-                logging.error(
-                    'type id %s could no be mapped to any vtype', vehicle.type_id)
-
-            vehicle.destroy()
-
-        write_vtype_xml(args.output_file, vtypes)
-
-    finally:
-        logging.info('done')
-
-
-if __name__ == '__main__':
-    # Define arguments that will be received and parsed.
-    argparser = argparse.ArgumentParser(description=__doc__)
-    argparser.add_argument('--carla-host',
-                           metavar='H',
-                           default='127.0.0.1',
-                           help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument('--carla-port',
-                           metavar='P',
-                           default=2000,
-                           type=int,
-                           help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '--output-file',
-        '-o',
-        metavar='FILE',
-        default='carlavtypes.rou.xml',
-        type=str,
-        help='the generated vtypes will be written to FILE (default: carlavtypes.rou.xml)')
-    argparser.add_argument('--verbose', '-v', action='store_true', help='increase output verbosity')
-    arguments = argparser.parse_args()
-
-    if arguments.verbose:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
-    else:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.WARNING)
-
-    main(arguments)

Co-Simulation/Sumo/util/data/opendrive_netconvert.typ.xml

@@ -1,31 +0,0 @@
-<types xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/types_file.xsd">
-    <type id="driving"       priority="1"  speed="13.89" width="3.65" disallow="pedestrian rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="stop"          priority="1"  speed="13.89" width="3.65" disallow="pedestrian rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="restricted"    priority="0"  speed="13.89" width="3.65" disallow="all"/>
-    <type id="parking"       priority="1"  speed="1.39"  width="2.50" disallow="pedestrian rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="entry"         priority="1"  speed="22.22" width="3.65" disallow="pedestrian rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="exit"          priority="1"  speed="22.22" width="3.65" disallow="pedestrian rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="offRamp"       priority="1"  speed="22.22" width="3.65" disallow="pedestrian bicycle moped rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="onRamp"        priority="1"  speed="22.22" width="3.65" disallow="pedestrian bicycle moped rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="roadWorks"     priority="0"  speed="1.39"  width="3.65" allow="authority"/>
-    <type id="tram"          priority="2"  speed="13.89" width="3.65" allow="tram"/>
-    <type id="rail"          priority="3"  speed="33.33" width="3.65" allow="rail rail_urban rail_electric rail_fast"/>
-    <type id="biking"        priority="-1" speed="5.56"  width="1.50" allow="bicycle"/>
-    <type id="sidewalk"      priority="-2" speed="2.78"  width="2.50" allow="pedestrian"/>
-
-    <!-- discarded -->
-    <type id="none"          priority="0"  speed="1.39" width="1.0"   disallow="all"          discard="true"/>
-    <type id="shoulder"      priority="0"  speed="1.39" width="1.0"   disallow="all"          discard="true"/>
-    <type id="border"        priority="0"  speed="1.39" width="0.1"   disallow="all"          discard="true"/>
-    <type id="median"        priority="0"  speed="1.39" width="0.1"   disallow="all"          discard="true"/>
-    <type id="special1"      priority="1"  speed="22.22" width="3.65" allow="custom1"         discard="true"/>
-    <type id="special2"      priority="1"  speed="22.22" width="3.65" allow="custom2"         discard="true"/>
-    <type id="special3"      priority="1"  speed="22.22" width="3.65" allow="custom1 custom2" discard="true"/>
-
-    <!-- deprecated -->
-    <type id="mwyEntry"      priority="1"  speed="22.22" width="3.65" disallow="pedestrian bicycle moped rail rail_urban rail_electric rail_fast tram ship"/>
-    <type id="mwyExit"       priority="1"  speed="22.22" width="3.65" disallow="pedestrian bicycle moped rail rail_urban rail_electric rail_fast tram ship"/>
-
-    <!-- not fully implemented -->
-    <type id="bidirectional" priority="1"  speed="1.39"  width="3.65" disallow="pedestrian rail rail_urban rail_electric rail_fast tram ship"/>
-</types>

Co-Simulation/Sumo/util/netconvert_carla.py

@@ -1,541 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-"""
-Script to generate sumo nets based on opendrive files. Internally, it uses netconvert to generate
-the net and inserts, manually, the traffic light landmarks retrieved from the opendrive.
-"""
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import argparse
-import bisect
-import collections
-import logging
-import shutil
-import subprocess
-import tempfile
-
-import lxml.etree as ET  # pylint: disable=import-error
-
-# ==================================================================================================
-# -- find carla module -----------------------------------------------------------------------------
-# ==================================================================================================
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(
-        glob.glob('../../../PythonAPI/carla/dist/carla-*%d.%d-%s.egg' %
-                  (sys.version_info.major, sys.version_info.minor,
-                   'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-# ==================================================================================================
-# -- find sumo modules -----------------------------------------------------------------------------
-# ==================================================================================================
-
-if 'SUMO_HOME' in os.environ:
-    sys.path.append(os.path.join(os.environ['SUMO_HOME'], 'tools'))
-else:
-    sys.exit("please declare environment variable 'SUMO_HOME'")
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import carla
-import sumolib
-
-# ==================================================================================================
-# -- topology --------------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class SumoTopology(object):
-    """
-    This object holds the topology of a sumo net. Internally, the information is structured as
-    follows:
-
-        - topology: {
-            (road_id, lane_id): [(successor_road_id, succesor_lane_id), ...], ...}
-        - paths: {
-            (road_id, lane_id): [
-                ((in_road_id, in_lane_id), (out_road_id, out_lane_id)), ...
-            ], ...}
-        - odr2sumo_ids: {
-            (odr_road_id, odr_lane_id): [(sumo_edge_id, sumo_lane_id), ...], ...}
-    """
-    def __init__(self, topology, paths, odr2sumo_ids):
-        # Contains only standard roads.
-        self._topology = topology
-        # Contaions only roads that belong to a junction.
-        self._paths = paths
-        # Mapped ids between sumo and opendrive.
-        self._odr2sumo_ids = odr2sumo_ids
-
-    # http://sumo.sourceforge.net/userdoc/Networks/Import/OpenDRIVE.html#dealing_with_lane_sections
-    def get_sumo_id(self, odr_road_id, odr_lane_id, s=0):
-        """
-        Returns the pair (sumo_edge_id, sumo_lane index) corresponding to the provided odr pair. The
-        argument 's' allows selecting the better sumo edge when it has been split into different
-        edges due to different odr lane sections.
-        """
-        if (odr_road_id, odr_lane_id) not in self._odr2sumo_ids:
-            return None
-
-        sumo_ids = list(self._odr2sumo_ids[(odr_road_id, odr_lane_id)])
-
-        if (len(sumo_ids)) == 1:
-            return sumo_ids[0]
-
-        # The edge is split into different lane sections. We return the nearest edge based on the
-        # s coordinate of the provided landmark.
-        else:
-            # Ensures that all the related sumo edges belongs to the same opendrive road but to
-            # different lane sections.
-            assert set([edge.split('.', 1)[0] for edge, lane_index in sumo_ids]) == 1
-
-            s_coords = [float(edge.split('.', 1)[1]) for edge, lane_index in sumo_ids]
-
-            s_coords, sumo_ids = zip(*sorted(zip(s_coords, sumo_ids)))
-            index = bisect.bisect_left(s_coords, s, lo=1) - 1
-            return sumo_ids[index]
-
-    def is_junction(self, odr_road_id, odr_lane_id):
-        """
-        Checks whether the provided pair (odr_road_id, odr_lane_id) belongs to a junction.
-        """
-        return (odr_road_id, odr_lane_id) in self._paths
-
-    def get_successors(self, sumo_edge_id, sumo_lane_index):
-        """
-        Returns the successors (standard roads) of the provided pair (sumo_edge_id, sumo_lane_index)
-        """
-        if self.is_junction(sumo_edge_id, sumo_lane_index):
-            return []
-
-        return list(self._topology.get((sumo_edge_id, sumo_lane_index), set()))
-
-    def get_incoming(self, odr_road_id, odr_lane_id):
-        """
-        If the pair (odr_road_id, odr_lane_id) belongs to a junction, returns the incoming edges of
-        the path. Otherwise, return and empty list.
-        """
-        if not self.is_junction(odr_road_id, odr_lane_id):
-            return []
-
-        result = set([(connection[0][0], connection[0][1])
-                      for connection in self._paths[(odr_road_id, odr_lane_id)]])
-        return list(result)
-
-    def get_outgoing(self, odr_road_id, odr_lane_id):
-        """
-        If the pair (odr_road_id, odr_lane_id) belongs to a junction, returns the outgoing edges of
-        the path. Otherwise, return and empty list.
-        """
-        if not self.is_junction(odr_road_id, odr_lane_id):
-            return []
-
-        result = set([(connection[1][0], connection[1][1])
-                      for connection in self._paths[(odr_road_id, odr_lane_id)]])
-        return list(result)
-
-    def get_path_connectivity(self, odr_road_id, odr_lane_id):
-        """
-        Returns incoming and outgoing roads of the pair (odr_road_id, odr_lane_id). If the provided
-        pair not belongs to a junction, returns an empty list.
-        """
-        return list(self._paths.get((odr_road_id, odr_lane_id), set()))
-
-
-def build_topology(sumo_net):
-    """
-    Builds sumo topology.
-    """
-    # --------------------------
-    # OpenDrive->Sumo mapped ids
-    # --------------------------
-    # Only takes into account standard roads.
-    #
-    #   odr2sumo_ids = {(odr_road_id, odr_lane_id) : [(sumo_edge_id, sumo_lane_index), ...], ...}
-    odr2sumo_ids = {}
-    for edge in sumo_net.getEdges():
-        for lane in edge.getLanes():
-            if lane.getParam('origId') is None:
-                raise RuntimeError(
-                    'Sumo lane {} does not have "origId" parameter. Make sure that the --output.original-names parameter is active when running netconvert.'
-                    .format(lane.getID()))
-
-            if len(lane.getParam('origId').split()) > 1:
-                logging.warning('[Building topology] Sumo net contains joined opendrive roads.')
-
-            for odr_id in lane.getParam('origId').split():
-                odr_road_id, odr_lane_id = odr_id.split('_')
-                if (odr_road_id, int(odr_lane_id)) not in odr2sumo_ids:
-                    odr2sumo_ids[(odr_road_id, int(odr_lane_id))] = set()
-                odr2sumo_ids[(odr_road_id, int(odr_lane_id))].add((edge.getID(), lane.getIndex()))
-
-    # -----------
-    # Connections
-    # -----------
-    #
-    #   topology -- {(sumo_road_id, sumo_lane_index): [(sumo_road_id, sumo_lane_index), ...], ...}
-    #   paths    -- {(odr_road_id, odr_lane_id): [
-    #                   ((sumo_edge_id, sumo_lane_index), (sumo_edge_id, sumo_lane_index))
-    #               ]}
-    topology = {}
-    paths = {}
-
-    for from_edge in sumo_net.getEdges():
-        for to_edge in sumo_net.getEdges():
-            connections = from_edge.getConnections(to_edge)
-            for connection in connections:
-                from_ = connection.getFromLane()
-                to_ = connection.getToLane()
-                from_edge_id, from_lane_index = from_.getEdge().getID(), from_.getIndex()
-                to_edge_id, to_lane_index = to_.getEdge().getID(), to_.getIndex()
-
-                if (from_edge_id, from_lane_index) not in topology:
-                    topology[(from_edge_id, from_lane_index)] = set()
-
-                topology[(from_edge_id, from_lane_index)].add((to_edge_id, to_lane_index))
-
-                # Checking if the connection is an opendrive path.
-                conn_odr_ids = connection.getParam('origId')
-                if conn_odr_ids is not None:
-                    if len(conn_odr_ids.split()) > 1:
-                        logging.warning(
-                            '[Building topology] Sumo net contains joined opendrive paths.')
-
-                    for odr_id in conn_odr_ids.split():
-
-                        odr_road_id, odr_lane_id = odr_id.split('_')
-                        if (odr_road_id, int(odr_lane_id)) not in paths:
-                            paths[(odr_road_id, int(odr_lane_id))] = set()
-
-                        paths[(odr_road_id, int(odr_lane_id))].add(
-                            ((from_edge_id, from_lane_index), (to_edge_id, to_lane_index)))
-
-    return SumoTopology(topology, paths, odr2sumo_ids)
-
-
-# ==================================================================================================
-# -- sumo definitions ------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-class SumoTrafficLight(object):
-    """
-    SumoTrafficLight holds all the necessary data to define a traffic light in sumo:
-
-        * connections (tlid, from_road, to_road, from_lane, to_lane, link_index).
-        * phases (duration, state, min_dur, max_dur, nex, name).
-        * parameters.
-    """
-    DEFAULT_DURATION_GREEN_PHASE = 42
-    DEFAULT_DURATION_YELLOW_PHASE = 3
-    DEFAULT_DURATION_RED_PHASE = 3
-
-    Phase = collections.namedtuple('Phase', 'duration state min_dur max_dur next name')
-    Connection = collections.namedtuple('Connection',
-                                        'tlid from_road to_road from_lane to_lane link_index')
-
-    def __init__(self, tlid, program_id='0', offset=0, tltype='static'):
-        self.id = tlid
-        self.program_id = program_id
-        self.offset = offset
-        self.type = tltype
-
-        self.phases = []
-        self.parameters = set()
-        self.connections = set()
-
-    @staticmethod
-    def generate_tl_id(from_edge, to_edge):
-        """
-        Generates sumo traffic light id based on the junction connectivity.
-        """
-        return '{}:{}'.format(from_edge, to_edge)
-
-    @staticmethod
-    def generate_default_program(tl):
-        """
-        Generates a default program for the given sumo traffic light
-        """
-        incoming_roads = [connection.from_road for connection in tl.connections]
-        for road in set(incoming_roads):
-            phase_green = ['r'] * len(tl.connections)
-            phase_yellow = ['r'] * len(tl.connections)
-            phase_red = ['r'] * len(tl.connections)
-
-            for connection in tl.connections:
-                if connection.from_road == road:
-                    phase_green[connection.link_index] = 'g'
-                    phase_yellow[connection.link_index] = 'y'
-
-            tl.add_phase(SumoTrafficLight.DEFAULT_DURATION_GREEN_PHASE, ''.join(phase_green))
-            tl.add_phase(SumoTrafficLight.DEFAULT_DURATION_YELLOW_PHASE, ''.join(phase_yellow))
-            tl.add_phase(SumoTrafficLight.DEFAULT_DURATION_RED_PHASE, ''.join(phase_red))
-
-    def add_phase(self, duration, state, min_dur=-1, max_dur=-1, next_phase=None, name=''):
-        """
-        Adds a new phase.
-        """
-        self.phases.append(
-            SumoTrafficLight.Phase(duration, state, min_dur, max_dur, next_phase, name))
-
-    def add_parameter(self, key, value):
-        """
-        Adds a new parameter.
-        """
-        self.parameters.add((key, value))
-
-    def add_connection(self, connection):
-        """
-        Adds a new connection.
-        """
-        self.connections.add(connection)
-
-    def add_landmark(self,
-                     landmark_id,
-                     tlid,
-                     from_road,
-                     to_road,
-                     from_lane,
-                     to_lane,
-                     link_index=-1):
-        """
-        Adds a new landmark.
-
-        Returns True if the landmark is successfully included. Otherwise, returns False.
-        """
-        if link_index == -1:
-            link_index = len(self.connections)
-
-        def is_same_connection(c1, c2):
-            return c1.from_road == c2.from_road and c1.to_road == c2.to_road and \
-                   c1.from_lane == c2.from_lane and c1.to_lane == c2.to_lane
-
-        connection = SumoTrafficLight.Connection(tlid, from_road, to_road, from_lane, to_lane,
-                                                 link_index)
-        if any([is_same_connection(connection, c) for c in self.connections]):
-            logging.warning(
-                'Different landmarks controlling the same connection. Only one will be included.')
-            return False
-
-        self.add_connection(connection)
-        self.add_parameter(link_index, landmark_id)
-        return True
-
-    def to_xml(self):
-        info = {
-            'id': self.id,
-            'type': self.type,
-            'programID': self.program_id,
-            'offset': str(self.offset)
-        }
-
-        xml_tag = ET.Element('tlLogic', info)
-        for phase in self.phases:
-            ET.SubElement(xml_tag, 'phase', {'state': phase.state, 'duration': str(phase.duration)})
-        for parameter in sorted(self.parameters, key=lambda x: x[0]):
-            ET.SubElement(xml_tag, 'param', {
-                'key': 'linkSignalID:' + str(parameter[0]),
-                'value': str(parameter[1])
-            })
-
-        return xml_tag
-
-
-# ==================================================================================================
-# -- main ------------------------------------------------------------------------------------------
-# ==================================================================================================
-
-
-def _netconvert_carla_impl(xodr_file, output, tmpdir, guess_tls=False):
-    """
-    Implements netconvert carla.
-    """
-    # ----------
-    # netconvert
-    # ----------
-    basename = os.path.splitext(os.path.basename(xodr_file))[0]
-    tmp_sumo_net = os.path.join(tmpdir, basename + '.net.xml')
-
-    try:
-        basedir = os.path.dirname(os.path.realpath(__file__))
-        result = subprocess.call(['netconvert',
-            '--opendrive', xodr_file,
-            '--output-file', tmp_sumo_net,
-            '--geometry.min-radius.fix',
-            '--geometry.remove',
-            '--opendrive.curve-resolution', '1',
-            '--opendrive.import-all-lanes',
-            '--type-files', os.path.join(basedir, 'data/opendrive_netconvert.typ.xml'),
-            # Necessary to link odr and sumo ids.
-            '--output.original-names',
-            # Discard loading traffic lights as them will be inserted manually afterwards.
-            '--tls.discard-loaded', 'true',
-        ])
-    except subprocess.CalledProcessError:
-        raise RuntimeError('There was an error when executing netconvert.')
-    else:
-        if result != 0:
-            raise RuntimeError('There was an error when executing netconvert.')
-
-    # --------
-    # Sumo net
-    # --------
-    sumo_net = sumolib.net.readNet(tmp_sumo_net)
-    sumo_topology = build_topology(sumo_net)
-
-    # ---------
-    # Carla map
-    # ---------
-    with open(xodr_file, 'r') as f:
-        carla_map = carla.Map('netconvert', str(f.read()))
-
-    # ---------
-    # Landmarks
-    # ---------
-    tls = {}  # {tlsid: SumoTrafficLight}
-
-    landmarks = carla_map.get_all_landmarks_of_type('1000001')
-    for landmark in landmarks:
-        if landmark.name == '':
-            # This is a workaround to avoid adding traffic lights without controllers.
-            logging.warning('Landmark %s has not a valid name.', landmark.name)
-            continue
-
-        road_id = str(landmark.road_id)
-        for from_lane, to_lane in landmark.get_lane_validities():
-            for lane_id in range(from_lane, to_lane + 1):
-                if lane_id == 0:
-                    continue
-
-                wp = carla_map.get_waypoint_xodr(landmark.road_id, lane_id, landmark.s)
-                if wp is None:
-                    logging.warning(
-                        'Could not find waypoint for landmark {} (road_id: {}, lane_id: {}, s:{}'.
-                        format(landmark.id, landmark.road_id, lane_id, landmark.s))
-                    continue
-
-                # When the landmark belongs to a junction, we place te traffic light at the
-                # entrance of the junction.
-                if wp.is_junction and sumo_topology.is_junction(road_id, lane_id):
-                    tlid = str(wp.get_junction().id)
-                    if tlid not in tls:
-                        tls[tlid] = SumoTrafficLight(tlid)
-                    tl = tls[tlid]
-
-                    if guess_tls:
-                        for from_edge, from_lane in sumo_topology.get_incoming(road_id, lane_id):
-                            successors = sumo_topology.get_successors(from_edge, from_lane)
-                            for to_edge, to_lane in successors:
-                                tl.add_landmark(landmark.id, tl.id, from_edge, to_edge, from_lane,
-                                                to_lane)
-
-                    else:
-                        connections = sumo_topology.get_path_connectivity(road_id, lane_id)
-                        for from_, to_ in connections:
-                            from_edge, from_lane = from_
-                            to_edge, to_lane = to_
-
-                            tl.add_landmark(landmark.id, tl.id, from_edge, to_edge, from_lane,
-                                            to_lane)
-
-                # When the landmarks does not belong to a junction (i.e., belongs to a std road),
-                # we place the traffic light between that std road and its successor.
-                elif not wp.is_junction and not sumo_topology.is_junction(road_id, lane_id):
-                    from_edge, from_lane = sumo_topology.get_sumo_id(road_id, lane_id, landmark.s)
-
-                    for to_edge, to_lane in sumo_topology.get_successors(from_edge, from_lane):
-                        tlid = SumoTrafficLight.generate_tl_id(from_edge, to_edge)
-                        if tlid not in tls:
-                            tls[tlid] = SumoTrafficLight(tlid)
-                        tl = tls[tlid]
-
-                        tl.add_landmark(landmark.id, tl.id, from_edge, to_edge, from_lane, to_lane)
-
-                else:
-                    logging.warning('Landmark %s could not be added.', landmark.id)
-
-    # ---------------
-    # Modify sumo net
-    # ---------------
-    parser = ET.XMLParser(remove_blank_text=True)
-    tree = ET.parse(tmp_sumo_net, parser)
-    root = tree.getroot()
-
-    for tl in tls.values():
-        SumoTrafficLight.generate_default_program(tl)
-        edges_tags = tree.xpath('//edge')
-        if not edges_tags:
-            raise RuntimeError('No edges found in sumo net.')
-        root.insert(root.index(edges_tags[-1]) + 1, tl.to_xml())
-
-        for connection in tl.connections:
-            tags = tree.xpath(
-                '//connection[@from="{}" and @to="{}" and @fromLane="{}" and @toLane="{}"]'.format(
-                    connection.from_road, connection.to_road, connection.from_lane,
-                    connection.to_lane))
-
-            if tags:
-                if len(tags) > 1:
-                    logging.warning(
-                        'Found repeated connections from={} to={} fromLane={} toLane={}.'.format(
-                            connection.from_road, connection.to_road, connection.from_lane,
-                            connection.to_lane))
-
-                tags[0].set('tl', str(connection.tlid))
-                tags[0].set('linkIndex', str(connection.link_index))
-            else:
-                logging.warning('Not found connection from={} to={} fromLane={} toLane={}.'.format(
-                    connection.from_road, connection.to_road, connection.from_lane,
-                    connection.to_lane))
-
-    tree.write(output, pretty_print=True, encoding='UTF-8', xml_declaration=True)
-
-
-def netconvert_carla(xodr_file, output, guess_tls=False):
-    """
-    Generates sumo net.
-
-        :param xodr_file: opendrive file (*.xodr)
-        :param output: output file (*.net.xml)
-        :param guess_tls: guess traffic lights at intersections.
-        :returns: path to the generated sumo net.
-    """
-    try:
-        tmpdir = tempfile.mkdtemp()
-        _netconvert_carla_impl(xodr_file, output, tmpdir, guess_tls)
-
-    finally:
-        if os.path.exists(tmpdir):
-            shutil.rmtree(tmpdir)
-
-
-if __name__ == '__main__':
-    argparser = argparse.ArgumentParser(description=__doc__)
-    argparser.add_argument('xodr_file', help='opendrive file (*.xodr')
-    argparser.add_argument('--output',
-                           '-o',
-                           default='net.net.xml',
-                           type=str,
-                           help='output file (default: net.net.xml)')
-    argparser.add_argument('--guess-tls',
-                           action='store_true',
-                           help='guess traffic lights at intersections (default: False)')
-    args = argparser.parse_args()
-
-    netconvert_carla(args.xodr_file, args.output, args.guess_tls)

Co-Simulation/Sumo/util/sequential_types.py

@@ -1,89 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-"""
-Script to modify automatically vtypes to carla type ids in sumo route files.
-"""
-
-# ==================================================================================================
-# -- imports ---------------------------------------------------------------------------------------
-# ==================================================================================================
-
-import argparse
-import fnmatch
-import json
-import logging
-import random
-
-import lxml.etree as ET  # pylint: disable=import-error
-
-# ==================================================================================================
-# -- load vtypes -----------------------------------------------------------------------------------
-# ==================================================================================================
-
-with open('../data/vtypes.json') as f:
-    VTYPES = json.load(f)['carla_blueprints'].keys()
-
-# ==================================================================================================
-# -- main ------------------------------------------------------------------------------------------
-# ==================================================================================================
-
-def main(route_files, vtypes, _random=False):
-    """
-    Main method to automatically modify vtypes to carla type ids in sumo route files.
-    """
-    for filename in route_files:
-        tree = ET.parse(filename)
-        root = tree.getroot()
-
-        if not _random:
-            index = 0
-
-        counter = 0
-        for vtype in root.iter('vehicle'):
-            if _random:
-                new_type = random.choice(vtypes)
-            else:
-                new_type = vtypes[index]
-                index = (index + 1) if index < (len(vtypes) - 1) else 0
-
-            vtype.set('type', new_type)
-            counter += 1
-
-        tree = ET.ElementTree(root)
-        tree.write(filename, pretty_print=True, encoding='UTF-8', xml_declaration=True)
-
-        logging.info('modified %d vtype(s) in %s', counter, filename)
-
-
-if __name__ == '__main__':
-    # Define arguments that will be received and parsed.
-    argparser = argparse.ArgumentParser(description=__doc__)
-    argparser.add_argument('--route-files',
-                           '-r',
-                           metavar='FILES',
-                           nargs='+',
-                           default=[],
-                           help='sumo route files')
-    argparser.add_argument('--random',
-                           action='store_true',
-                           help='apply vtypes randomly or sequentially')
-    argparser.add_argument('--filterv',
-                           metavar='PATTERN',
-                           default='vehicle.*',
-                           help='vehicles filter (default: "vehicle.*")')
-    argparser.add_argument('--verbose', '-v', action='store_true', help='increase output verbosity')
-    args = argparser.parse_args()
-
-    if args.verbose:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
-    else:
-        logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.WARNING)
-
-    filtered_vtypes = [vtype for vtype in VTYPES if fnmatch.fnmatch(vtype, args.filterv)]
-    main(args.route_files, filtered_vtypes, args.random)

Docs/index.md

@@ -1,6 +1,8 @@
-# CARLA Documentation
+# CARLA Unreal Engine 5 Documentation
 
-Welcome to the CARLA documentation.
+Welcome to the CARLA Unreal Engine 5 documentation.
+
+This documentation refers to the Unreal Engine 5 version of CARLA, which differs significantly in functionality and features from the Unreal Engine 4 version of CARLA. If you are using the Unreal Engine 4 version of CARLA please refer to the [documentation for that version](https://carla.readthedocs.org)
 
 This home page contains an index with a brief description of the different sections in the documentation. Feel free to read in whatever order preferred. In any case, here are a few suggestions for newcomers.
 

LibCarla/CMakeLists.txt

@@ -1,11 +1,14 @@
-set (
-  LIBCARLA_SOURCE_PATH
-  ${CARLA_WORKSPACE_PATH}/LibCarla/source
+project (
+  libcarla
+  LANGUAGES
+    CXX
+  VERSION
+    ${CARLA_VERSION}
 )
 
 set (
-  LIBCARLA_THIRD_PARTY_SOURCE_PATH
-  ${LIBCARLA_SOURCE_PATH}/third-party
+  LIBCARLA_SOURCE_PATH
+  ${CARLA_WORKSPACE_PATH}/LibCarla/source
 )
 
 carla_two_step_configure_file (
@@ -15,14 +18,6 @@ carla_two_step_configure_file (
 
 if (BUILD_CARLA_SERVER)
 
-  project (
-    carla-server
-    LANGUAGES
-      CXX
-    VERSION
-      ${CARLA_VERSION}
-  )
-
   file (
     GLOB
     LIBCARLA_SERVER_SOURCES
@@ -59,9 +54,9 @@ if (BUILD_CARLA_SERVER)
   file (
     GLOB
     LIBCARLA_SERVER_SOURCES_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
   )
 
   file (
@@ -107,9 +102,9 @@ if (BUILD_CARLA_SERVER)
   file (
     GLOB
     LIBCARLA_SERVER_HEADERS_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
   )
 
   carla_add_library (
@@ -159,14 +154,6 @@ endif ()
 
 if (BUILD_CARLA_CLIENT)
 
-  project (
-    carla-client
-    LANGUAGES
-      CXX
-    VERSION
-      ${CARLA_VERSION}
-  )
-
   file (
     GLOB
     LIBCARLA_CLIENT_HEADERS
@@ -214,10 +201,10 @@ if (BUILD_CARLA_CLIENT)
   file (
     GLOB
     LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.h
   )
 
   file (
@@ -265,8 +252,8 @@ if (BUILD_CARLA_CLIENT)
   file (
     GLOB
     LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
   )
 
   carla_add_library (

LibCarla/source/carla/client/Actor.cpp

@@ -32,6 +32,16 @@ namespace client {
     return GetEpisode().Lock()->GetActorAcceleration(*this);
   }
 
+  std::string Actor::GetActorName() const
+  {
+    return GetEpisode().Lock()->GetActorName(*this);
+  }
+
+  std::string Actor::GetActorClassName() const
+  {
+    return GetEpisode().Lock()->GetActorClassName(*this);
+  }
+
   void Actor::SetLocation(const geom::Location &location) {
     GetEpisode().Lock()->SetActorLocation(*this, location);
   }

LibCarla/source/carla/client/Actor.h

@@ -60,6 +60,18 @@ namespace client {
     /// acceleration calculated after the actor's velocity.
     geom::Vector3D GetAcceleration() const;
 
+    /// Return the name of the underlying Unreal actor.
+    ///
+    /// @note This function does not call the simulator, it returns the
+    /// acceleration calculated after the actor's velocity.
+    std::string GetActorName() const;
+
+    /// Return the name of the underlying actor's Unreal class.
+    ///
+    /// @note This function does not call the simulator, it returns the
+    /// acceleration calculated after the actor's velocity.
+    std::string GetActorClassName() const;
+
     /// Teleport the actor to @a location.
     void SetLocation(const geom::Location &location);
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -710,6 +710,16 @@ namespace detail {
     return _pimpl->CallAndWait<return_t>("cast_ray", start_location, end_location);
   }
 
+  std::string Client::GetActorName(rpc::ActorId actor) const
+  {
+    return _pimpl->CallAndWait<std::string>("get_actor_name", actor);
+  }
+
+  std::string Client::GetActorClassName(rpc::ActorId actor) const
+  {
+    return _pimpl->CallAndWait<std::string>("get_actor_class_name", actor);
+  }
+
 } // namespace detail
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/detail/Client.h

@@ -439,6 +439,10 @@ namespace detail {
     std::vector<rpc::LabelledPoint> CastRay(
         geom::Location start_location, geom::Location end_location) const;
 
+    std::string GetActorName(rpc::ActorId actor) const;
+
+    std::string GetActorClassName(rpc::ActorId actor) const;
+
   private:
 
     class Pimpl;

LibCarla/source/carla/client/detail/Simulator.h

@@ -438,6 +438,16 @@ namespace detail {
       return GetActorSnapshot(actor).acceleration;
     }
 
+    std::string GetActorName(const Actor& actor) const
+    {
+      return _client.GetActorName(actor.GetId());
+    }
+
+    std::string GetActorClassName(const Actor& actor) const
+    {
+      return _client.GetActorClassName(actor.GetId());
+    }
+
     void SetActorLocation(Actor &actor, const geom::Location &location) {
       _client.SetActorLocation(actor.GetId(), location);
     }

LibCarla/source/carla/geom/GeoLocation.h

@@ -11,7 +11,7 @@
 namespace carla {
 namespace geom {
 
-  class Location;
+  struct Location;
 
   class GeoLocation {
   public:

LibCarla/source/carla/geom/Location.h

@@ -19,8 +19,7 @@
 namespace carla {
 namespace geom {
 
-  class Location : public Vector3D {
-  public:
+  struct Location : Vector3D {
 
     // =========================================================================
     // -- Constructors ---------------------------------------------------------

LibCarla/source/carla/geom/Vector2D.h

@@ -14,8 +14,9 @@
 namespace carla {
 namespace geom {
 
-  class Vector2D {
-  public:
+  struct Vector2D {
+
+    static constexpr auto Dim = 2;
 
     // =========================================================================
     // -- Public data members --------------------------------------------------

LibCarla/source/carla/geom/Vector3D.h

@@ -14,8 +14,9 @@
 namespace carla {
 namespace geom {
 
-  class Vector3D {
-  public:
+  struct Vector3D {
+
+    static constexpr auto Dim = 3;
 
     // =========================================================================
     // -- Public data members --------------------------------------------------

LibCarla/source/carla/road/element/LaneCrossingCalculator.h

@@ -11,7 +11,7 @@
 #include <vector>
 
 namespace carla {
-namespace geom { class Location; }
+namespace geom { struct Location; }
 namespace road {
 
   class Map;

LibCarla/source/carla/ros2/ROS2.h

@@ -22,7 +22,7 @@ class AActor;
 namespace carla {
   namespace geom {
     class GeoLocation;
-    class Vector3D;
+    struct Vector3D;
   }
   namespace sensor {
     namespace data {

LibCarla/source/carla/rpc/VehiclePhysicsControl.h

@@ -17,311 +17,228 @@
 
 namespace carla {
   namespace rpc {
-  class VehiclePhysicsControl {
-  public:
+    struct VehiclePhysicsControl
+    {
+      // Engine Setup:
+      std::vector<geom::Vector2D> torque_curve = {
+        geom::Vector2D(0.0f, 500.0f),
+        geom::Vector2D(5000.0f, 500.0f)
+      };
 
-    VehiclePhysicsControl() = default;
-
-    VehiclePhysicsControl(
-        const std::vector<carla::geom::Vector2D> &in_torque_curve,
-        float in_max_torque,
-        float in_max_rpm,
-        float in_moi,
-        float in_rev_down_rate,
-
-        uint8_t in_differential_type,
-        float in_front_rear_split,
-
-        bool in_use_gear_autobox,
-        float in_gear_switch_time,
-        float in_final_ratio,
-        std::vector<float> &in_forward_gears,
-        std::vector<float> &in_reverse_gears,
-        float in_change_up_rpm,
-        float in_change_down_rpm,
-        float in_transmission_efficiency,
-
-        float in_mass,
-        float in_drag_coefficient,
-        geom::Location in_center_of_mass,
-        const std::vector<carla::geom::Vector2D> &in_steering_curve,
-        std::vector<WheelPhysicsControl> &in_wheels,
-        bool in_use_sweep_wheel_collision)
-      : torque_curve(in_torque_curve),
-        max_torque(in_max_torque),
-        max_rpm(in_max_rpm),
-        moi(in_moi),
-        rev_down_rate(in_rev_down_rate),
-        differential_type(in_differential_type),
-        front_rear_split(in_front_rear_split),
-        use_gear_autobox(in_use_gear_autobox),
-        gear_switch_time(in_gear_switch_time),
-        final_ratio(in_final_ratio),
-        forward_gears(in_forward_gears),
-        reverse_gears(in_reverse_gears),
-        change_up_rpm(in_change_up_rpm),
-        change_down_rpm(in_change_down_rpm),
-        transmission_efficiency(in_transmission_efficiency),
-        mass(in_mass),
-        drag_coefficient(in_drag_coefficient),
-        center_of_mass(in_center_of_mass),
-        steering_curve(in_steering_curve),
-        wheels(in_wheels),
-        use_sweep_wheel_collision(in_use_sweep_wheel_collision) {}
-
-    const std::vector<float> &GetForwardGears() const {
-      return forward_gears;
-    }
-
-    void SetForwardGears(std::vector<float> &in_forward_gears) {
-      forward_gears = in_forward_gears;
-    }
-
-    const std::vector<float> &GetReverseGears() const {
-      return reverse_gears;
-    }
-
-    void SetReverseGears(std::vector<float> &in_reverse_gears) {
-      reverse_gears = in_reverse_gears;
-    }
-
-    const std::vector<WheelPhysicsControl> &GetWheels() const {
-      return wheels;
-    }
-
-    void SetWheels(std::vector<WheelPhysicsControl> &in_wheels) {
-      wheels = in_wheels;
-    }
-
-    const std::vector<geom::Vector2D> &GetTorqueCurve() const {
-      return torque_curve;
-    }
-
-    void SetTorqueCurve(std::vector<geom::Vector2D> &in_torque_curve) {
-      torque_curve = in_torque_curve;
-    }
-
-    const std::vector<geom::Vector2D> &GetSteeringCurve() const {
-      return steering_curve;
-    }
-
-    void SetSteeringCurve(std::vector<geom::Vector2D> &in_steering_curve) {
-      steering_curve = in_steering_curve;
-    }
-
-    void SetUseSweepWheelCollision(bool in_sweep) {
-      use_sweep_wheel_collision = in_sweep;
-    }
-
-    bool GetUseSweepWheelCollision() {
-      return use_sweep_wheel_collision;
-    }
-
-    std::vector<geom::Vector2D> torque_curve = {geom::Vector2D(0.0f, 500.0f), geom::Vector2D(5000.0f, 500.0f)};
       float max_torque = 300.0f;
       float max_rpm = 5000.0f;
-    float moi = 1.0f;
+      float idle_rpm = 1.0f;
+      float brake_effect = 1.0f;
+      float rev_up_moi = 1.0f;
       float rev_down_rate = 600.0f;
 
       // ToDo: Convert to an enum, see EVehicleDifferential.
       uint8_t differential_type = 0;
       float front_rear_split = 0.5f;
 
-    bool use_gear_autobox = true;
-    float gear_switch_time = 0.5f;
+      bool use_automatic_gears = true;
+      float gear_change_time = 0.5f;
       float final_ratio = 4.0f;
-    std::vector<float> forward_gears = {2.85, 2.02, 1.35, 1.0, 2.85, 2.02, 1.35, 1.0};
-    std::vector<float> reverse_gears = {2.86, 2.86};
+      std::vector<float> forward_gear_ratios = { 2.85, 2.02, 1.35, 1.0, 2.85, 2.02, 1.35, 1.0 };
+      std::vector<float> reverse_gear_ratios = { 2.86, 2.86 };
       float change_up_rpm = 4500.0f;
       float change_down_rpm = 2000.0f;
       float transmission_efficiency = 0.9f;
 
       float mass = 1000.0f;
       float drag_coefficient = 0.3f;
-    geom::Location center_of_mass;
+      geom::Location center_of_mass = geom::Location(0, 0, 0);
+      float chassis_width = 180.f;
+      float chassis_height = 140.f;
+      float downforce_coefficient = 0.3f;
+      float drag_area = 0.0f;
+      geom::Vector3D inertia_tensor_scale = geom::Vector3D(1, 1, 1);
+      float sleep_threshold = 10.0f;
+      float sleep_slope_limit = 0.866f;
 
-    std::vector<geom::Vector2D> steering_curve = {geom::Vector2D(0.0f, 1.0f), geom::Vector2D(10.0f, 0.5f)};
+      std::vector<geom::Vector2D> steering_curve = {
+        geom::Vector2D(0.0f, 1.0f),
+        geom::Vector2D(10.0f, 0.5f)
+      };
       std::vector<WheelPhysicsControl> wheels;
 
       bool use_sweep_wheel_collision = false;
 
-    bool operator!=(const VehiclePhysicsControl &rhs) const {
-      return
-        max_torque != rhs.max_torque ||
-        max_rpm != rhs.max_rpm ||
-        moi != rhs.moi ||
-        rev_down_rate != rhs.rev_down_rate ||
+      inline bool operator==(const VehiclePhysicsControl& rhs) const {
+        const bool cmp[] = {
+          torque_curve == rhs.torque_curve,
+          max_torque == rhs.max_torque,
+          max_rpm == rhs.max_rpm,
+          idle_rpm == rhs.idle_rpm,
+          brake_effect == rhs.brake_effect,
+          rev_up_moi == rhs.rev_up_moi,
+          rev_down_rate == rhs.rev_down_rate,
+          differential_type == rhs.differential_type,
+          front_rear_split == rhs.front_rear_split,
+          use_automatic_gears == rhs.use_automatic_gears,
+          gear_change_time == rhs.gear_change_time,
+          final_ratio == rhs.final_ratio,
+          forward_gear_ratios == rhs.forward_gear_ratios,
+          reverse_gear_ratios == rhs.reverse_gear_ratios,
+          change_up_rpm == rhs.change_up_rpm,
+          change_down_rpm == rhs.change_down_rpm,
+          transmission_efficiency == rhs.transmission_efficiency,
+          mass == rhs.mass,
+          drag_coefficient == rhs.drag_coefficient,
+          center_of_mass == rhs.center_of_mass,
+          chassis_width == rhs.chassis_width,
+          chassis_height == rhs.chassis_height,
+          downforce_coefficient == rhs.downforce_coefficient,
+          drag_area == rhs.drag_area,
+          inertia_tensor_scale == rhs.inertia_tensor_scale,
+          sleep_threshold == rhs.sleep_threshold,
+          sleep_slope_limit == rhs.sleep_slope_limit,
+          steering_curve == rhs.steering_curve,
+          wheels == rhs.wheels,
+          use_sweep_wheel_collision == rhs.use_sweep_wheel_collision,
+        };
 
-        differential_type != rhs.differential_type ||
-        front_rear_split != rhs.front_rear_split ||
-
-        use_gear_autobox != rhs.use_gear_autobox ||
-        gear_switch_time != rhs.gear_switch_time ||
-        final_ratio != rhs.final_ratio ||
-        forward_gears != rhs.forward_gears ||
-        reverse_gears != rhs.reverse_gears ||
-        change_up_rpm != rhs.change_up_rpm ||
-        change_down_rpm != rhs.change_down_rpm ||
-        transmission_efficiency != rhs.transmission_efficiency ||
-
-        mass != rhs.mass ||
-        drag_coefficient != rhs.drag_coefficient ||
-        steering_curve != rhs.steering_curve ||
-        center_of_mass != rhs.center_of_mass ||
-        wheels != rhs.wheels ||
-        use_sweep_wheel_collision != rhs.use_sweep_wheel_collision;
+        return std::all_of(
+          std::begin(cmp),
+          std::end(cmp),
+          std::identity());
       }
 
-    bool operator==(const VehiclePhysicsControl &rhs) const {
-      return !(*this != rhs);
+      inline bool operator!=(const VehiclePhysicsControl& rhs) const {
+        return !(*this == rhs);
       }
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
-    VehiclePhysicsControl(const FVehiclePhysicsControl &Control) {
-      // Engine Setup
-      torque_curve = std::vector<carla::geom::Vector2D>();
-      TArray<FRichCurveKey> TorqueCurveKeys = Control.TorqueCurve.GetCopyOfKeys();
-      for (int32 KeyIdx = 0; KeyIdx < TorqueCurveKeys.Num(); KeyIdx++) {
-        geom::Vector2D point(TorqueCurveKeys[KeyIdx].Time, TorqueCurveKeys[KeyIdx].Value);
-        torque_curve.push_back(point);
-      }
-      max_torque = Control.MaxTorque;
-      max_rpm = Control.MaxRPM;
-      moi = Control.MOI;
-      rev_down_rate = Control.RevDownRate;
-
-      // Differential Setup
-      differential_type = Control.DifferentialType;
-      front_rear_split = Control.FrontRearSplit;
-
-      // Transmission Setup
-      use_gear_autobox = Control.bUseGearAutoBox;
-      gear_switch_time = Control.GearSwitchTime;
-      final_ratio = Control.FinalRatio;
-      change_up_rpm = Control.ChangeUpRPM;
-      change_down_rpm = Control.ChangeDownRPM;
-      transmission_efficiency = Control.TransmissionEfficiency;
-      forward_gears = std::vector<float>();
-      forward_gears.reserve(Control.ForwardGears.Num());
-      for (const auto &Gear : Control.ForwardGears) {
-        forward_gears.push_back(Gear);
-      }
-      reverse_gears = std::vector<float>();
-      reverse_gears.reserve(Control.ReverseGears.Num());
-      for (const auto &Gear : Control.ReverseGears) {
-        reverse_gears.push_back(Gear);
-      }
-
-      // Vehicle Setup
-      mass = Control.Mass;
-      drag_coefficient = Control.DragCoefficient;
-
-      steering_curve = std::vector<carla::geom::Vector2D>();
-      TArray<FRichCurveKey> SteeringCurveKeys = Control.SteeringCurve.GetCopyOfKeys();
-      for (int32 KeyIdx = 0; KeyIdx < SteeringCurveKeys.Num(); KeyIdx++) {
-        geom::Vector2D point(SteeringCurveKeys[KeyIdx].Time, SteeringCurveKeys[KeyIdx].Value);
-        steering_curve.push_back(point);
-      }
-
-      center_of_mass = Control.CenterOfMass;
-
-      // Wheels Setup
-      wheels = std::vector<WheelPhysicsControl>();
-      for (const auto &Wheel : Control.Wheels) {
-        wheels.push_back(WheelPhysicsControl(Wheel));
-      }
-
-      use_sweep_wheel_collision = Control.UseSweepWheelCollision;
+      static VehiclePhysicsControl FromFVehiclePhysicsControl(
+        const FVehiclePhysicsControl& Control) {
+        VehiclePhysicsControl Out = { };
+        Out.torque_curve.reserve(Control.TorqueCurve.GetNumKeys());
+        for (auto& Key : Control.TorqueCurve.GetConstRefOfKeys())
+          Out.torque_curve.push_back(geom::Vector2D(Key.Time, Key.Value));
+        Out.max_torque = Control.MaxTorque;
+        Out.max_rpm = Control.MaxRPM;
+        Out.idle_rpm = Control.IdleRPM;
+        Out.brake_effect = Control.BrakeEffect;
+        Out.rev_up_moi = Control.RevUpMOI;
+        Out.rev_down_rate = Control.RevDownRate;
+        Out.differential_type = Control.DifferentialType;
+        Out.front_rear_split = Control.FrontRearSplit;
+        Out.use_automatic_gears = Control.bUseAutomaticGears;
+        Out.gear_change_time = Control.GearChangeTime;
+        Out.final_ratio = Control.FinalRatio;
+        Out.forward_gear_ratios.resize(Control.ForwardGearRatios.Num());
+        for (size_t i = 0; i != Out.forward_gear_ratios.size(); ++i)
+          Out.forward_gear_ratios[i] = Control.ForwardGearRatios[i];
+        Out.reverse_gear_ratios.resize(Control.ReverseGearRatios.Num());
+        for (size_t i = 0; i != Out.reverse_gear_ratios.size(); ++i)
+          Out.reverse_gear_ratios[i] = Control.ReverseGearRatios[i];
+        Out.change_up_rpm = Control.ChangeUpRPM;
+        Out.change_down_rpm = Control.ChangeDownRPM;
+        Out.transmission_efficiency = Control.TransmissionEfficiency;
+        Out.mass = Control.Mass;
+        Out.drag_coefficient = Control.DragCoefficient;
+        Out.center_of_mass = Control.CenterOfMass;
+        Out.chassis_width = Control.ChassisWidth;
+        Out.chassis_height = Control.ChassisHeight;
+        Out.downforce_coefficient = Control.DownforceCoefficient;
+        Out.drag_area = Control.DragArea;
+        Out.inertia_tensor_scale = geom::Vector3D(
+          Control.InertiaTensorScale.X,
+          Control.InertiaTensorScale.Y,
+          Control.InertiaTensorScale.Z);
+        Out.sleep_threshold = Control.SleepThreshold;
+        Out.sleep_slope_limit = Control.SleepSlopeLimit;
+        Out.steering_curve.reserve(Control.SteeringCurve.GetNumKeys());
+        for (auto& Key : Control.SteeringCurve.GetConstRefOfKeys())
+          Out.steering_curve.push_back(geom::Vector2D(Key.Time, Key.Value));
+        Out.wheels.resize(Control.Wheels.Num());
+        for (size_t i = 0; i != Out.wheels.size(); ++i)
+          Out.wheels[i] = WheelPhysicsControl::FromFWheelPhysicsControl(Control.Wheels[i]);
+        Out.use_sweep_wheel_collision = Control.UseSweepWheelCollision;
+        return Out;
       }
 
       operator FVehiclePhysicsControl() const {
-      FVehiclePhysicsControl Control;
-
-      // Engine Setup
-      FRichCurve TorqueCurve;
-      for (const auto &point : torque_curve) {
-        TorqueCurve.AddKey(point.x, point.y);
-      }
-      Control.TorqueCurve = TorqueCurve;
+        FVehiclePhysicsControl Control = { };
+        for (auto [x, y] : torque_curve)
+          Control.TorqueCurve.AddKey(x, y);
         Control.MaxTorque = max_torque;
         Control.MaxRPM = max_rpm;
-      Control.MOI = moi;
+        Control.IdleRPM = idle_rpm;
+        Control.BrakeEffect = brake_effect;
+        Control.RevUpMOI = rev_up_moi;
         Control.RevDownRate = rev_down_rate;
-
-      // Differential Setup
         Control.DifferentialType = differential_type;
         Control.FrontRearSplit = front_rear_split;
-      
-      // Transmission Setup
-      Control.bUseGearAutoBox = use_gear_autobox;
-      Control.GearSwitchTime = gear_switch_time;
+        Control.bUseAutomaticGears = use_automatic_gears;
+        Control.GearChangeTime = gear_change_time;
         Control.FinalRatio = final_ratio;
+        Control.ForwardGearRatios.SetNum(forward_gear_ratios.size());
+        for (size_t i = 0; i != Control.ForwardGearRatios.Num(); ++i)
+          Control.ForwardGearRatios[i] = forward_gear_ratios[i];
+        Control.ReverseGearRatios.SetNum(reverse_gear_ratios.size());
+        for (size_t i = 0; i != Control.ReverseGearRatios.Num(); ++i)
+          Control.ReverseGearRatios[i] = reverse_gear_ratios[i];
         Control.ChangeUpRPM = change_up_rpm;
         Control.ChangeDownRPM = change_down_rpm;
         Control.TransmissionEfficiency = transmission_efficiency;
-      TArray<float> ForwardGears;
-      ForwardGears.Reserve(forward_gears.size());
-      for (const auto &gear : forward_gears) {
-        ForwardGears.Add(gear);
-      }
-      Control.ForwardGears = ForwardGears;
-      TArray<float> ReverseGears;
-      ReverseGears.Reserve(reverse_gears.size());
-      for (const auto &gear : reverse_gears) {
-        ReverseGears.Add(gear);
-      }
-      Control.ReverseGears = ReverseGears;
-
-
-      // Vehicle Setup
         Control.Mass = mass;
         Control.DragCoefficient = drag_coefficient;
-
-      // Transmission Setup
-      FRichCurve SteeringCurve;
-      for (const auto &point : steering_curve) {
-        SteeringCurve.AddKey(point.x, point.y);
-      }
-      Control.SteeringCurve = SteeringCurve;
-
         Control.CenterOfMass = center_of_mass;
-
-      // Wheels Setup
-      TArray<FWheelPhysicsControl> Wheels;
-      for (const auto &wheel : wheels) {
-        Wheels.Add(FWheelPhysicsControl(wheel));
-      }
-      Control.Wheels = Wheels;
-
+        Control.ChassisWidth = chassis_width;
+        Control.ChassisHeight = chassis_height;
+        Control.DownforceCoefficient = downforce_coefficient;
+        Control.DragArea = drag_area;
+        Control.InertiaTensorScale = FVector(
+          inertia_tensor_scale.x,
+          inertia_tensor_scale.y,
+          inertia_tensor_scale.z);
+        Control.SleepThreshold = sleep_threshold;
+        Control.SleepSlopeLimit = sleep_slope_limit;
+        for (auto [x, y] : steering_curve)
+          Control.SteeringCurve.AddKey(x, y);
+        Control.Wheels.SetNum(wheels.size());
+        for (size_t i = 0; i != Control.Wheels.Num(); ++i)
+          Control.Wheels[i] = wheels[i];
         Control.UseSweepWheelCollision = use_sweep_wheel_collision;
-
         return Control;
       }
 
 #endif
 
-    MSGPACK_DEFINE_ARRAY(torque_curve,
+      MSGPACK_DEFINE_ARRAY(
+        torque_curve,
         max_torque,
         max_rpm,
-        moi,
+        idle_rpm,
+        brake_effect,
+        rev_up_moi,
         rev_down_rate,
         differential_type,
         front_rear_split,
-        use_gear_autobox,
-        gear_switch_time,
+        use_automatic_gears,
+        gear_change_time,
         final_ratio,
-        forward_gears,
-        reverse_gears,
+        forward_gear_ratios,
+        reverse_gear_ratios,
         change_up_rpm,
         change_down_rpm,
         transmission_efficiency,
         mass,
         drag_coefficient,
         center_of_mass,
+        chassis_width,
+        chassis_height,
+        downforce_coefficient,
+        drag_area,
+        inertia_tensor_scale,
+        sleep_threshold,
+        sleep_slope_limit,
         steering_curve,
         wheels,
-        use_sweep_wheel_collision);
+        use_sweep_wheel_collision
+      );
     };
 
   } // namespace rpc

LibCarla/source/carla/rpc/WheelPhysicsControl.h

@@ -6,100 +6,254 @@
 
 #pragma once
 
+#include "carla/geom/Vector2D.h"
 #include "carla/geom/Vector3D.h"
+#include "carla/geom/Location.h"
 #include "carla/MsgPack.h"
 
+
+
 namespace carla {
   namespace rpc {
 
-  class WheelPhysicsControl {
-  public:
+    struct WheelPhysicsControl {
 
-    WheelPhysicsControl() = default;
-
-    WheelPhysicsControl(
-        float in_tire_friction,
-        float in_max_steer_angle,
-        float in_radius,
-        float in_cornering_stiffness,
-		    bool in_abs,
-		    bool in_traction_control,
-        float in_max_brake_torque,
-        float in_max_handbrake_torque,
-        geom::Vector3D in_position)
-      : tire_friction(in_tire_friction),
-        max_steer_angle(in_max_steer_angle),
-        radius(in_radius),
-        cornering_stiffness(in_cornering_stiffness),
-        abs(in_abs),
-        traction_control(in_traction_control),
-        max_brake_torque(in_max_brake_torque),
-        max_handbrake_torque(in_max_handbrake_torque),
-        position(in_position) {}
-
-    float tire_friction = 3.0f;
-    float max_steer_angle = 70.0f;
-    float radius = 30.0f;
+      uint8_t axle_type = 0; // @TODO INTRODUCE ENUM
+      geom::Vector3D offset = geom::Vector3D(0, 0, 0);
+      float wheel_radius = 30.0f;
+      float wheel_width = 30.0f;
+      float wheel_mass = 30.0f;
       float cornering_stiffness = 1000.0f;
-    bool abs = false;
-    bool traction_control = false;
+      float friction_force_multiplier = 3.0f;
+      float side_slip_modifier = 1.0f;
+      float slip_threshold = 20.0f;
+      float skid_threshold = 20.0f;
+      float max_steer_angle = 70.0f;
+      bool affected_by_steering = true;
+      bool affected_by_brake = true;
+      bool affected_by_handbrake = true;
+      bool affected_by_engine = true;
+      bool abs_enabled = false;
+      bool traction_control_enabled = false;
+      float max_wheelspin_rotation = 30;
+      uint8_t external_torque_combine_method = 0; // @TODO INTRODUCE ENUM
+      std::vector<geom::Vector2D> lateral_slip_graph = {};
+      geom::Vector3D suspension_axis = geom::Vector3D(0, 0, -1);
+      geom::Vector3D suspension_force_offset = geom::Vector3D(0, 0, 0);
+      float suspension_max_raise = 10.0f;
+      float suspension_max_drop = 10.0f;
+      float suspension_damping_ratio = 0.5f;
+      float wheel_load_ratio = 0.5f;
+      float spring_rate = 250.0f;
+      float spring_preload = 50.0f;
+      int suspension_smoothing = 0;
+      float rollbar_scaling = 0.15f;
+      uint8_t sweep_shape = 0; // @TODO INTRODUCE ENUM
+      uint8_t sweep_type = 0; // @TODO INTRODUCE ENUM
       float max_brake_torque = 1500.0f;
-    float max_handbrake_torque = 3000.0f;
-    geom::Vector3D position = {0.0f, 0.0f, 0.0f};
+      float max_hand_brake_torque = 3000.0f;
+      int32_t wheel_index = -1;
+      geom::Location location = geom::Location(0, 0, 0);
+      geom::Location old_location = geom::Location(0, 0, 0);
+      geom::Location velocity = geom::Location(0, 0, 0);
 
-    bool operator!=(const WheelPhysicsControl &rhs) const {
-      return
-        tire_friction != rhs.tire_friction ||
-        max_steer_angle != rhs.max_steer_angle ||
-        radius != rhs.radius ||
-        cornering_stiffness != rhs.cornering_stiffness ||
-        abs != rhs.abs ||
-        traction_control != rhs.traction_control ||
-        max_brake_torque != rhs.max_brake_torque ||
-        max_handbrake_torque != rhs.max_handbrake_torque ||
-        position != rhs.position;
+      inline bool operator==(const WheelPhysicsControl& rhs) const {
+        const bool cmp[] =
+        {
+          axle_type == rhs.axle_type,
+          offset == rhs.offset,
+          wheel_radius == rhs.wheel_radius,
+          wheel_width == rhs.wheel_width,
+          wheel_mass == rhs.wheel_mass,
+          cornering_stiffness == rhs.cornering_stiffness,
+          friction_force_multiplier == rhs.friction_force_multiplier,
+          side_slip_modifier == rhs.side_slip_modifier,
+          slip_threshold == rhs.slip_threshold,
+          skid_threshold == rhs.skid_threshold,
+          max_steer_angle == rhs.max_steer_angle,
+          affected_by_steering == rhs.affected_by_steering,
+          affected_by_brake == rhs.affected_by_brake,
+          affected_by_handbrake == rhs.affected_by_handbrake,
+          affected_by_engine == rhs.affected_by_engine,
+          abs_enabled == rhs.abs_enabled,
+          traction_control_enabled == rhs.traction_control_enabled,
+          max_wheelspin_rotation == rhs.max_wheelspin_rotation,
+          external_torque_combine_method == rhs.external_torque_combine_method,
+          lateral_slip_graph == rhs.lateral_slip_graph,
+          suspension_axis == rhs.suspension_axis,
+          suspension_force_offset == rhs.suspension_force_offset,
+          suspension_max_raise == rhs.suspension_max_raise,
+          suspension_max_drop == rhs.suspension_max_drop,
+          suspension_damping_ratio == rhs.suspension_damping_ratio,
+          wheel_load_ratio == rhs.wheel_load_ratio,
+          spring_rate == rhs.spring_rate,
+          spring_preload == rhs.spring_preload,
+          suspension_smoothing == rhs.suspension_smoothing,
+          rollbar_scaling == rhs.rollbar_scaling,
+          sweep_shape == rhs.sweep_shape,
+          sweep_type == rhs.sweep_type,
+          max_brake_torque == rhs.max_brake_torque,
+          max_hand_brake_torque == rhs.max_hand_brake_torque,
+          wheel_index == rhs.wheel_index,
+          location == rhs.location,
+          old_location == rhs.old_location,
+          velocity == rhs.velocity
+        };
+        return std::all_of(std::begin(cmp), std::end(cmp), std::identity());
       }
 
-    bool operator==(const WheelPhysicsControl &rhs) const {
-      return !(*this != rhs);
+      inline bool operator!=(const WheelPhysicsControl& rhs) const {
+        return !(*this == rhs);
       }
+
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
-    WheelPhysicsControl(const FWheelPhysicsControl &Wheel)
-      : tire_friction(Wheel.FrictionForceMultiplier),
-        max_steer_angle(Wheel.MaxSteerAngle),
-        radius(Wheel.Radius),
-        cornering_stiffness(Wheel.CorneringStiffness),
-        abs(Wheel.bABSEnabled),
-        traction_control(Wheel.bTractionControlEnabled),
-        max_brake_torque(Wheel.MaxBrakeTorque),
-        max_handbrake_torque(Wheel.MaxHandBrakeTorque),
-        position(Wheel.Position.X, Wheel.Position.Y, Wheel.Position.Z) {}
+      static WheelPhysicsControl FromFWheelPhysicsControl(
+        const FWheelPhysicsControl& Wheel)
+      {
+        WheelPhysicsControl Out = { };
+        Out.axle_type = (uint8_t)Wheel.AxleType;
+        Out.offset = geom::Vector3D(
+          Wheel.Offset.X,
+          Wheel.Offset.Y,
+          Wheel.Offset.Z);
+        Out.wheel_radius = Wheel.WheelRadius;
+        Out.wheel_width = Wheel.WheelWidth;
+        Out.wheel_mass = Wheel.WheelMass;
+        Out.cornering_stiffness = Wheel.CorneringStiffness;
+        Out.friction_force_multiplier = Wheel.FrictionForceMultiplier;
+        Out.side_slip_modifier = Wheel.SideSlipModifier;
+        Out.slip_threshold = Wheel.SlipThreshold;
+        Out.skid_threshold = Wheel.SkidThreshold;
+        Out.max_steer_angle = Wheel.MaxSteerAngle;
+        Out.affected_by_steering = Wheel.bAffectedBySteering;
+        Out.affected_by_brake = Wheel.bAffectedByBrake;
+        Out.affected_by_handbrake = Wheel.bAffectedByHandbrake;
+        Out.affected_by_engine = Wheel.bAffectedByEngine;
+        Out.abs_enabled = Wheel.bABSEnabled;
+        Out.traction_control_enabled = Wheel.bTractionControlEnabled;
+        Out.max_wheelspin_rotation = Wheel.MaxWheelspinRotation;
+        Out.external_torque_combine_method = (uint8_t)Wheel.ExternalTorqueCombineMethod;
+        Out.lateral_slip_graph.reserve(Wheel.LateralSlipGraph.GetNumKeys());
+        for (auto& e : Wheel.LateralSlipGraph.GetConstRefOfKeys())
+          Out.lateral_slip_graph.push_back({ e.Time, e.Value });
+        Out.suspension_axis = geom::Vector3D(
+          Wheel.SuspensionAxis.X,
+          Wheel.SuspensionAxis.Y,
+          Wheel.SuspensionAxis.Z);
+        Out.suspension_force_offset = geom::Vector3D(
+          Wheel.SuspensionForceOffset.X,
+          Wheel.SuspensionForceOffset.Y,
+          Wheel.SuspensionForceOffset.Z);
+        Out.suspension_max_raise = Wheel.SuspensionMaxRaise;
+        Out.suspension_max_drop = Wheel.SuspensionMaxDrop;
+        Out.suspension_damping_ratio = Wheel.SuspensionDampingRatio;
+        Out.wheel_load_ratio = Wheel.WheelLoadRatio;
+        Out.spring_rate = Wheel.SpringRate;
+        Out.spring_preload = Wheel.SpringPreload;
+        Out.suspension_smoothing = Wheel.SuspensionSmoothing;
+        Out.rollbar_scaling = Wheel.RollbarScaling;
+        Out.sweep_shape = (uint8_t)Wheel.SweepShape;
+        Out.sweep_type = (uint8_t)Wheel.SweepType;
+        Out.max_brake_torque = Wheel.MaxBrakeTorque;
+        Out.max_hand_brake_torque = Wheel.MaxHandBrakeTorque;
+        Out.wheel_index = Wheel.WheelIndex;
+        Out.location = Wheel.Location;
+        Out.old_location = Wheel.OldLocation;
+        Out.velocity = Wheel.Velocity;
+        return Out;
+      }
 
       operator FWheelPhysicsControl() const {
         FWheelPhysicsControl Wheel;
-      Wheel.FrictionForceMultiplier = tire_friction;
-      Wheel.MaxSteerAngle = max_steer_angle;
-      Wheel.Radius = radius;
+        Wheel.AxleType = (EAxleType)axle_type;
+        Wheel.Offset = FVector(offset.x, offset.y, offset.z);
+        Wheel.WheelRadius = wheel_radius;
+        Wheel.WheelWidth = wheel_width;
+        Wheel.WheelMass = wheel_mass;
         Wheel.CorneringStiffness = cornering_stiffness;
-      Wheel.bABSEnabled = abs;
-      Wheel.bTractionControlEnabled = traction_control;
+        Wheel.FrictionForceMultiplier = friction_force_multiplier;
+        Wheel.SideSlipModifier = side_slip_modifier;
+        Wheel.SlipThreshold = slip_threshold;
+        Wheel.SkidThreshold = skid_threshold;
+        Wheel.MaxSteerAngle = max_steer_angle;
+        Wheel.bAffectedBySteering = affected_by_steering;
+        Wheel.bAffectedByBrake = affected_by_brake;
+        Wheel.bAffectedByHandbrake = affected_by_handbrake;
+        Wheel.bAffectedByEngine = affected_by_engine;
+        Wheel.bABSEnabled = abs_enabled;
+        Wheel.bTractionControlEnabled = traction_control_enabled;
+        Wheel.MaxWheelspinRotation = max_wheelspin_rotation;
+        Wheel.ExternalTorqueCombineMethod = (ETorqueCombineMethod)external_torque_combine_method;
+        for (auto [x, y] : lateral_slip_graph)
+          Wheel.LateralSlipGraph.AddKey(x, y);
+        Wheel.SuspensionAxis = FVector(
+          suspension_axis.x,
+          suspension_axis.y,
+          suspension_axis.z);
+        Wheel.SuspensionForceOffset = FVector(
+          suspension_force_offset.x,
+          suspension_force_offset.y,
+          suspension_force_offset.z);
+        Wheel.SuspensionMaxRaise = suspension_max_raise;
+        Wheel.SuspensionMaxDrop = suspension_max_drop;
+        Wheel.SuspensionDampingRatio = suspension_damping_ratio;
+        Wheel.WheelLoadRatio = wheel_load_ratio;
+        Wheel.SpringRate = spring_rate;
+        Wheel.SpringPreload = spring_preload;
+        Wheel.SuspensionSmoothing = suspension_smoothing;
+        Wheel.RollbarScaling = rollbar_scaling;
+        Wheel.SweepShape = (ESweepShape)sweep_shape;
+        Wheel.SweepType = (ESweepType)sweep_type;
         Wheel.MaxBrakeTorque = max_brake_torque;
-      Wheel.MaxHandBrakeTorque = max_handbrake_torque;
-      Wheel.Position = {position.x, position.y, position.z};
+        Wheel.MaxHandBrakeTorque = max_hand_brake_torque;
+        Wheel.WheelIndex = wheel_index;
+        Wheel.Location = location;
+        Wheel.OldLocation = old_location;
+        Wheel.Velocity = velocity;
         return Wheel;
       }
 #endif
 
-    MSGPACK_DEFINE_ARRAY(tire_friction,
-        max_steer_angle,
-        radius,
+      MSGPACK_DEFINE_ARRAY(
+        axle_type,
+        offset,
+        wheel_radius,
+        wheel_width,
+        wheel_mass,
         cornering_stiffness,
-        abs,
-        traction_control,
+        friction_force_multiplier,
+        side_slip_modifier,
+        slip_threshold,
+        skid_threshold,
+        max_steer_angle,
+        affected_by_steering,
+        affected_by_brake,
+        affected_by_handbrake,
+        affected_by_engine,
+        abs_enabled,
+        traction_control_enabled,
+        max_wheelspin_rotation,
+        external_torque_combine_method,
+        lateral_slip_graph,
+        suspension_axis,
+        suspension_force_offset,
+        suspension_max_raise,
+        suspension_max_drop,
+        suspension_damping_ratio,
+        wheel_load_ratio,
+        spring_rate,
+        spring_preload,
+        suspension_smoothing,
+        rollbar_scaling,
+        sweep_shape,
+        sweep_type,
         max_brake_torque,
-        max_handbrake_torque,
-        position)
+        max_hand_brake_torque,
+        wheel_index,
+        location,
+        old_location,
+        velocity)
     };
 
   }

LibCarla/source/carla/sensor/data/ActorDynamicState.h

@@ -134,7 +134,6 @@ namespace detail {
     geom::Vector3D angular_velocity;
 
     geom::Vector3D acceleration;
-
     union TypeDependentState {
       detail::TrafficLightData traffic_light_data;
       detail::TrafficSignData traffic_sign_data;

LibCarla/source/carla/streaming/detail/tcp/Client.cpp

@@ -15,7 +15,6 @@
 #include <boost/asio/connect.hpp>
 #include <boost/asio/read.hpp>
 #include <boost/asio/write.hpp>
-#include <boost/asio/post.hpp>
 #include <boost/asio/bind_executor.hpp>
 
 #include <exception>
@@ -86,7 +85,6 @@ namespace tcp {
 
   void Client::Connect() {
     auto self = shared_from_this();
-    boost::asio::post(_strand, [this, self]() {
       if (_done) {
         return;
       }
@@ -139,18 +137,15 @@ namespace tcp {
 
       log_debug("streaming client: connecting to", ep);
       _socket.async_connect(ep, boost::asio::bind_executor(_strand, handle_connect));
-    });
   }
 
   void Client::Stop() {
     _connection_timer.cancel();
     auto self = shared_from_this();
-    boost::asio::post(_strand, [this, self]() {
       _done = true;
       if (_socket.is_open()) {
         _socket.close();
       }
-    });
   }
 
   void Client::Reconnect() {
@@ -165,7 +160,6 @@ namespace tcp {
 
   void Client::ReadData() {
     auto self = shared_from_this();
-    boost::asio::post(_strand, [this, self]() {
       if (_done) {
         return;
       }
@@ -182,7 +176,7 @@ namespace tcp {
           // Move the buffer to the callback function and start reading the next
           // piece of data.
           // log_debug("streaming client: success reading data, calling the callback");
-          boost::asio::post(_strand, [self, message]() { self->_callback(message->pop()); });
+          _callback(message->pop());
           ReadData();
         } else {
           // As usual, if anything fails start over from the very top.
@@ -219,7 +213,6 @@ namespace tcp {
           _socket,
           message->size_as_buffer(),
           boost::asio::bind_executor(_strand, handle_read_header));
-    });
   }
 
 } // namespace tcp

LibCarla/source/carla/streaming/detail/tcp/ServerSession.cpp

@@ -79,7 +79,6 @@ namespace tcp {
     DEBUG_ASSERT(message != nullptr);
     DEBUG_ASSERT(!message->empty());
     auto self = shared_from_this();
-    boost::asio::post(_strand, [=]() {
     if (!_socket.is_open()) {
       return;
     }
@@ -111,11 +110,8 @@ namespace tcp {
     log_debug("session", _session_id, ": sending message of", message->size(), "bytes");
 
     _deadline.expires_from_now(_timeout);
-      boost::asio::async_write(
-          _socket,
-          message->GetBufferSequence(),
-          handle_sent);
-    });
+    boost::asio::async_write(_socket, message->GetBufferSequence(), 
+      boost::asio::bind_executor(_strand, handle_sent));
   }
 
   void ServerSession::Close() {

PythonAPI/CMakeLists.txt

@@ -23,19 +23,75 @@ set (
   RecastNavigation::DetourCrowd
 )
 
-get_target_property (Boost_asio_TARGET_NAME Boost::asio ALIASED_TARGET)
-get_target_property (Boost_python_TARGET_NAME Boost::python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR} ALIASED_TARGET)
-get_target_property (Boost_geometry_TARGET_NAME Boost::geometry ALIASED_TARGET)
-get_target_property (Boost_gil_TARGET_NAME Boost::gil ALIASED_TARGET)
-get_target_property (RecastNavigation_Recast_TARGET_NAME RecastNavigation::Recast ALIASED_TARGET)
-get_target_property (RecastNavigation_Detour_TARGET_NAME RecastNavigation::Detour ALIASED_TARGET)
-get_target_property (RecastNavigation_DetourCrowd_TARGET_NAME RecastNavigation::DetourCrowd ALIASED_TARGET)
+get_target_property (
+  Boost_asio_TARGET_NAME
+  Boost::asio
+  ALIASED_TARGET
+)
+
+get_target_property (
+  Boost_python_TARGET_NAME
+  Boost::python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}
+  ALIASED_TARGET
+)
+
+get_target_property (
+  Boost_geometry_TARGET_NAME
+  Boost::geometry
+  ALIASED_TARGET
+)
+
+get_target_property (
+  Boost_gil_TARGET_NAME
+  Boost::gil
+  ALIASED_TARGET
+)
+
+get_target_property (
+  RecastNavigation_Recast_TARGET_NAME
+  RecastNavigation::Recast
+  ALIASED_TARGET
+)
+
+get_target_property (
+  RecastNavigation_Detour_TARGET_NAME
+  RecastNavigation::Detour
+  ALIASED_TARGET
+)
+
+get_target_property (
+  RecastNavigation_DetourCrowd_TARGET_NAME
+  RecastNavigation::DetourCrowd
+  ALIASED_TARGET
+)
 
 set (
   CARLA_PYTHON_API_CARLA_PATH
   ${CMAKE_CURRENT_SOURCE_DIR}/carla
 )
 
+set (
+  CARLA_PYTHON_API_CMAKE_ARGS
+  "\t'-G${CMAKE_GENERATOR}'"
+)
+
+set (
+  CARLA_PYTHON_API_CMAKE_ARGS
+  "${CARLA_PYTHON_API_CMAKE_ARGS},\n\t'-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}'"
+)
+
+set (
+  CARLA_PYTHON_API_CMAKE_ARGS
+  "${CARLA_PYTHON_API_CMAKE_ARGS},\n\t'-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}'"
+)
+
+if (CMAKE_TOOLCHAIN_FILE)
+  set (
+    CARLA_PYTHON_API_CMAKE_ARGS
+    "${CARLA_PYTHON_API_CMAKE_ARGS},\n\t\'--toolchain=${CMAKE_TOOLCHAIN_FILE}\'"
+  )
+endif ()
+
 carla_two_step_configure_file (
   ${CARLA_PYTHON_API_CARLA_PATH}/pyproject.toml
   ${CARLA_PYTHON_API_CARLA_PATH}/pyproject.toml.in

PythonAPI/carla/CMakeLists.txt.in

@@ -1,6 +1,6 @@
 cmake_minimum_required (
   VERSION
-  @CMAKE_MAJOR_VERSION@.@CMAKE_MINOR_VERSION@.@CMAKE_PATCH_VERSION@
+  @CARLA_CMAKE_MINIMUM_REQUIRED_VERSION@
 )
 
 project (
@@ -47,7 +47,7 @@ set (
   ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-carla_message (
+carla_message_verbose (
   "Selected Python executable: ${Python3_EXECUTABLE} (Interpreter ID: ${Python3_INTERPRETER_ID})"
 )
 

PythonAPI/carla/include/PythonAPI.h

@@ -466,40 +466,80 @@ namespace rpc {
   }
 
   inline std::ostream &operator<<(std::ostream &out, const WheelPhysicsControl &control) {
-    out << "WheelPhysicsControl(tire_friction=" << std::to_string(control.tire_friction)
-        << ", max_steer_angle=" << std::to_string(control.max_steer_angle)
-        << ", radius=" << std::to_string(control.radius)
+    out << "WheelPhysicsControl(axle_type=" << std::to_string(control.axle_type)
+      << ", offset" << control.offset
+      << ", wheel_radius=" << std::to_string(control.wheel_radius)
+      << ", wheel_width=" << std::to_string(control.wheel_width)
+      << ", wheel_mass=" << std::to_string(control.wheel_mass)
       << ", cornering_stiffness=" << std::to_string(control.cornering_stiffness)
-        << ", abs=" << std::to_string(control.abs)
-        << ", traction_control=" << std::to_string(control.traction_control)
+      << ", friction_force_multiplier=" << std::to_string(control.friction_force_multiplier)
+      << ", side_slip_modifier=" << std::to_string(control.side_slip_modifier)
+      << ", slip_threshold=" << std::to_string(control.slip_threshold)
+      << ", skid_threshold=" << std::to_string(control.skid_threshold)
+      << ", max_steer_angle=" << std::to_string(control.max_steer_angle)
+      << ", affected_by_steering=" << std::to_string(control.affected_by_steering)
+      << ", affected_by_brake=" << std::to_string(control.affected_by_brake)
+      << ", affected_by_handbrake=" << std::to_string(control.affected_by_handbrake)
+      << ", affected_by_engine=" << std::to_string(control.affected_by_engine)
+      << ", abs_enabled=" << std::to_string(control.abs_enabled)
+      << ", traction_control_enabled=" << std::to_string(control.traction_control_enabled)
+      << ", max_wheelspin_rotation=" << std::to_string(control.max_wheelspin_rotation)
+      << ", external_torque_combine_method=" << std::to_string(control.external_torque_combine_method)
+      << ", lateral_slip_graph=" << control.lateral_slip_graph
+      << ", suspension_axis=" << control.suspension_axis
+      << ", suspension_force_offset=" << control.suspension_force_offset
+      << ", suspension_max_raise=" << std::to_string(control.suspension_max_raise)
+      << ", suspension_max_drop=" << std::to_string(control.suspension_max_drop)
+      << ", suspension_damping_ratio=" << std::to_string(control.suspension_damping_ratio)
+      << ", wheel_load_ratio=" << std::to_string(control.wheel_load_ratio)
+      << ", spring_rate=" << std::to_string(control.spring_rate)
+      << ", spring_preload=" << std::to_string(control.spring_preload)
+      << ", suspension_smoothing=" << std::to_string(control.suspension_smoothing)
+      << ", rollbar_scaling=" << std::to_string(control.rollbar_scaling)
+      << ", sweep_shape=" << std::to_string(control.sweep_shape)
+      << ", sweep_type=" << std::to_string(control.sweep_type)
       << ", max_brake_torque=" << std::to_string(control.max_brake_torque)
-        << ", max_handbrake_torque=" << std::to_string(control.max_handbrake_torque)
-        << ", position=" << control.position << ')';
+      << ", max_hand_brake_torque=" << std::to_string(control.max_hand_brake_torque)
+      << ", wheel_index=" << std::to_string(control.wheel_index)
+      << ", location=" << control.location
+      << ", old_location=" << control.old_location
+      << ", velocity=" << control.velocity
+      << ')';
     return out;
   }
 
   inline std::ostream &operator<<(std::ostream &out, const VehiclePhysicsControl &control) {
     out << "VehiclePhysicsControl(torque_curve=" << control.torque_curve
-    << ", max_torque=" << std::to_string(control.max_torque)
-    << ", max_rpm=" << std::to_string(control.max_rpm)
-    << ", moi=" << std::to_string(control.moi)
-    << ", rev_down_rate=" << std::to_string(control.rev_down_rate)
-    << ", differential_type=" << std::to_string(control.differential_type)
-    << ", front_rear_split=" << std::to_string(control.front_rear_split)
-    << ", use_gear_autobox=" << boolalpha(control.use_gear_autobox)
-    << ", gear_switch_time=" << std::to_string(control.gear_switch_time)
-    << ", final_ratio=" << std::to_string(control.final_ratio)
-    << ", forward_gears=" << control.forward_gears
-    << ", reverse_gears=" << control.reverse_gears
-    << ", change_up_rpm=" << std::to_string(control.change_up_rpm)
-    << ", change_down_rpm=" << std::to_string(control.change_down_rpm)
-    << ", transmission_efficiency=" << std::to_string(control.transmission_efficiency)
-    << ", mass=" << std::to_string(control.mass)
-    << ", drag_coefficient=" << std::to_string(control.drag_coefficient)
+      << ", max_torque=" << control.max_torque
+      << ", max_rpm=" << control.max_rpm
+      << ", idle_rpm=" << control.idle_rpm
+      << ", brake_effect=" << control.brake_effect
+      << ", rev_up_moi=" << control.rev_up_moi
+      << ", rev_down_rate=" << control.rev_down_rate
+      << ", differential_type=" << control.differential_type
+      << ", front_rear_split=" << control.front_rear_split
+      << ", use_automatic_gears=" << control.use_automatic_gears
+      << ", gear_change_time=" << control.gear_change_time
+      << ", final_ratio=" << control.final_ratio
+      << ", forward_gear_ratios=" << control.forward_gear_ratios
+      << ", reverse_gear_ratios=" << control.reverse_gear_ratios
+      << ", change_up_rpm=" << control.change_up_rpm
+      << ", change_down_rpm=" << control.change_down_rpm
+      << ", transmission_efficiency=" << control.transmission_efficiency
+      << ", mass=" << control.mass
+      << ", drag_coefficient=" << control.drag_coefficient
       << ", center_of_mass=" << control.center_of_mass
+      << ", chassis_width=" << control.chassis_width
+      << ", chassis_height=" << control.chassis_height
+      << ", downforce_coefficient=" << control.downforce_coefficient
+      << ", drag_area=" << control.drag_area
+      << ", inertia_tensor_scale=" << control.inertia_tensor_scale
+      << ", sleep_threshold=" << control.sleep_threshold
+      << ", sleep_slope_limit=" << control.sleep_slope_limit
       << ", steering_curve=" << control.steering_curve
       << ", wheels=" << control.wheels
-    << ", use_sweep_wheel_collision=" << control.use_sweep_wheel_collision << ')';
+      << ", use_sweep_wheel_collision=" << control.use_sweep_wheel_collision
+      << ")";
     return out;
   }
 

PythonAPI/carla/pyproject.toml.in

@@ -7,8 +7,10 @@ wheel.packages = ['carla']
 cmake.version = '>=@CMAKE_MAJOR_VERSION@.@CMAKE_MINOR_VERSION@'
 cmake.build-type = '@CMAKE_BUILD_TYPE@'
 cmake.args = [
-  '-DCMAKE_TOOLCHAIN_FILE=@CMAKE_TOOLCHAIN_FILE@'
+  @CARLA_PYTHON_API_CMAKE_ARGS@
 ]
+ninja.version=">=1.10"
+ninja.make-fallback=true
 
 [project]
 name = 'carla'

PythonAPI/carla/src/Actor.cpp

@@ -111,6 +111,8 @@ void export_actor() {
       .def("get_velocity", &cc::Actor::GetVelocity)
       .def("get_angular_velocity", &cc::Actor::GetAngularVelocity)
       .def("get_acceleration", &cc::Actor::GetAcceleration)
+      .def("get_actor_name", &cc::Actor::GetActorName)
+      .def("get_actor_class_name", &cc::Actor::GetActorClassName)
       .def("set_location", &cc::Actor::SetLocation, (arg("location")))
       .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
       .def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("velocity")))

PythonAPI/carla/src/Control.cpp

@@ -46,7 +46,7 @@ static auto GetVectorOfBoneTransformFromList(const boost::python::list &list) {
 }
 
 static auto GetWheels(const carla::rpc::VehiclePhysicsControl &self) {
-  const auto &wheels = self.GetWheels();
+  auto &wheels = self.wheels;
   boost::python::object get_iter = boost::python::iterator<std::vector<carla::rpc::WheelPhysicsControl>>();
   boost::python::object iter = get_iter(wheels);
   return boost::python::list(iter);
@@ -61,40 +61,40 @@ static void SetWheels(carla::rpc::VehiclePhysicsControl &self, const boost::pyth
   self.wheels = wheels;
 }
 
-static auto GetForwardGears(const carla::rpc::VehiclePhysicsControl &self) {
-  const auto &gears = self.GetForwardGears();
+static auto GetForwardGearRatios(const carla::rpc::VehiclePhysicsControl &self) {
+  auto &gears = self.forward_gear_ratios;
   boost::python::object get_iter = boost::python::iterator<std::vector<float>>();
   boost::python::object iter = get_iter(gears);
   return boost::python::list(iter);
 }
 
-static void SetForwardGears(carla::rpc::VehiclePhysicsControl &self, const boost::python::list &list) {
+static void SetForwardGearRatios(carla::rpc::VehiclePhysicsControl &self, const boost::python::list &list) {
   std::vector<float> gears;
   auto length = boost::python::len(list);
   for (auto i = 0u; i < length; ++i) {
     gears.push_back(boost::python::extract<float &>(list[i]));
   }
-  self.SetForwardGears(gears);
+  self.forward_gear_ratios = gears;
 }
 
-static auto GetReverseGears(const carla::rpc::VehiclePhysicsControl &self) {
-  const auto &gears = self.GetReverseGears();
+static auto GetReverseGearRatios(const carla::rpc::VehiclePhysicsControl &self) {
+  auto &gears = self.reverse_gear_ratios;
   boost::python::object get_iter = boost::python::iterator<std::vector<float>>();
   boost::python::object iter = get_iter(gears);
   return boost::python::list(iter);
 }
 
-static void SetReverseGears(carla::rpc::VehiclePhysicsControl &self, const boost::python::list &list) {
+static void SetReverseGearRatios(carla::rpc::VehiclePhysicsControl &self, const boost::python::list &list) {
   std::vector<float> gears;
   auto length = boost::python::len(list);
   for (auto i = 0u; i < length; ++i) {
     gears.push_back(boost::python::extract<float &>(list[i]));
   }
-  self.SetReverseGears(gears);
+  self.reverse_gear_ratios = gears;
 }
 
 static auto GetTorqueCurve(const carla::rpc::VehiclePhysicsControl &self) {
-  const std::vector<carla::geom::Vector2D> &torque_curve = self.GetTorqueCurve();
+  auto &torque_curve = self.torque_curve;
   boost::python::object get_iter = boost::python::iterator<const std::vector<carla::geom::Vector2D>>();
   boost::python::object iter = get_iter(torque_curve);
   return boost::python::list(iter);
@@ -105,7 +105,7 @@ static void SetTorqueCurve(carla::rpc::VehiclePhysicsControl &self, const boost:
 }
 
 static auto GetSteeringCurve(const carla::rpc::VehiclePhysicsControl &self) {
-  const std::vector<carla::geom::Vector2D> &steering_curve = self.GetSteeringCurve();
+  auto &steering_curve = self.steering_curve;
   boost::python::object get_iter = boost::python::iterator<const std::vector<carla::geom::Vector2D>>();
   boost::python::object iter = get_iter(steering_curve);
   return boost::python::list(iter);
@@ -117,34 +117,102 @@ static void SetSteeringCurve(carla::rpc::VehiclePhysicsControl &self, const boos
 
 boost::python::object VehiclePhysicsControl_init(boost::python::tuple args, boost::python::dict kwargs) {
   // Args names
-  const uint32_t NUM_ARGUMENTS = 21;
-  const char *args_names[NUM_ARGUMENTS] = {
+  const char* const args_names[] = {
     "torque_curve",
     "max_torque",
     "max_rpm",
-    "moi",
+    "idle_rpm",
+    "brake_effect",
+    "rev_up_moi",
     "rev_down_rate",
-
     "differential_type",
     "front_rear_split",
-
-    "use_gear_autobox",
-    "gear_switch_time",
+    "use_automatic_gears",
+    "gear_change_time",
     "final_ratio",
-    "forward_gears",
-    "reverse_gears",
+    "forward_gear_ratios",
+    "reverse_gear_ratios",
     "change_up_rpm",
     "change_down_rpm",
     "transmission_efficiency",
-
     "mass",
     "drag_coefficient",
-
     "center_of_mass",
+    "chassis_width",
+    "chassis_height",
+    "downforce_coefficient",
+    "drag_area",
+    "inertia_tensor_scale",
+    "sleep_threshold",
+    "sleep_slope_limit",
     "steering_curve",
     "wheels",
-    "use_sweep_wheel_collision",
+    "use_sweep_wheel_collision"
   };
+  const auto NUM_ARGUMENTS = sizeof(args_names) / sizeof(const char*);
+
+  boost::python::object self = args[0];
+  args = boost::python::tuple(args.slice(1, boost::python::_));
+
+  auto res = self.attr("__init__")();
+  if (len(args) > 0) {
+    for (unsigned int i = 0; i < len(args); ++i) {
+      self.attr(args_names[i]) = args[i];
+    }
+  }
+
+  for (unsigned int i = 0; i < NUM_ARGUMENTS; ++i) {
+    if (kwargs.contains(args_names[i])) {
+      self.attr(args_names[i]) = kwargs[args_names[i]];
+    }
+  }
+
+  return res;
+}
+
+boost::python::object WheelPhysicsControl_init(boost::python::tuple args, boost::python::dict kwargs) {
+  // Args names
+  const char* const args_names[] = {
+    "axle_type",
+    "offset",
+    "wheel_radius",
+    "wheel_width",
+    "wheel_mass",
+    "cornering_stiffness",
+    "friction_force_multiplier",
+    "side_slip_modifier",
+    "slip_threshold",
+    "skid_threshold",
+    "max_steer_angle",
+    "affected_by_steering",
+    "affected_by_brake",
+    "affected_by_handbrake",
+    "affected_by_engine",
+    "abs_enabled",
+    "traction_control_enabled",
+    "max_wheelspin_rotation",
+    "external_torque_combine_method",
+    "lateral_slip_graph",
+    "suspension_axis",
+    "suspension_force_offset",
+    "suspension_max_raise",
+    "suspension_max_drop",
+    "suspension_damping_ratio",
+    "wheel_load_ratio",
+    "spring_rate",
+    "spring_preload",
+    "suspension_smoothing",
+    "rollbar_scaling",
+    "sweep_shape",
+    "sweep_type",
+    "max_brake_torque",
+    "max_hand_brake_torque",
+    "wheel_index",
+    "location",
+    "old_location",
+    "velocity",
+  };
+  const auto NUM_ARGUMENTS = sizeof(args_names) / sizeof(const char*);
 
   boost::python::object self = args[0];
   args = boost::python::tuple(args.slice(1, boost::python::_));
@@ -336,26 +404,48 @@ void export_control() {
     .def(self_ns::str(self_ns::self))
   ;
 
-  class_<cr::WheelPhysicsControl>("WheelPhysicsControl")
-    .def(init<float, float, float, float, bool, bool, float, float, cg::Vector3D>(
-        (arg("tire_friction")=3.0f,
-         arg("max_steer_angle")=70.0f,
-         arg("radius")=30.0f,
-         arg("cornering_stiffness")=1000.0f,
-         arg("abs")=false,
-         arg("traction_control")=false,
-         arg("max_brake_torque")=1500.0f,
-         arg("max_handbrake_torque")=3000.0f,
-         arg("position")=cg::Vector3D{0.0f, 0.0f, 0.0f})))
-    .def_readwrite("tire_friction", &cr::WheelPhysicsControl::tire_friction)
-    .def_readwrite("max_steer_angle", &cr::WheelPhysicsControl::max_steer_angle)
-    .def_readwrite("radius", &cr::WheelPhysicsControl::radius)
+
+  class_<cr::WheelPhysicsControl>("WheelPhysicsControl", no_init)
+    .def("__init__", raw_function(WheelPhysicsControl_init))
+    .def(init<>())
+    .def_readwrite("axle_type", &cr::WheelPhysicsControl::axle_type)
+    .def_readwrite("offset", &cr::WheelPhysicsControl::offset)
+    .def_readwrite("wheel_radius", &cr::WheelPhysicsControl::wheel_radius)
+    .def_readwrite("wheel_width", &cr::WheelPhysicsControl::wheel_width)
+    .def_readwrite("wheel_mass", &cr::WheelPhysicsControl::wheel_mass)
     .def_readwrite("cornering_stiffness", &cr::WheelPhysicsControl::cornering_stiffness)
-    .def_readwrite("abs", &cr::WheelPhysicsControl::abs)
-    .def_readwrite("traction_control", &cr::WheelPhysicsControl::traction_control)
+    .def_readwrite("friction_force_multiplier", &cr::WheelPhysicsControl::friction_force_multiplier)
+    .def_readwrite("side_slip_modifier", &cr::WheelPhysicsControl::side_slip_modifier)
+    .def_readwrite("slip_threshold", &cr::WheelPhysicsControl::slip_threshold)
+    .def_readwrite("skid_threshold", &cr::WheelPhysicsControl::skid_threshold)
+    .def_readwrite("max_steer_angle", &cr::WheelPhysicsControl::max_steer_angle)
+    .def_readwrite("affected_by_steering", &cr::WheelPhysicsControl::affected_by_steering)
+    .def_readwrite("affected_by_brake", &cr::WheelPhysicsControl::affected_by_brake)
+    .def_readwrite("affected_by_handbrake", &cr::WheelPhysicsControl::affected_by_handbrake)
+    .def_readwrite("affected_by_engine", &cr::WheelPhysicsControl::affected_by_engine)
+    .def_readwrite("abs_enabled", &cr::WheelPhysicsControl::abs_enabled)
+    .def_readwrite("traction_control_enabled", &cr::WheelPhysicsControl::traction_control_enabled)
+    .def_readwrite("max_wheelspin_rotation", &cr::WheelPhysicsControl::max_wheelspin_rotation)
+    .def_readwrite("external_torque_combine_method", &cr::WheelPhysicsControl::external_torque_combine_method)
+    .def_readwrite("lateral_slip_graph", &cr::WheelPhysicsControl::lateral_slip_graph)
+    .def_readwrite("suspension_axis", &cr::WheelPhysicsControl::suspension_axis)
+    .def_readwrite("suspension_force_offset", &cr::WheelPhysicsControl::suspension_force_offset)
+    .def_readwrite("suspension_max_raise", &cr::WheelPhysicsControl::suspension_max_raise)
+    .def_readwrite("suspension_max_drop", &cr::WheelPhysicsControl::suspension_max_drop)
+    .def_readwrite("suspension_damping_ratio", &cr::WheelPhysicsControl::suspension_damping_ratio)
+    .def_readwrite("wheel_load_ratio", &cr::WheelPhysicsControl::wheel_load_ratio)
+    .def_readwrite("spring_rate", &cr::WheelPhysicsControl::spring_rate)
+    .def_readwrite("spring_preload", &cr::WheelPhysicsControl::spring_preload)
+    .def_readwrite("suspension_smoothing", &cr::WheelPhysicsControl::suspension_smoothing)
+    .def_readwrite("rollbar_scaling", &cr::WheelPhysicsControl::rollbar_scaling)
+    .def_readwrite("sweep_shape", &cr::WheelPhysicsControl::sweep_shape)
+    .def_readwrite("sweep_type", &cr::WheelPhysicsControl::sweep_type)
     .def_readwrite("max_brake_torque", &cr::WheelPhysicsControl::max_brake_torque)
-    .def_readwrite("max_handbrake_torque", &cr::WheelPhysicsControl::max_handbrake_torque)
-    .def_readwrite("position", &cr::WheelPhysicsControl::position)
+    .def_readwrite("max_hand_brake_torque", &cr::WheelPhysicsControl::max_hand_brake_torque)
+    .def_readwrite("wheel_index", &cr::WheelPhysicsControl::wheel_index)
+    .def_readwrite("location", &cr::WheelPhysicsControl::location)
+    .def_readwrite("old_location", &cr::WheelPhysicsControl::old_location)
+    .def_readwrite("velocity", &cr::WheelPhysicsControl::velocity)
     .def("__eq__", &cr::WheelPhysicsControl::operator==)
     .def("__ne__", &cr::WheelPhysicsControl::operator!=)
     .def(self_ns::str(self_ns::self))
@@ -365,26 +455,35 @@ void export_control() {
     .def("__init__", raw_function(VehiclePhysicsControl_init))
     .def(init<>())
     .add_property("torque_curve", &GetTorqueCurve, &SetTorqueCurve)
-    .def_readwrite("max_torque", &cr::VehiclePhysicsControl::max_torque)
-    .def_readwrite("max_rpm", &cr::VehiclePhysicsControl::max_rpm)
-    .def_readwrite("moi", &cr::VehiclePhysicsControl::moi)
-    .def_readwrite("rev_down_rate", &cr::VehiclePhysicsControl::rev_down_rate)
-    .def_readwrite("differential_type", &cr::VehiclePhysicsControl::differential_type)
-    .def_readwrite("front_rear_split", &cr::VehiclePhysicsControl::front_rear_split)
-    .def_readwrite("use_gear_autobox", &cr::VehiclePhysicsControl::use_gear_autobox)
-    .def_readwrite("gear_switch_time", &cr::VehiclePhysicsControl::gear_switch_time)
-    .def_readwrite("final_ratio", &cr::VehiclePhysicsControl::final_ratio)
-    .add_property("forward_gears", &GetForwardGears, &SetForwardGears)
-    .add_property("reverse_gears", &GetReverseGears, &SetReverseGears)
-    .def_readwrite("change_up_rpm", &cr::VehiclePhysicsControl::change_up_rpm)
-    .def_readwrite("change_down_rpm", &cr::VehiclePhysicsControl::change_down_rpm)
-    .def_readwrite("transmission_efficiency", &cr::VehiclePhysicsControl::mass)
-    .def_readwrite("mass", &cr::VehiclePhysicsControl::mass)
-    .def_readwrite("drag_coefficient", &cr::VehiclePhysicsControl::drag_coefficient)
-    .def_readwrite("center_of_mass", &cr::VehiclePhysicsControl::center_of_mass)
+    .add_property("max_torque", &cr::VehiclePhysicsControl::max_torque)
+    .add_property("max_rpm", &cr::VehiclePhysicsControl::max_rpm)
+    .add_property("idle_rpm", &cr::VehiclePhysicsControl::idle_rpm)
+    .add_property("brake_effect", &cr::VehiclePhysicsControl::brake_effect)
+    .add_property("rev_up_moi", &cr::VehiclePhysicsControl::rev_up_moi)
+    .add_property("rev_down_rate", &cr::VehiclePhysicsControl::rev_down_rate)
+    .add_property("differential_type", &cr::VehiclePhysicsControl::differential_type)
+    .add_property("front_rear_split", &cr::VehiclePhysicsControl::front_rear_split)
+    .add_property("use_automatic_gears", &cr::VehiclePhysicsControl::use_automatic_gears)
+    .add_property("gear_change_time", &cr::VehiclePhysicsControl::gear_change_time)
+    .add_property("final_ratio", &cr::VehiclePhysicsControl::final_ratio)
+    .add_property("forward_gear_ratios", &GetForwardGearRatios, &SetForwardGearRatios)
+    .add_property("reverse_gear_ratios", &GetReverseGearRatios, &SetReverseGearRatios)
+    .add_property("change_up_rpm", &cr::VehiclePhysicsControl::change_up_rpm)
+    .add_property("change_down_rpm", &cr::VehiclePhysicsControl::change_down_rpm)
+    .add_property("transmission_efficiency", &cr::VehiclePhysicsControl::transmission_efficiency)
+    .add_property("mass", &cr::VehiclePhysicsControl::mass)
+    .add_property("drag_coefficient", &cr::VehiclePhysicsControl::drag_coefficient)
+    .add_property("center_of_mass", &cr::VehiclePhysicsControl::center_of_mass)
+    .add_property("chassis_width", &cr::VehiclePhysicsControl::chassis_width)
+    .add_property("chassis_height", &cr::VehiclePhysicsControl::chassis_height)
+    .add_property("downforce_coefficient", &cr::VehiclePhysicsControl::downforce_coefficient)
+    .add_property("drag_area", &cr::VehiclePhysicsControl::drag_area)
+    .add_property("inertia_tensor_scale", &cr::VehiclePhysicsControl::inertia_tensor_scale)
+    .add_property("sleep_threshold", &cr::VehiclePhysicsControl::sleep_threshold)
+    .add_property("sleep_slope_limit", &cr::VehiclePhysicsControl::sleep_slope_limit)
     .add_property("steering_curve", &GetSteeringCurve, &SetSteeringCurve)
     .add_property("wheels", &GetWheels, &SetWheels)
-    .def_readwrite("use_sweep_wheel_collision", &cr::VehiclePhysicsControl::use_sweep_wheel_collision)
+    .add_property("use_sweep_wheel_collision", &cr::VehiclePhysicsControl::use_sweep_wheel_collision)
     .def("__eq__", &cr::VehiclePhysicsControl::operator==)
     .def("__ne__", &cr::VehiclePhysicsControl::operator!=)
     .def(self_ns::str(self_ns::self))

PythonAPI/examples/.gitignore

@@ -1,2 +1 @@
-carla.so
-carla.pyd
+_out/

PythonAPI/examples/automatic_control.py

@@ -839,8 +839,8 @@ def main():
     argparser.add_argument(
         '--generation',
         metavar='G',
-        default='2',
-        help='restrict to certain actor generation (values: "1","2","All" - default: "2")')
+        default='All',
+        help='restrict to certain actor generation (values: "2","3","All" - default: "All")')
     argparser.add_argument(
         '-l', '--loop',
         action='store_true',

PythonAPI/examples/draw_skeleton.py

@@ -327,6 +327,7 @@ def main():
     ped_bp = random.choice(world.get_blueprint_library().filter("walker.pedestrian.*"))
     trans = carla.Transform()
     trans.location = world.get_random_location_from_navigation()
+    trans.location.z += 1 # Apply an offset in vertical axis to avoid collision spawning
     ped = world.spawn_actor(ped_bp, trans)
     walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
     controller = world.spawn_actor(walker_controller_bp, carla.Transform(), ped)

PythonAPI/examples/dynamic_weather.py

@@ -1,153 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-"""
-CARLA Dynamic Weather:
-
-Connect to a CARLA Simulator instance and control the weather. Change Sun
-position smoothly with time and generate storms occasionally.
-"""
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import carla
-
-import argparse
-import math
-
-
-def clamp(value, minimum=0.0, maximum=100.0):
-    return max(minimum, min(value, maximum))
-
-
-class Sun(object):
-    def __init__(self, azimuth, altitude):
-        self.azimuth = azimuth
-        self.altitude = altitude
-        self._t = 0.0
-
-    def tick(self, delta_seconds):
-        self._t += 0.008 * delta_seconds
-        self._t %= 2.0 * math.pi
-        self.azimuth += 0.25 * delta_seconds
-        self.azimuth %= 360.0
-        self.altitude = (70 * math.sin(self._t)) - 20
-
-    def __str__(self):
-        return 'Sun(alt: %.2f, azm: %.2f)' % (self.altitude, self.azimuth)
-
-
-class Storm(object):
-    def __init__(self, precipitation):
-        self._t = precipitation if precipitation > 0.0 else -50.0
-        self._increasing = True
-        self.clouds = 0.0
-        self.rain = 0.0
-        self.wetness = 0.0
-        self.puddles = 0.0
-        self.wind = 0.0
-        self.fog = 0.0
-
-    def tick(self, delta_seconds):
-        delta = (1.3 if self._increasing else -1.3) * delta_seconds
-        self._t = clamp(delta + self._t, -250.0, 100.0)
-        self.clouds = clamp(self._t + 40.0, 0.0, 90.0)
-        self.rain = clamp(self._t, 0.0, 80.0)
-        delay = -10.0 if self._increasing else 90.0
-        self.puddles = clamp(self._t + delay, 0.0, 85.0)
-        self.wetness = clamp(self._t * 5, 0.0, 100.0)
-        self.wind = 5.0 if self.clouds <= 20 else 90 if self.clouds >= 70 else 40
-        self.fog = clamp(self._t - 10, 0.0, 30.0)
-        if self._t == -250.0:
-            self._increasing = True
-        if self._t == 100.0:
-            self._increasing = False
-
-    def __str__(self):
-        return 'Storm(clouds=%d%%, rain=%d%%, wind=%d%%)' % (self.clouds, self.rain, self.wind)
-
-
-class Weather(object):
-    def __init__(self, weather):
-        self.weather = weather
-        self._sun = Sun(weather.sun_azimuth_angle, weather.sun_altitude_angle)
-        self._storm = Storm(weather.precipitation)
-
-    def tick(self, delta_seconds):
-        self._sun.tick(delta_seconds)
-        self._storm.tick(delta_seconds)
-        self.weather.cloudiness = self._storm.clouds
-        self.weather.precipitation = self._storm.rain
-        self.weather.precipitation_deposits = self._storm.puddles
-        self.weather.wind_intensity = self._storm.wind
-        self.weather.fog_density = self._storm.fog
-        self.weather.wetness = self._storm.wetness
-        self.weather.sun_azimuth_angle = self._sun.azimuth
-        self.weather.sun_altitude_angle = self._sun.altitude
-
-    def __str__(self):
-        return '%s %s' % (self._sun, self._storm)
-
-
-def main():
-    argparser = argparse.ArgumentParser(
-        description=__doc__)
-    argparser.add_argument(
-        '--host',
-        metavar='H',
-        default='127.0.0.1',
-        help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument(
-        '-p', '--port',
-        metavar='P',
-        default=2000,
-        type=int,
-        help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '-s', '--speed',
-        metavar='FACTOR',
-        default=1.0,
-        type=float,
-        help='rate at which the weather changes (default: 1.0)')
-    args = argparser.parse_args()
-
-    speed_factor = args.speed
-    update_freq = 0.1 / speed_factor
-
-    client = carla.Client(args.host, args.port)
-    client.set_timeout(2.0)
-    world = client.get_world()
-
-    weather = Weather(world.get_weather())
-
-    elapsed_time = 0.0
-
-    while True:
-        timestamp = world.wait_for_tick(seconds=30.0).timestamp
-        elapsed_time += timestamp.delta_seconds
-        if elapsed_time > update_freq:
-            weather.tick(speed_factor * elapsed_time)
-            world.set_weather(weather.weather)
-            sys.stdout.write('\r' + str(weather) + 12 * ' ')
-            sys.stdout.flush()
-            elapsed_time = 0.0
-
-
-if __name__ == '__main__':
-
-    main()

PythonAPI/examples/generate_traffic.py

@@ -92,7 +92,7 @@ def main():
         '--generationv',
         metavar='G',
         default='All',
-        help='restrict to certain vehicle generation (values: "1","2","All" - default: "All")')
+        help='restrict to certain vehicle generation (values: "2","3","All" - default: "All")')
     argparser.add_argument(
         '--filterw',
         metavar='PATTERN',
@@ -101,8 +101,8 @@ def main():
     argparser.add_argument(
         '--generationw',
         metavar='G',
-        default='2',
-        help='restrict to certain pedestrian generation (values: "1","2","All" - default: "2")')
+        default='All',
+        help='restrict to certain pedestrian generation (values: "2","3","All" - default: "All")')
     argparser.add_argument(
         '--tm-port',
         metavar='P',

PythonAPI/examples/manual_control.py

@@ -1194,7 +1194,7 @@ class CameraManager(object):
             # Example of converting the raw_data from a carla.DVSEventArray
             # sensor into a NumPy array and using it as an image
             dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
-                ('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool)]))
+                ('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool_)]))
             dvs_img = np.zeros((image.height, image.width, 3), dtype=np.uint8)
             # Blue is positive, red is negative
             dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
@@ -1329,8 +1329,8 @@ def main():
     argparser.add_argument(
         '--generation',
         metavar='G',
-        default='4',
-        help='restrict to certain actor generation (values: "1","2","3","4","All" - default: "4")')
+        default='All',
+        help='restrict to certain actor generation (values: "2","3","All" - default: "All")')
     argparser.add_argument(
         '--rolename',
         metavar='NAME',

PythonAPI/examples/manual_control_steeringwheel.py

@@ -1,865 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2019 Intel Labs
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-# Allows controlling a vehicle with a keyboard. For a simpler and more
-# documented example, please take a look at tutorial.py.
-
-"""
-Welcome to CARLA manual control with steering wheel Logitech G29.
-
-To drive start by preshing the brake pedal.
-Change your wheel_config.ini according to your steering wheel.
-
-To find out the values of your steering wheel use jstest-gtk in Ubuntu.
-
-"""
-
-from __future__ import print_function
-
-
-# ==============================================================================
-# -- find carla module ---------------------------------------------------------
-# ==============================================================================
-
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-
-# ==============================================================================
-# -- imports -------------------------------------------------------------------
-# ==============================================================================
-
-
-import carla
-
-from carla import ColorConverter as cc
-
-import argparse
-import collections
-import datetime
-import logging
-import math
-import random
-import re
-import weakref
-
-if sys.version_info >= (3, 0):
-
-    from configparser import ConfigParser
-
-else:
-
-    from ConfigParser import RawConfigParser as ConfigParser
-
-try:
-    import pygame
-    from pygame.locals import KMOD_CTRL
-    from pygame.locals import KMOD_SHIFT
-    from pygame.locals import K_0
-    from pygame.locals import K_9
-    from pygame.locals import K_BACKQUOTE
-    from pygame.locals import K_BACKSPACE
-    from pygame.locals import K_COMMA
-    from pygame.locals import K_DOWN
-    from pygame.locals import K_ESCAPE
-    from pygame.locals import K_F1
-    from pygame.locals import K_LEFT
-    from pygame.locals import K_PERIOD
-    from pygame.locals import K_RIGHT
-    from pygame.locals import K_SLASH
-    from pygame.locals import K_SPACE
-    from pygame.locals import K_TAB
-    from pygame.locals import K_UP
-    from pygame.locals import K_a
-    from pygame.locals import K_c
-    from pygame.locals import K_d
-    from pygame.locals import K_h
-    from pygame.locals import K_m
-    from pygame.locals import K_p
-    from pygame.locals import K_q
-    from pygame.locals import K_r
-    from pygame.locals import K_s
-    from pygame.locals import K_w
-except ImportError:
-    raise RuntimeError('cannot import pygame, make sure pygame package is installed')
-
-try:
-    import numpy as np
-except ImportError:
-    raise RuntimeError('cannot import numpy, make sure numpy package is installed')
-
-
-# ==============================================================================
-# -- Global functions ----------------------------------------------------------
-# ==============================================================================
-
-
-def find_weather_presets():
-    rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
-    name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
-    presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
-    return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
-
-
-def get_actor_display_name(actor, truncate=250):
-    name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
-    return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
-
-
-# ==============================================================================
-# -- World ---------------------------------------------------------------------
-# ==============================================================================
-
-
-class World(object):
-    def __init__(self, carla_world, hud, actor_filter):
-        self.world = carla_world
-        self.hud = hud
-        self.player = None
-        self.collision_sensor = None
-        self.lane_invasion_sensor = None
-        self.gnss_sensor = None
-        self.camera_manager = None
-        self._weather_presets = find_weather_presets()
-        self._weather_index = 0
-        self._actor_filter = actor_filter
-        self.restart()
-        self.world.on_tick(hud.on_world_tick)
-
-    def restart(self):
-        # Keep same camera config if the camera manager exists.
-        cam_index = self.camera_manager.index if self.camera_manager is not None else 0
-        cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
-        # Get a random blueprint.
-        blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
-        blueprint.set_attribute('role_name', 'hero')
-        if blueprint.has_attribute('color'):
-            color = random.choice(blueprint.get_attribute('color').recommended_values)
-            blueprint.set_attribute('color', color)
-        # Spawn the player.
-        if self.player is not None:
-            spawn_point = self.player.get_transform()
-            spawn_point.location.z += 2.0
-            spawn_point.rotation.roll = 0.0
-            spawn_point.rotation.pitch = 0.0
-            self.destroy()
-            self.player = self.world.try_spawn_actor(blueprint, spawn_point)
-        while self.player is None:
-            spawn_points = self.world.get_map().get_spawn_points()
-            spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
-            self.player = self.world.try_spawn_actor(blueprint, spawn_point)
-        # Set up the sensors.
-        self.collision_sensor = CollisionSensor(self.player, self.hud)
-        self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
-        self.gnss_sensor = GnssSensor(self.player)
-        self.camera_manager = CameraManager(self.player, self.hud)
-        self.camera_manager.transform_index = cam_pos_index
-        self.camera_manager.set_sensor(cam_index, notify=False)
-        actor_type = get_actor_display_name(self.player)
-        self.hud.notification(actor_type)
-
-    def next_weather(self, reverse=False):
-        self._weather_index += -1 if reverse else 1
-        self._weather_index %= len(self._weather_presets)
-        preset = self._weather_presets[self._weather_index]
-        self.hud.notification('Weather: %s' % preset[1])
-        self.player.get_world().set_weather(preset[0])
-
-    def tick(self, clock):
-        self.hud.tick(self, clock)
-
-    def render(self, display):
-        self.camera_manager.render(display)
-        self.hud.render(display)
-
-    def destroy(self):
-        sensors = [
-            self.camera_manager.sensor,
-            self.collision_sensor.sensor,
-            self.lane_invasion_sensor.sensor,
-            self.gnss_sensor.sensor]
-        for sensor in sensors:
-            if sensor is not None:
-                sensor.stop()
-                sensor.destroy()
-        if self.player is not None:
-            self.player.destroy()
-
-# ==============================================================================
-# -- DualControl -----------------------------------------------------------
-# ==============================================================================
-
-
-class DualControl(object):
-    def __init__(self, world, start_in_autopilot):
-        self._autopilot_enabled = start_in_autopilot
-        if isinstance(world.player, carla.Vehicle):
-            self._control = carla.VehicleControl()
-            world.player.set_autopilot(self._autopilot_enabled)
-        elif isinstance(world.player, carla.Walker):
-            self._control = carla.WalkerControl()
-            self._autopilot_enabled = False
-            self._rotation = world.player.get_transform().rotation
-        else:
-            raise NotImplementedError("Actor type not supported")
-        self._steer_cache = 0.0
-        world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
-
-        # initialize steering wheel
-        pygame.joystick.init()
-
-        joystick_count = pygame.joystick.get_count()
-        if joystick_count > 1:
-            raise ValueError("Please Connect Just One Joystick")
-
-        self._joystick = pygame.joystick.Joystick(0)
-        self._joystick.init()
-
-        self._parser = ConfigParser()
-        self._parser.read('wheel_config.ini')
-        self._steer_idx = int(
-            self._parser.get('G29 Racing Wheel', 'steering_wheel'))
-        self._throttle_idx = int(
-            self._parser.get('G29 Racing Wheel', 'throttle'))
-        self._brake_idx = int(self._parser.get('G29 Racing Wheel', 'brake'))
-        self._reverse_idx = int(self._parser.get('G29 Racing Wheel', 'reverse'))
-        self._handbrake_idx = int(
-            self._parser.get('G29 Racing Wheel', 'handbrake'))
-
-    def parse_events(self, world, clock):
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                return True
-            elif event.type == pygame.JOYBUTTONDOWN:
-                if event.button == 0:
-                    world.restart()
-                elif event.button == 1:
-                    world.hud.toggle_info()
-                elif event.button == 2:
-                    world.camera_manager.toggle_camera()
-                elif event.button == 3:
-                    world.next_weather()
-                elif event.button == self._reverse_idx:
-                    self._control.gear = 1 if self._control.reverse else -1
-                elif event.button == 23:
-                    world.camera_manager.next_sensor()
-
-            elif event.type == pygame.KEYUP:
-                if self._is_quit_shortcut(event.key):
-                    return True
-                elif event.key == K_BACKSPACE:
-                    world.restart()
-                elif event.key == K_F1:
-                    world.hud.toggle_info()
-                elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
-                    world.hud.help.toggle()
-                elif event.key == K_TAB:
-                    world.camera_manager.toggle_camera()
-                elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT:
-                    world.next_weather(reverse=True)
-                elif event.key == K_c:
-                    world.next_weather()
-                elif event.key == K_BACKQUOTE:
-                    world.camera_manager.next_sensor()
-                elif event.key > K_0 and event.key <= K_9:
-                    world.camera_manager.set_sensor(event.key - 1 - K_0)
-                elif event.key == K_r:
-                    world.camera_manager.toggle_recording()
-                if isinstance(self._control, carla.VehicleControl):
-                    if event.key == K_q:
-                        self._control.gear = 1 if self._control.reverse else -1
-                    elif event.key == K_m:
-                        self._control.manual_gear_shift = not self._control.manual_gear_shift
-                        self._control.gear = world.player.get_control().gear
-                        world.hud.notification('%s Transmission' %
-                                               ('Manual' if self._control.manual_gear_shift else 'Automatic'))
-                    elif self._control.manual_gear_shift and event.key == K_COMMA:
-                        self._control.gear = max(-1, self._control.gear - 1)
-                    elif self._control.manual_gear_shift and event.key == K_PERIOD:
-                        self._control.gear = self._control.gear + 1
-                    elif event.key == K_p:
-                        self._autopilot_enabled = not self._autopilot_enabled
-                        world.player.set_autopilot(self._autopilot_enabled)
-                        world.hud.notification('Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
-
-        if not self._autopilot_enabled:
-            if isinstance(self._control, carla.VehicleControl):
-                self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
-                self._parse_vehicle_wheel()
-                self._control.reverse = self._control.gear < 0
-            elif isinstance(self._control, carla.WalkerControl):
-                self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time())
-            world.player.apply_control(self._control)
-
-    def _parse_vehicle_keys(self, keys, milliseconds):
-        self._control.throttle = 1.0 if keys[K_UP] or keys[K_w] else 0.0
-        steer_increment = 5e-4 * milliseconds
-        if keys[K_LEFT] or keys[K_a]:
-            self._steer_cache -= steer_increment
-        elif keys[K_RIGHT] or keys[K_d]:
-            self._steer_cache += steer_increment
-        else:
-            self._steer_cache = 0.0
-        self._steer_cache = min(0.7, max(-0.7, self._steer_cache))
-        self._control.steer = round(self._steer_cache, 1)
-        self._control.brake = 1.0 if keys[K_DOWN] or keys[K_s] else 0.0
-        self._control.hand_brake = keys[K_SPACE]
-
-    def _parse_vehicle_wheel(self):
-        numAxes = self._joystick.get_numaxes()
-        jsInputs = [float(self._joystick.get_axis(i)) for i in range(numAxes)]
-        # print (jsInputs)
-        jsButtons = [float(self._joystick.get_button(i)) for i in
-                     range(self._joystick.get_numbuttons())]
-
-        # Custom function to map range of inputs [1, -1] to outputs [0, 1] i.e 1 from inputs means nothing is pressed
-        # For the steering, it seems fine as it is
-        K1 = 1.0  # 0.55
-        steerCmd = K1 * math.tan(1.1 * jsInputs[self._steer_idx])
-
-        K2 = 1.6  # 1.6
-        throttleCmd = K2 + (2.05 * math.log10(
-            -0.7 * jsInputs[self._throttle_idx] + 1.4) - 1.2) / 0.92
-        if throttleCmd <= 0:
-            throttleCmd = 0
-        elif throttleCmd > 1:
-            throttleCmd = 1
-
-        brakeCmd = 1.6 + (2.05 * math.log10(
-            -0.7 * jsInputs[self._brake_idx] + 1.4) - 1.2) / 0.92
-        if brakeCmd <= 0:
-            brakeCmd = 0
-        elif brakeCmd > 1:
-            brakeCmd = 1
-
-        self._control.steer = steerCmd
-        self._control.brake = brakeCmd
-        self._control.throttle = throttleCmd
-
-        #toggle = jsButtons[self._reverse_idx]
-
-        self._control.hand_brake = bool(jsButtons[self._handbrake_idx])
-
-    def _parse_walker_keys(self, keys, milliseconds):
-        self._control.speed = 0.0
-        if keys[K_DOWN] or keys[K_s]:
-            self._control.speed = 0.0
-        if keys[K_LEFT] or keys[K_a]:
-            self._control.speed = .01
-            self._rotation.yaw -= 0.08 * milliseconds
-        if keys[K_RIGHT] or keys[K_d]:
-            self._control.speed = .01
-            self._rotation.yaw += 0.08 * milliseconds
-        if keys[K_UP] or keys[K_w]:
-            self._control.speed = 5.556 if pygame.key.get_mods() & KMOD_SHIFT else 2.778
-        self._control.jump = keys[K_SPACE]
-        self._rotation.yaw = round(self._rotation.yaw, 1)
-        self._control.direction = self._rotation.get_forward_vector()
-
-    @staticmethod
-    def _is_quit_shortcut(key):
-        return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
-
-
-# ==============================================================================
-# -- HUD -----------------------------------------------------------------------
-# ==============================================================================
-
-
-class HUD(object):
-    def __init__(self, width, height):
-        self.dim = (width, height)
-        font = pygame.font.Font(pygame.font.get_default_font(), 20)
-        font_name = 'courier' if os.name == 'nt' else 'mono'
-        fonts = [x for x in pygame.font.get_fonts() if font_name in x]
-        default_font = 'ubuntumono'
-        mono = default_font if default_font in fonts else fonts[0]
-        mono = pygame.font.match_font(mono)
-        self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14)
-        self._notifications = FadingText(font, (width, 40), (0, height - 40))
-        self.help = HelpText(pygame.font.Font(mono, 24), width, height)
-        self.server_fps = 0
-        self.frame = 0
-        self.simulation_time = 0
-        self._show_info = True
-        self._info_text = []
-        self._server_clock = pygame.time.Clock()
-
-    def on_world_tick(self, timestamp):
-        self._server_clock.tick()
-        self.server_fps = self._server_clock.get_fps()
-        self.frame = timestamp.frame
-        self.simulation_time = timestamp.elapsed_seconds
-
-    def tick(self, world, clock):
-        self._notifications.tick(world, clock)
-        if not self._show_info:
-            return
-        t = world.player.get_transform()
-        v = world.player.get_velocity()
-        c = world.player.get_control()
-        heading = 'N' if abs(t.rotation.yaw) < 89.5 else ''
-        heading += 'S' if abs(t.rotation.yaw) > 90.5 else ''
-        heading += 'E' if 179.5 > t.rotation.yaw > 0.5 else ''
-        heading += 'W' if -0.5 > t.rotation.yaw > -179.5 else ''
-        colhist = world.collision_sensor.get_collision_history()
-        collision = [colhist[x + self.frame - 200] for x in range(0, 200)]
-        max_col = max(1.0, max(collision))
-        collision = [x / max_col for x in collision]
-        vehicles = world.world.get_actors().filter('vehicle.*')
-        self._info_text = [
-            'Server:  % 16.0f FPS' % self.server_fps,
-            'Client:  % 16.0f FPS' % clock.get_fps(),
-            '',
-            'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20),
-            'Map:     % 20s' % world.world.get_map().name.split('/')[-1],
-            'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
-            '',
-            'Speed:   % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
-            u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
-            'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
-            'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
-            'Height:  % 18.0f m' % t.location.z,
-            '']
-        if isinstance(c, carla.VehicleControl):
-            self._info_text += [
-                ('Throttle:', c.throttle, 0.0, 1.0),
-                ('Steer:', c.steer, -1.0, 1.0),
-                ('Brake:', c.brake, 0.0, 1.0),
-                ('Reverse:', c.reverse),
-                ('Hand brake:', c.hand_brake),
-                ('Manual:', c.manual_gear_shift),
-                'Gear:        %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
-        elif isinstance(c, carla.WalkerControl):
-            self._info_text += [
-                ('Speed:', c.speed, 0.0, 5.556),
-                ('Jump:', c.jump)]
-        self._info_text += [
-            '',
-            'Collision:',
-            collision,
-            '',
-            'Number of vehicles: % 8d' % len(vehicles)]
-        if len(vehicles) > 1:
-            self._info_text += ['Nearby vehicles:']
-            distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
-            vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
-            for d, vehicle in sorted(vehicles):
-                if d > 200.0:
-                    break
-                vehicle_type = get_actor_display_name(vehicle, truncate=22)
-                self._info_text.append('% 4dm %s' % (d, vehicle_type))
-
-    def toggle_info(self):
-        self._show_info = not self._show_info
-
-    def notification(self, text, seconds=2.0):
-        self._notifications.set_text(text, seconds=seconds)
-
-    def error(self, text):
-        self._notifications.set_text('Error: %s' % text, (255, 0, 0))
-
-    def render(self, display):
-        if self._show_info:
-            info_surface = pygame.Surface((220, self.dim[1]))
-            info_surface.set_alpha(100)
-            display.blit(info_surface, (0, 0))
-            v_offset = 4
-            bar_h_offset = 100
-            bar_width = 106
-            for item in self._info_text:
-                if v_offset + 18 > self.dim[1]:
-                    break
-                if isinstance(item, list):
-                    if len(item) > 1:
-                        points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
-                        pygame.draw.lines(display, (255, 136, 0), False, points, 2)
-                    item = None
-                    v_offset += 18
-                elif isinstance(item, tuple):
-                    if isinstance(item[1], bool):
-                        rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
-                        pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
-                    else:
-                        rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
-                        pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
-                        f = (item[1] - item[2]) / (item[3] - item[2])
-                        if item[2] < 0.0:
-                            rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
-                        else:
-                            rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
-                        pygame.draw.rect(display, (255, 255, 255), rect)
-                    item = item[0]
-                if item:  # At this point has to be a str.
-                    surface = self._font_mono.render(item, True, (255, 255, 255))
-                    display.blit(surface, (8, v_offset))
-                v_offset += 18
-        self._notifications.render(display)
-        self.help.render(display)
-
-
-# ==============================================================================
-# -- FadingText ----------------------------------------------------------------
-# ==============================================================================
-
-
-class FadingText(object):
-    def __init__(self, font, dim, pos):
-        self.font = font
-        self.dim = dim
-        self.pos = pos
-        self.seconds_left = 0
-        self.surface = pygame.Surface(self.dim)
-
-    def set_text(self, text, color=(255, 255, 255), seconds=2.0):
-        text_texture = self.font.render(text, True, color)
-        self.surface = pygame.Surface(self.dim)
-        self.seconds_left = seconds
-        self.surface.fill((0, 0, 0, 0))
-        self.surface.blit(text_texture, (10, 11))
-
-    def tick(self, _, clock):
-        delta_seconds = 1e-3 * clock.get_time()
-        self.seconds_left = max(0.0, self.seconds_left - delta_seconds)
-        self.surface.set_alpha(500.0 * self.seconds_left)
-
-    def render(self, display):
-        display.blit(self.surface, self.pos)
-
-
-# ==============================================================================
-# -- HelpText ------------------------------------------------------------------
-# ==============================================================================
-
-
-class HelpText(object):
-    def __init__(self, font, width, height):
-        lines = __doc__.split('\n')
-        self.font = font
-        self.dim = (680, len(lines) * 22 + 12)
-        self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
-        self.seconds_left = 0
-        self.surface = pygame.Surface(self.dim)
-        self.surface.fill((0, 0, 0, 0))
-        for n, line in enumerate(lines):
-            text_texture = self.font.render(line, True, (255, 255, 255))
-            self.surface.blit(text_texture, (22, n * 22))
-            self._render = False
-        self.surface.set_alpha(220)
-
-    def toggle(self):
-        self._render = not self._render
-
-    def render(self, display):
-        if self._render:
-            display.blit(self.surface, self.pos)
-
-
-# ==============================================================================
-# -- CollisionSensor -----------------------------------------------------------
-# ==============================================================================
-
-
-class CollisionSensor(object):
-    def __init__(self, parent_actor, hud):
-        self.sensor = None
-        self.history = []
-        self._parent = parent_actor
-        self.hud = hud
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.collision')
-        self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
-        # We need to pass the lambda a weak reference to self to avoid circular
-        # reference.
-        weak_self = weakref.ref(self)
-        self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event))
-
-    def get_collision_history(self):
-        history = collections.defaultdict(int)
-        for frame, intensity in self.history:
-            history[frame] += intensity
-        return history
-
-    @staticmethod
-    def _on_collision(weak_self, event):
-        self = weak_self()
-        if not self:
-            return
-        actor_type = get_actor_display_name(event.other_actor)
-        self.hud.notification('Collision with %r' % actor_type)
-        impulse = event.normal_impulse
-        intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
-        self.history.append((event.frame, intensity))
-        if len(self.history) > 4000:
-            self.history.pop(0)
-
-
-# ==============================================================================
-# -- LaneInvasionSensor --------------------------------------------------------
-# ==============================================================================
-
-
-class LaneInvasionSensor(object):
-    def __init__(self, parent_actor, hud):
-        self.sensor = None
-        self._parent = parent_actor
-        self.hud = hud
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
-        self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
-        # We need to pass the lambda a weak reference to self to avoid circular
-        # reference.
-        weak_self = weakref.ref(self)
-        self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
-
-    @staticmethod
-    def _on_invasion(weak_self, event):
-        self = weak_self()
-        if not self:
-            return
-        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))
-
-# ==============================================================================
-# -- GnssSensor --------------------------------------------------------
-# ==============================================================================
-
-
-class GnssSensor(object):
-    def __init__(self, parent_actor):
-        self.sensor = None
-        self._parent = parent_actor
-        self.lat = 0.0
-        self.lon = 0.0
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.gnss')
-        self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)), attach_to=self._parent)
-        # We need to pass the lambda a weak reference to self to avoid circular
-        # reference.
-        weak_self = weakref.ref(self)
-        self.sensor.listen(lambda event: GnssSensor._on_gnss_event(weak_self, event))
-
-    @staticmethod
-    def _on_gnss_event(weak_self, event):
-        self = weak_self()
-        if not self:
-            return
-        self.lat = event.latitude
-        self.lon = event.longitude
-
-
-# ==============================================================================
-# -- CameraManager -------------------------------------------------------------
-# ==============================================================================
-
-
-class CameraManager(object):
-    def __init__(self, parent_actor, hud):
-        self.sensor = None
-        self.surface = None
-        self._parent = parent_actor
-        self.hud = hud
-        self.recording = False
-        self._camera_transforms = [
-            carla.Transform(carla.Location(x=-5.5, z=2.8), carla.Rotation(pitch=-15)),
-            carla.Transform(carla.Location(x=1.6, z=1.7))]
-        self.transform_index = 1
-        self.sensors = [
-            ['sensor.camera.rgb', cc.Raw, 'Camera RGB'],
-            ['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)'],
-            ['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)'],
-            ['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)'],
-            ['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)'],
-            ['sensor.camera.semantic_segmentation', cc.CityScapesPalette,
-                'Camera Semantic Segmentation (CityScapes Palette)'],
-            ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']]
-        world = self._parent.get_world()
-        bp_library = world.get_blueprint_library()
-        for item in self.sensors:
-            bp = bp_library.find(item[0])
-            if item[0].startswith('sensor.camera'):
-                bp.set_attribute('image_size_x', str(hud.dim[0]))
-                bp.set_attribute('image_size_y', str(hud.dim[1]))
-            elif item[0].startswith('sensor.lidar'):
-                bp.set_attribute('range', '50')
-            item.append(bp)
-        self.index = None
-
-    def toggle_camera(self):
-        self.transform_index = (self.transform_index + 1) % len(self._camera_transforms)
-        self.sensor.set_transform(self._camera_transforms[self.transform_index])
-
-    def set_sensor(self, index, notify=True):
-        index = index % len(self.sensors)
-        needs_respawn = True if self.index is None \
-            else self.sensors[index][0] != self.sensors[self.index][0]
-        if needs_respawn:
-            if self.sensor is not None:
-                self.sensor.destroy()
-                self.surface = None
-            self.sensor = self._parent.get_world().spawn_actor(
-                self.sensors[index][-1],
-                self._camera_transforms[self.transform_index],
-                attach_to=self._parent)
-            # We need to pass the lambda a weak reference to self to avoid
-            # circular reference.
-            weak_self = weakref.ref(self)
-            self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image))
-        if notify:
-            self.hud.notification(self.sensors[index][2])
-        self.index = index
-
-    def next_sensor(self):
-        self.set_sensor(self.index + 1)
-
-    def toggle_recording(self):
-        self.recording = not self.recording
-        self.hud.notification('Recording %s' % ('On' if self.recording else 'Off'))
-
-    def render(self, display):
-        if self.surface is not None:
-            display.blit(self.surface, (0, 0))
-
-    @staticmethod
-    def _parse_image(weak_self, image):
-        self = weak_self()
-        if not self:
-            return
-        if self.sensors[self.index][0].startswith('sensor.lidar'):
-            points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
-            points = np.reshape(points, (int(points.shape[0] / 4), 4))
-            lidar_data = np.array(points[:, :2])
-            lidar_data *= min(self.hud.dim) / 100.0
-            lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
-            lidar_data = np.fabs(lidar_data) # pylint: disable=E1111
-            lidar_data = lidar_data.astype(np.int32)
-            lidar_data = np.reshape(lidar_data, (-1, 2))
-            lidar_img_size = (self.hud.dim[0], self.hud.dim[1], 3)
-            lidar_img = np.zeros(lidar_img_size)
-            lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
-            self.surface = pygame.surfarray.make_surface(lidar_img)
-        else:
-            image.convert(self.sensors[self.index][1])
-            array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-            array = np.reshape(array, (image.height, image.width, 4))
-            array = array[:, :, :3]
-            array = array[:, :, ::-1]
-            self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
-        if self.recording:
-            image.save_to_disk('_out/%08d' % image.frame)
-
-
-# ==============================================================================
-# -- game_loop() ---------------------------------------------------------------
-# ==============================================================================
-
-
-def game_loop(args):
-    pygame.init()
-    pygame.font.init()
-    world = None
-
-    try:
-        client = carla.Client(args.host, args.port)
-        client.set_timeout(2.0)
-
-        display = pygame.display.set_mode(
-            (args.width, args.height),
-            pygame.HWSURFACE | pygame.DOUBLEBUF)
-
-        hud = HUD(args.width, args.height)
-        world = World(client.get_world(), hud, args.filter)
-        controller = DualControl(world, args.autopilot)
-
-        clock = pygame.time.Clock()
-        while True:
-            clock.tick_busy_loop(60)
-            if controller.parse_events(world, clock):
-                return
-            world.tick(clock)
-            world.render(display)
-            pygame.display.flip()
-
-    finally:
-
-        if world is not None:
-            world.destroy()
-
-        pygame.quit()
-
-
-# ==============================================================================
-# -- main() --------------------------------------------------------------------
-# ==============================================================================
-
-
-def main():
-    argparser = argparse.ArgumentParser(
-        description='CARLA Manual Control Client')
-    argparser.add_argument(
-        '-v', '--verbose',
-        action='store_true',
-        dest='debug',
-        help='print debug information')
-    argparser.add_argument(
-        '--host',
-        metavar='H',
-        default='127.0.0.1',
-        help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument(
-        '-p', '--port',
-        metavar='P',
-        default=2000,
-        type=int,
-        help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '-a', '--autopilot',
-        action='store_true',
-        help='enable autopilot')
-    argparser.add_argument(
-        '--res',
-        metavar='WIDTHxHEIGHT',
-        default='1280x720',
-        help='window resolution (default: 1280x720)')
-    argparser.add_argument(
-        '--filter',
-        metavar='PATTERN',
-        default='vehicle.*',
-        help='actor filter (default: "vehicle.*")')
-    args = argparser.parse_args()
-
-    args.width, args.height = [int(x) for x in args.res.split('x')]
-
-    log_level = logging.DEBUG if args.debug else logging.INFO
-    logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
-
-    logging.info('listening to server %s:%s', args.host, args.port)
-
-    print(__doc__)
-
-    try:
-
-        game_loop(args)
-
-    except KeyboardInterrupt:
-        print('\nCancelled by user. Bye!')
-
-
-if __name__ == '__main__':
-
-    main()

PythonAPI/examples/requirements.txt

@@ -1,6 +1,6 @@
 future
 numpy; python_version < '3.0'
-numpy==1.18.4; python_version >= '3.0'
+numpy==1.24; python_version >= '3.0'
 pygame
 matplotlib
 open3d

PythonAPI/examples/ros2/ros2_native.py

@@ -82,6 +82,9 @@ def main(args):
         settings.fixed_delta_seconds = 0.05
         world.apply_settings(settings)
 
+        traffic_manager = client.get_trafficmanager()
+        traffic_manager.set_synchronous_mode(True)
+
         with open(args.file) as f:
             config = json.load(f)
 

PythonAPI/examples/ros2/stack.json

@@ -1,5 +1,5 @@
 {
-    "type": "vehicle.lincoln.mkz_2020",
+    "type": "vehicle.lincoln.mkz",
     "id": "hero",
     "sensors": [
         {
@@ -20,7 +20,7 @@
                 "range": 85,
                 "channels": 64,
                 "points_per_second": 600000,
-                "rotation_frequency": 10,
+                "rotation_frequency": 20,
                 "upper_fov": 10,
                 "lower_fov": -30,
                 "atmosphere_attenuation_rate": 0.004,

PythonAPI/examples/rss/manual_control_rss.py

@@ -1,921 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-# Copyright (c) 2019-2020 Intel Corporation
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-# Allows controlling a vehicle with a keyboard. For a simpler and more
-# documented example, please take a look at tutorial.py.
-
-"""
-Welcome to CARLA manual control.
-
-Use ARROWS or WASD keys for control.
-
-    W            : throttle
-    S            : brake
-    AD           : steer
-    Q            : toggle reverse
-    Space        : hand-brake
-    P            : toggle autopilot
-
-    TAB          : change view
-    Backspace    : change vehicle
-
-    R            : toggle recording images to disk
-
-    F2           : toggle RSS visualization mode
-    F3           : increase log level
-    F4           : decrease log level
-    F5           : increase map log level
-    F6           : decrease map log level
-    B            : toggle RSS Road Boundaries Mode
-    G            : RSS check drop current route
-    T            : toggle RSS
-    N            : pause simulation
-
-    F1           : toggle HUD
-    H/?          : toggle help
-    ESC          : quit
-"""
-
-from __future__ import print_function
-
-
-# ==============================================================================
-# -- find carla module ---------------------------------------------------------
-# ==============================================================================
-
-
-import glob
-import os
-import sys
-import signal
-
-try:
-    sys.path.append(glob.glob(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + '/carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-
-# ==============================================================================
-# -- imports -------------------------------------------------------------------
-# ==============================================================================
-
-
-import carla
-
-from carla import ColorConverter as cc
-
-import argparse
-import logging
-import math
-import random
-import weakref
-from rss_sensor import RssSensor # pylint: disable=relative-import
-from rss_visualization import RssUnstructuredSceneVisualizer, RssBoundingBoxVisualizer, RssStateVisualizer # pylint: disable=relative-import
-
-try:
-    import pygame
-    from pygame.locals import KMOD_CTRL
-    from pygame.locals import KMOD_SHIFT
-    from pygame.locals import K_BACKSPACE
-    from pygame.locals import K_TAB
-    from pygame.locals import K_DOWN
-    from pygame.locals import K_ESCAPE
-    from pygame.locals import K_F1
-    from pygame.locals import K_F2
-    from pygame.locals import K_F3
-    from pygame.locals import K_F4
-    from pygame.locals import K_F5
-    from pygame.locals import K_F6
-    from pygame.locals import K_LEFT
-    from pygame.locals import K_RIGHT
-    from pygame.locals import K_SLASH
-    from pygame.locals import K_SPACE
-    from pygame.locals import K_UP
-    from pygame.locals import K_a
-    from pygame.locals import K_b
-    from pygame.locals import K_d
-    from pygame.locals import K_g
-    from pygame.locals import K_h
-    from pygame.locals import K_n
-    from pygame.locals import K_p
-    from pygame.locals import K_q
-    from pygame.locals import K_r
-    from pygame.locals import K_s
-    from pygame.locals import K_w
-    from pygame.locals import K_l
-    from pygame.locals import K_i
-    from pygame.locals import K_z
-    from pygame.locals import K_x
-    from pygame.locals import MOUSEBUTTONDOWN
-    from pygame.locals import MOUSEBUTTONUP
-except ImportError:
-    raise RuntimeError('cannot import pygame, make sure pygame package is installed')
-
-try:
-    import numpy as np
-except ImportError:
-    raise RuntimeError('cannot import numpy, make sure numpy package is installed')
-
-
-# ==============================================================================
-# -- World ---------------------------------------------------------------------
-# ==============================================================================
-
-
-class World(object):
-
-    def __init__(self, carla_world, args):
-        self.world = carla_world
-        self.sync = args.sync
-        self.actor_role_name = args.rolename
-        self.dim = (args.width, args.height)
-        try:
-            self.map = self.world.get_map()
-        except RuntimeError as error:
-            print('RuntimeError: {}'.format(error))
-            print('  The server could not send the OpenDRIVE (.xodr) file:')
-            print('  Make sure it exists, has the same name of your town, and is correct.')
-            sys.exit(1)
-        self.external_actor = args.externalActor
-
-        self.hud = HUD(args.width, args.height, carla_world)
-        self.recording_frame_num = 0
-        self.recording = False
-        self.recording_dir_num = 0
-        self.player = None
-        self.actors = []
-        self.rss_sensor = None
-        self.rss_unstructured_scene_visualizer = None
-        self.rss_bounding_box_visualizer = None
-        self._actor_filter = args.filter
-        if not self._actor_filter.startswith("vehicle."):
-            print('Error: RSS only supports vehicles as ego.')
-            sys.exit(1)
-
-        self.restart()
-        self.world_tick_id = self.world.on_tick(self.hud.on_world_tick)
-
-    def toggle_pause(self):
-        settings = self.world.get_settings()
-        self.pause_simulation(not settings.synchronous_mode)
-
-    def pause_simulation(self, pause):
-        settings = self.world.get_settings()
-        if pause and not settings.synchronous_mode:
-            settings.synchronous_mode = True
-            settings.fixed_delta_seconds = 0.05
-            self.world.apply_settings(settings)
-        elif not pause and settings.synchronous_mode:
-            settings.synchronous_mode = False
-            settings.fixed_delta_seconds = None
-            self.world.apply_settings(settings)
-
-    def restart(self):
-
-        if self.external_actor:
-            # Check whether there is already an actor with defined role name
-            for actor in self.world.get_actors():
-                if actor.attributes.get('role_name') == self.actor_role_name:
-                    self.player = actor
-                    break
-        else:
-            # Get a random blueprint.
-            blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
-            blueprint.set_attribute('role_name', self.actor_role_name)
-            if blueprint.has_attribute('color'):
-                color = random.choice(blueprint.get_attribute('color').recommended_values)
-                blueprint.set_attribute('color', color)
-            if blueprint.has_attribute('driver_id'):
-                driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
-                blueprint.set_attribute('driver_id', driver_id)
-            if blueprint.has_attribute('is_invincible'):
-                blueprint.set_attribute('is_invincible', 'true')
-            # Spawn the player.
-            if self.player is not None:
-                spawn_point = self.player.get_transform()
-                spawn_point.location.z += 2.0
-                spawn_point.rotation.roll = 0.0
-                spawn_point.rotation.pitch = 0.0
-                self.destroy()
-                self.player = self.world.try_spawn_actor(blueprint, spawn_point)
-            while self.player is None:
-                if not self.map.get_spawn_points():
-                    print('There are no spawn points available in your map/town.')
-                    print('Please add some Vehicle Spawn Point to your UE4 scene.')
-                    sys.exit(1)
-                spawn_points = self.map.get_spawn_points()
-                spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
-                self.player = self.world.try_spawn_actor(blueprint, spawn_point)
-
-        if self.external_actor:
-            ego_sensors = []
-            for actor in self.world.get_actors():
-                if actor.parent == self.player:
-                    ego_sensors.append(actor)
-
-            for ego_sensor in ego_sensors:
-                if ego_sensor is not None:
-                    ego_sensor.destroy()
-
-        # Set up the sensors.
-        self.camera = Camera(self.player, self.dim)
-        self.rss_unstructured_scene_visualizer = RssUnstructuredSceneVisualizer(self.player, self.world, self.dim)
-        self.rss_bounding_box_visualizer = RssBoundingBoxVisualizer(self.dim, self.world, self.camera.sensor)
-        self.rss_sensor = RssSensor(self.player, self.world,
-                                    self.rss_unstructured_scene_visualizer, self.rss_bounding_box_visualizer, self.hud.rss_state_visualizer)
-
-        if self.sync:
-            self.world.tick()
-        else:
-            self.world.wait_for_tick()
-
-    def tick(self, clock):
-        self.hud.tick(self.player, clock)
-
-    def toggle_recording(self):
-        if not self.recording:
-            dir_name = "_out%04d" % self.recording_dir_num
-            while os.path.exists(dir_name):
-                self.recording_dir_num += 1
-                dir_name = "_out%04d" % self.recording_dir_num
-            self.recording_frame_num = 0
-            os.mkdir(dir_name)
-        else:
-            self.hud.notification('Recording finished (folder: _out%04d)' % self.recording_dir_num)
-
-        self.recording = not self.recording
-
-    def render(self, display):
-        self.camera.render(display)
-        self.rss_bounding_box_visualizer.render(display, self.camera.current_frame)
-        self.rss_unstructured_scene_visualizer.render(display)
-        self.hud.render(display)
-
-        if self.recording:
-            pygame.image.save(display, "_out%04d/%08d.bmp" % (self.recording_dir_num, self.recording_frame_num))
-            self.recording_frame_num += 1
-
-    def destroy(self):
-        # stop from ticking
-        if self.world_tick_id:
-            self.world.remove_on_tick(self.world_tick_id)
-
-        if self.camera:
-            self.camera.destroy()
-        if self.rss_sensor:
-            self.rss_sensor.destroy()
-        if self.rss_unstructured_scene_visualizer:
-            self.rss_unstructured_scene_visualizer.destroy()
-        if self.player:
-            self.player.destroy()
-
-
-# ==============================================================================
-# -- Camera --------------------------------------------------------------------
-# ==============================================================================
-
-class Camera(object):
-
-    def __init__(self, parent_actor, display_dimensions):
-        self.surface = None
-        self._parent = parent_actor
-        self.current_frame = None
-        bp_library = self._parent.get_world().get_blueprint_library()
-        bp = bp_library.find('sensor.camera.rgb')
-        bp.set_attribute('image_size_x', str(display_dimensions[0]))
-        bp.set_attribute('image_size_y', str(display_dimensions[1]))
-        self.sensor = self._parent.get_world().spawn_actor(bp, carla.Transform(carla.Location(
-            x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), attach_to=self._parent, attachment_type=carla.AttachmentType.SpringArmGhost)
-
-        # We need to pass the lambda a weak reference to self to avoid
-        # circular reference.
-        weak_self = weakref.ref(self)
-        self.sensor.listen(lambda image: Camera._parse_image(weak_self, image))
-
-    def destroy(self):
-        self.sensor.stop()
-        self.sensor.destroy()
-        self.sensor = None
-
-    def render(self, display):
-        if self.surface is not None:
-            display.blit(self.surface, (0, 0))
-
-    @staticmethod
-    def _parse_image(weak_self, image):
-        self = weak_self()
-        if not self:
-            return
-        self.current_frame = image.frame
-        image.convert(cc.Raw)
-        array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-        array = np.reshape(array, (image.height, image.width, 4))
-        array = array[:, :, :3]
-        array = array[:, :, ::-1]
-        self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
-
-# ==============================================================================
-# -- VehicleControl -----------------------------------------------------------
-# ==============================================================================
-
-
-class VehicleControl(object):
-
-    MOUSE_STEERING_RANGE = 200
-    signal_received = False
-
-    """Class that handles keyboard input."""
-
-    def __init__(self, world, start_in_autopilot):
-        self._autopilot_enabled = start_in_autopilot
-        self._world = world
-        self._control = carla.VehicleControl()
-        self._lights = carla.VehicleLightState.NONE
-        world.player.set_autopilot(self._autopilot_enabled)
-        self._restrictor = carla.RssRestrictor()
-        self._vehicle_physics = world.player.get_physics_control()
-        world.player.set_light_state(self._lights)
-        self._steer_cache = 0.0
-        self._mouse_steering_center = None
-
-        self._surface = pygame.Surface((self.MOUSE_STEERING_RANGE * 2, self.MOUSE_STEERING_RANGE * 2))
-        self._surface.set_colorkey(pygame.Color('black'))
-        self._surface.set_alpha(60)
-
-        line_width = 2
-        pygame.draw.polygon(self._surface,
-                            (0, 0, 255),
-                            [
-                                (0, 0),
-                                (0, self.MOUSE_STEERING_RANGE * 2 - line_width),
-                                (self.MOUSE_STEERING_RANGE * 2 - line_width,
-                                 self.MOUSE_STEERING_RANGE * 2 - line_width),
-                                (self.MOUSE_STEERING_RANGE * 2 - line_width, 0),
-                                (0, 0)
-                            ], line_width)
-        pygame.draw.polygon(self._surface,
-                            (0, 0, 255),
-                            [
-                                (0, self.MOUSE_STEERING_RANGE),
-                                (self.MOUSE_STEERING_RANGE * 2, self.MOUSE_STEERING_RANGE)
-                            ], line_width)
-        pygame.draw.polygon(self._surface,
-                            (0, 0, 255),
-                            [
-                                (self.MOUSE_STEERING_RANGE, 0),
-                                (self.MOUSE_STEERING_RANGE, self.MOUSE_STEERING_RANGE * 2)
-                            ], line_width)
-
-        world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
-
-    def render(self, display):
-        if self._mouse_steering_center:
-            display.blit(
-                self._surface, (self._mouse_steering_center[0] - self.MOUSE_STEERING_RANGE, self._mouse_steering_center[1] - self.MOUSE_STEERING_RANGE))
-
-    @staticmethod
-    def signal_handler(signum, _):
-        print('\nReceived signal {}. Trigger stopping...'.format(signum))
-        VehicleControl.signal_received = True
-
-    def parse_events(self, world, clock, sync_mode):
-        if VehicleControl.signal_received:
-            print('\nAccepted signal. Stopping loop...')
-            return True
-        if isinstance(self._control, carla.VehicleControl):
-            current_lights = self._lights
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                return True
-            elif event.type == pygame.KEYUP:
-                if self._is_quit_shortcut(event.key):
-                    return True
-                elif event.key == K_BACKSPACE:
-                    if self._autopilot_enabled:
-                        world.player.set_autopilot(False)
-                        world.restart()
-                        world.player.set_autopilot(True)
-                    else:
-                        world.restart()
-                elif event.key == K_F1:
-                    world.hud.toggle_info()
-                elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
-                    world.hud.help.toggle()
-                elif event.key == K_TAB:
-                    world.rss_unstructured_scene_visualizer.toggle_camera()
-                elif event.key == K_n:
-                    world.toggle_pause()
-                elif event.key == K_r:
-                    world.toggle_recording()
-                elif event.key == K_F2:
-                    if self._world and self._world.rss_sensor:
-                        self._world.rss_sensor.toggle_debug_visualization_mode()
-                elif event.key == K_F3:
-                    if self._world and self._world.rss_sensor:
-                        self._world.rss_sensor.decrease_log_level()
-                        self._restrictor.set_log_level(self._world.rss_sensor.log_level)
-                elif event.key == K_F4:
-                    if self._world and self._world.rss_sensor:
-                        self._world.rss_sensor.increase_log_level()
-                        self._restrictor.set_log_level(self._world.rss_sensor.log_level)
-                elif event.key == K_F5:
-                    if self._world and self._world.rss_sensor:
-                        self._world.rss_sensor.decrease_map_log_level()
-                elif event.key == K_F6:
-                    if self._world and self._world.rss_sensor:
-                        self._world.rss_sensor.increase_map_log_level()
-                elif event.key == K_b:
-                    if self._world and self._world.rss_sensor:
-                        if self._world.rss_sensor.sensor.road_boundaries_mode == carla.RssRoadBoundariesMode.Off:
-                            self._world.rss_sensor.sensor.road_boundaries_mode = carla.RssRoadBoundariesMode.On
-                            print("carla.RssRoadBoundariesMode.On")
-                        else:
-                            self._world.rss_sensor.sensor.road_boundaries_mode = carla.RssRoadBoundariesMode.Off
-                            print("carla.RssRoadBoundariesMode.Off")
-                elif event.key == K_g:
-                    if self._world and self._world.rss_sensor:
-                        self._world.rss_sensor.drop_route()
-                if isinstance(self._control, carla.VehicleControl):
-                    if event.key == K_q:
-                        self._control.gear = 1 if self._control.reverse else -1
-                    elif event.key == K_p and not pygame.key.get_mods() & KMOD_CTRL:
-                        self._autopilot_enabled = not self._autopilot_enabled
-                        world.player.set_autopilot(self._autopilot_enabled)
-                        world.hud.notification(
-                            'Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
-                    elif event.key == K_l and pygame.key.get_mods() & KMOD_CTRL:
-                        current_lights ^= carla.VehicleLightState.Special1
-                    elif event.key == K_l and pygame.key.get_mods() & KMOD_SHIFT:
-                        current_lights ^= carla.VehicleLightState.HighBeam
-                    elif event.key == K_l:
-                        # Use 'L' key to switch between lights:
-                        # closed -> position -> low beam -> fog
-                        if not self._lights & carla.VehicleLightState.Position:
-                            world.hud.notification("Position lights")
-                            current_lights |= carla.VehicleLightState.Position
-                        else:
-                            world.hud.notification("Low beam lights")
-                            current_lights |= carla.VehicleLightState.LowBeam
-                        if self._lights & carla.VehicleLightState.LowBeam:
-                            world.hud.notification("Fog lights")
-                            current_lights |= carla.VehicleLightState.Fog
-                        if self._lights & carla.VehicleLightState.Fog:
-                            world.hud.notification("Lights off")
-                            current_lights ^= carla.VehicleLightState.Position
-                            current_lights ^= carla.VehicleLightState.LowBeam
-                            current_lights ^= carla.VehicleLightState.Fog
-                    elif event.key == K_i:
-                        current_lights ^= carla.VehicleLightState.Interior
-                    elif event.key == K_z:
-                        current_lights ^= carla.VehicleLightState.LeftBlinker
-                    elif event.key == K_x:
-                        current_lights ^= carla.VehicleLightState.RightBlinker
-            elif event.type == MOUSEBUTTONDOWN:
-                # store current mouse position for mouse-steering
-                if event.button == 1:
-                    self._mouse_steering_center = event.pos
-            elif event.type == MOUSEBUTTONUP:
-                if event.button == 1:
-                    self._mouse_steering_center = None
-        if not self._autopilot_enabled:
-            prev_steer_cache = self._steer_cache
-            self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
-            if pygame.mouse.get_pressed()[0]:
-                self._parse_mouse(pygame.mouse.get_pos())
-            self._control.reverse = self._control.gear < 0
-
-            vehicle_control = self._control
-            world.hud.original_vehicle_control = vehicle_control
-            world.hud.restricted_vehicle_control = vehicle_control
-
-            # limit speed to 30kmh
-            v = self._world.player.get_velocity()
-            if (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)) > 30.0:
-                self._control.throttle = 0
-
-            # if self._world.rss_sensor and self._world.rss_sensor.ego_dynamics_on_route and not self._world.rss_sensor.ego_dynamics_on_route.ego_center_within_route:
-            #    print ("Not on route!" +  str(self._world.rss_sensor.ego_dynamics_on_route))
-            if self._restrictor:
-                rss_proper_response = self._world.rss_sensor.proper_response if self._world.rss_sensor and self._world.rss_sensor.response_valid else None
-                if rss_proper_response:
-                    if not (pygame.key.get_mods() & KMOD_CTRL):
-                        vehicle_control = self._restrictor.restrict_vehicle_control(
-                            vehicle_control, rss_proper_response, self._world.rss_sensor.ego_dynamics_on_route, self._vehicle_physics)
-                    world.hud.restricted_vehicle_control = vehicle_control
-                    world.hud.allowed_steering_ranges = self._world.rss_sensor.get_steering_ranges()
-                    if world.hud.original_vehicle_control.steer != world.hud.restricted_vehicle_control.steer:
-                        self._steer_cache = prev_steer_cache
-
-            # Set automatic control-related vehicle lights
-            if vehicle_control.brake:
-                current_lights |= carla.VehicleLightState.Brake
-            else:  # Remove the Brake flag
-                current_lights &= carla.VehicleLightState.All ^ carla.VehicleLightState.Brake
-            if vehicle_control.reverse:
-                current_lights |= carla.VehicleLightState.Reverse
-            else:  # Remove the Reverse flag
-                current_lights &= carla.VehicleLightState.All ^ carla.VehicleLightState.Reverse
-            if current_lights != self._lights:  # Change the light state only if necessary
-                self._lights = current_lights
-                world.player.set_light_state(carla.VehicleLightState(self._lights))
-
-            world.player.apply_control(vehicle_control)
-
-    def _parse_vehicle_keys(self, keys, milliseconds):
-        if keys[K_UP] or keys[K_w]:
-            self._control.throttle = min(self._control.throttle + 0.2, 1)
-        else:
-            self._control.throttle = max(self._control.throttle - 0.2, 0)
-
-        if keys[K_DOWN] or keys[K_s]:
-            self._control.brake = min(self._control.brake + 0.2, 1)
-        else:
-            self._control.brake = max(self._control.brake - 0.2, 0)
-
-        steer_increment = 5e-4 * milliseconds
-        if keys[K_LEFT] or keys[K_a]:
-            if self._steer_cache > 0:
-                self._steer_cache = 0
-            else:
-                self._steer_cache -= steer_increment
-        elif keys[K_RIGHT] or keys[K_d]:
-            if self._steer_cache < 0:
-                self._steer_cache = 0
-            else:
-                self._steer_cache += steer_increment
-        elif self._steer_cache > 0:
-            self._steer_cache = max(self._steer_cache - steer_increment, 0.0)
-        elif self._steer_cache < 0:
-            self._steer_cache = min(self._steer_cache + steer_increment, 0.0)
-        else:
-            self._steer_cache = 0
-
-        self._steer_cache = min(1.0, max(-1.0, self._steer_cache))
-        self._control.steer = round(self._steer_cache, 1)
-        self._control.hand_brake = keys[K_SPACE]
-
-    def _parse_mouse(self, pos):
-        if not self._mouse_steering_center:
-            return
-
-        lateral = float(pos[0] - self._mouse_steering_center[0])
-        longitudinal = float(pos[1] - self._mouse_steering_center[1])
-        max_val = self.MOUSE_STEERING_RANGE
-        lateral = -max_val if lateral < -max_val else max_val if lateral > max_val else lateral
-        longitudinal = -max_val if longitudinal < -max_val else max_val if longitudinal > max_val else longitudinal
-        self._control.steer = lateral / max_val
-        if longitudinal < 0.0:
-            self._control.throttle = -longitudinal / max_val
-            self._control.brake = 0.0
-        elif longitudinal > 0.0:
-            self._control.throttle = 0.0
-            self._control.brake = longitudinal / max_val
-
-    @staticmethod
-    def _is_quit_shortcut(key):
-        return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
-
-
-# ==============================================================================
-# -- HUD -----------------------------------------------------------------------
-# ==============================================================================
-
-
-class HUD(object):
-
-    def __init__(self, width, height, world):
-        self.dim = (width, height)
-        self._world = world
-        self.map_name = world.get_map().name
-        font = pygame.font.Font(pygame.font.get_default_font(), 20)
-        font_name = 'courier' if os.name == 'nt' else 'mono'
-        fonts = [x for x in pygame.font.get_fonts() if font_name in x]
-        default_font = 'ubuntumono'
-        mono = default_font if default_font in fonts else fonts[0]
-        mono = pygame.font.match_font(mono)
-        self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14)
-        self._notifications = FadingText(font, (width, 40), (0, height - 40))
-        self.help = HelpText(pygame.font.Font(mono, 16), width, height)
-        self.server_fps = 0
-        self.frame = 0
-        self.simulation_time = 0
-        self.original_vehicle_control = None
-        self.restricted_vehicle_control = None
-        self.allowed_steering_ranges = []
-        self._show_info = True
-        self._info_text = []
-        self._server_clock = pygame.time.Clock()
-        self.rss_state_visualizer = RssStateVisualizer(self.dim, self._font_mono, self._world)
-
-    def on_world_tick(self, timestamp):
-        self._server_clock.tick()
-        self.server_fps = self._server_clock.get_fps()
-        self.frame = timestamp.frame
-        self.simulation_time = timestamp.elapsed_seconds
-
-    def tick(self, player, clock):
-        self._notifications.tick(clock)
-        if not self._show_info:
-            return
-        t = player.get_transform()
-        v = player.get_velocity()
-        c = player.get_control()
-
-        self._info_text = [
-            'Server:  % 16.0f FPS' % self.server_fps,
-            'Client:  % 16.0f FPS' % clock.get_fps(),
-            'Map:     % 20s' % self.map_name,
-            '',
-            'Speed:   % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
-            'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
-            'Heading: % 20.2f' % math.radians(t.rotation.yaw),
-            '']
-        if self.original_vehicle_control:
-            orig_control = self.original_vehicle_control
-            restricted_control = self.restricted_vehicle_control
-            allowed_steering_ranges = self.allowed_steering_ranges
-            self._info_text += [
-                ('Throttle:', orig_control.throttle, 0.0, 1.0, restricted_control.throttle),
-                ('Steer:', orig_control.steer, -1.0, 1.0, restricted_control.steer, allowed_steering_ranges),
-                ('Brake:', orig_control.brake, 0.0, 1.0, restricted_control.brake)]
-        self._info_text += [
-            ('Reverse:', c.reverse),
-            '']
-
-    def toggle_info(self):
-        self._show_info = not self._show_info
-
-    def notification(self, text, seconds=2.0):
-        self._notifications.set_text(text, seconds=seconds)
-
-    def error(self, text):
-        self._notifications.set_text('Error: %s' % text, (255, 0, 0))
-
-    def render(self, display):
-        if self._show_info:
-            info_surface = pygame.Surface((220, self.dim[1]))
-            info_surface.set_alpha(100)
-            display.blit(info_surface, (0, 0))
-            v_offset = 4
-            bar_h_offset = 100
-            bar_width = 106
-            for item in self._info_text:
-                text_color = (255, 255, 255)
-                if v_offset + 18 > self.dim[1]:
-                    break
-                if isinstance(item, list):
-                    if len(item) > 1:
-                        points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
-                        pygame.draw.lines(display, (255, 136, 0), False, points, 2)
-                    item = None
-                    v_offset += 18
-                elif isinstance(item, tuple):
-                    if isinstance(item[1], bool):
-                        rect = pygame.Rect((bar_h_offset, v_offset + 2), (10, 10))
-                        pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
-                    else:
-                        # draw allowed steering ranges
-                        if len(item) == 6 and item[2] < 0.0:
-                            for steering_range in item[5]:
-                                starting_value = min(steering_range[0], steering_range[1])
-                                length = (max(steering_range[0], steering_range[1]) -
-                                          min(steering_range[0], steering_range[1])) / 2
-                                rect = pygame.Rect(
-                                    (bar_h_offset + (starting_value + 1) * (bar_width / 2), v_offset + 2), (length * bar_width, 14))
-                                pygame.draw.rect(display, (0, 255, 0), rect)
-
-                        # draw border
-                        rect_border = pygame.Rect((bar_h_offset, v_offset + 2), (bar_width, 14))
-                        pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
-
-                        # draw value / restricted value
-                        input_value_rect_fill = 0
-                        if len(item) >= 5:
-                            if item[1] != item[4]:
-                                input_value_rect_fill = 1
-                                f = (item[4] - item[2]) / (item[3] - item[2])
-                                if item[2] < 0.0:
-                                    rect = pygame.Rect(
-                                        (bar_h_offset + 1 + f * (bar_width - 6), v_offset + 3), (12, 12))
-                                else:
-                                    rect = pygame.Rect((bar_h_offset + 1, v_offset + 3), (f * bar_width, 12))
-                                pygame.draw.rect(display, (255, 0, 0), rect)
-
-                        f = (item[1] - item[2]) / (item[3] - item[2])
-                        rect = None
-                        if item[2] < 0.0:
-                            rect = pygame.Rect((bar_h_offset + 2 + f * (bar_width - 14), v_offset + 4), (10, 10))
-                        else:
-                            if item[1] != 0:
-                                rect = pygame.Rect((bar_h_offset + 2, v_offset + 4), (f * (bar_width - 4), 10))
-                        if rect:
-                            pygame.draw.rect(display, (255, 255, 255), rect, input_value_rect_fill)
-                    item = item[0]
-                if item:  # At this point has to be a str.
-                    surface = self._font_mono.render(item, True, text_color)
-                    display.blit(surface, (8, v_offset))
-                v_offset += 18
-
-            self.rss_state_visualizer.render(display, v_offset)
-        self._notifications.render(display)
-        self.help.render(display)
-
-
-# ==============================================================================
-# -- FadingText ----------------------------------------------------------------
-# ==============================================================================
-
-
-class FadingText(object):
-
-    def __init__(self, font, dim, pos):
-        self.font = font
-        self.dim = dim
-        self.pos = pos
-        self.seconds_left = 0
-        self.surface = pygame.Surface(self.dim)
-
-    def set_text(self, text, color=(255, 255, 255), seconds=2.0):
-        text_texture = self.font.render(text, True, color)
-        self.surface = pygame.Surface(self.dim)
-        self.seconds_left = seconds
-        self.surface.fill((0, 0, 0, 0))
-        self.surface.blit(text_texture, (10, 11))
-
-    def tick(self, clock):
-        delta_seconds = 1e-3 * clock.get_time()
-        self.seconds_left = max(0.0, self.seconds_left - delta_seconds)
-        self.surface.set_alpha(500.0 * self.seconds_left)
-
-    def render(self, display):
-        display.blit(self.surface, self.pos)
-
-
-# ==============================================================================
-# -- HelpText ------------------------------------------------------------------
-# ==============================================================================
-
-
-class HelpText(object):
-
-    """Helper class to handle text output using pygame"""
-
-    def __init__(self, font, width, height):
-        lines = __doc__.split('\n')
-        self.font = font
-        self.line_space = 18
-        self.dim = (780, len(lines) * self.line_space + 12)
-        self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
-        self.seconds_left = 0
-        self.surface = pygame.Surface(self.dim)
-        self.surface.fill((0, 0, 0, 0))
-        for n, line in enumerate(lines):
-            text_texture = self.font.render(line, True, (255, 255, 255))
-            self.surface.blit(text_texture, (22, n * self.line_space))
-            self._render = False
-        self.surface.set_alpha(220)
-
-    def toggle(self):
-        self._render = not self._render
-
-    def render(self, display):
-        if self._render:
-            display.blit(self.surface, self.pos)
-
-# ==============================================================================
-# -- game_loop() ---------------------------------------------------------------
-# ==============================================================================
-
-
-def game_loop(args):
-    pygame.init()
-    pygame.font.init()
-    world = None
-
-    try:
-        client = carla.Client(args.host, args.port)
-        client.set_timeout(2.0)
-
-        display = pygame.display.set_mode(
-            (args.width, args.height),
-            pygame.HWSURFACE | pygame.DOUBLEBUF)
-
-        sim_world = client.get_world()
-        original_settings = sim_world.get_settings()
-        settings = sim_world.get_settings()
-        if args.sync != settings.synchronous_mode:
-            args.sync = True
-            settings.synchronous_mode = True
-            settings.fixed_delta_seconds = 0.05
-            sim_world.apply_settings(settings)
-
-            traffic_manager = client.get_trafficmanager()
-            traffic_manager.set_synchronous_mode(True)
-
-        world = World(sim_world, args)
-        controller = VehicleControl(world, args.autopilot)
-
-        clock = pygame.time.Clock()
-        while True:
-            if args.sync:
-                sim_world.tick()
-            clock.tick_busy_loop(60)
-            if controller.parse_events(world, clock, args.sync):
-                return
-            world.tick(clock)
-            world.render(display)
-            controller.render(display)
-            pygame.display.flip()
-
-    finally:
-
-        if world is not None:
-            print('Destroying the world...')
-            world.destroy()
-            print('Destroyed!')
-
-        pygame.quit()
-
-
-# ==============================================================================
-# -- main() --------------------------------------------------------------------
-# ==============================================================================
-
-def main():
-    argparser = argparse.ArgumentParser(
-        description='CARLA Manual Control Client RSS')
-    argparser.add_argument(
-        '-v', '--verbose',
-        action='store_true',
-        dest='debug',
-        help='print debug information')
-    argparser.add_argument(
-        '--host',
-        metavar='H',
-        default='127.0.0.1',
-        help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument(
-        '-p', '--port',
-        metavar='P',
-        default=2000,
-        type=int,
-        help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '-a', '--autopilot',
-        action='store_true',
-        help='enable autopilot')
-    argparser.add_argument(
-        '--res',
-        metavar='WIDTHxHEIGHT',
-        default='1280x720',
-        help='window resolution (default: 1280x720)')
-    argparser.add_argument(
-        '--filter',
-        metavar='PATTERN',
-        default='vehicle.*',
-        help='actor filter (default: "vehicle.*")')
-    argparser.add_argument(
-        '--rolename',
-        metavar='NAME',
-        default='hero',
-        help='actor role name (default: "hero")')
-    argparser.add_argument(
-        '--externalActor',
-        action='store_true',
-        help='attaches to externally created actor by role name')
-    argparser.add_argument(
-        '--sync',
-        action='store_true',
-        help='Activate synchronous mode execution')
-    args = argparser.parse_args()
-
-    args.width, args.height = [int(x) for x in args.res.split('x')]
-
-    log_level = logging.DEBUG if args.debug else logging.INFO
-    logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
-
-    logging.info('listening to server %s:%s', args.host, args.port)
-
-    print(__doc__)
-
-    signal.signal(signal.SIGINT, VehicleControl.signal_handler)
-
-    try:
-        game_loop(args)
-
-    except KeyboardInterrupt:
-        print('\nCancelled by user. Bye!')
-
-
-if __name__ == '__main__':
-
-    main()

PythonAPI/examples/rss/rss_sensor.py

@@ -1,457 +0,0 @@
-#!/usr/bin/env python
-#
-# Copyright (c) 2020 Intel Corporation
-#
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(glob.glob(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + '/carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import inspect
-import carla
-from carla import ad
-import math
-from rss_visualization import RssDebugVisualizer # pylint: disable=relative-import
-
-
-# ==============================================================================
-# -- RssSensor -----------------------------------------------------------------
-# ==============================================================================
-
-
-class RssStateInfo(object):
-
-    def __init__(self, rss_state, ego_dynamics_on_route, world_model):
-        self.rss_state = rss_state
-        self.distance = -1
-        self.is_dangerous = ad.rss.state.isDangerous(rss_state)
-        if rss_state.situationType == ad.rss.situation.SituationType.Unstructured:
-            self.actor_calculation_mode = ad.rss.map.RssMode.Unstructured
-        else:
-            self.actor_calculation_mode = ad.rss.map.RssMode.Structured
-
-        # calculate distance to other vehicle
-        object_state = None
-        for scene in world_model.scenes:
-            if scene.object.objectId == rss_state.objectId:
-                object_state = scene.object.state
-                break
-
-        if object_state:
-            self.distance = math.sqrt((float(ego_dynamics_on_route.ego_center.x) - float(object_state.centerPoint.x))**2 +
-                                      (float(ego_dynamics_on_route.ego_center.y) - float(object_state.centerPoint.y))**2)
-
-        self.longitudinal_margin = float(rss_state.longitudinalState.rssStateInformation.currentDistance - rss_state.longitudinalState.rssStateInformation.safeDistance)
-        self.margin = max(0, self.longitudinal_margin)
-        self.lateral_margin = None
-        if rss_state.lateralStateLeft.rssStateInformation.evaluator != "None":
-            self.lateral_margin = rss_state.lateralStateLeft.rssStateInformation.currentDistance - rss_state.lateralStateLeft.rssStateInformation.safeDistance
-        if rss_state.lateralStateRight.rssStateInformation.evaluator != "None":
-            lateral_margin_right = rss_state.lateralStateRight.rssStateInformation.currentDistance - rss_state.lateralStateRight.rssStateInformation.safeDistance
-            if self.lateral_margin==None or self.lateral_margin > lateral_margin_right:
-                self.lateral_margin=lateral_margin_right
-        if self.lateral_margin!=None and self.lateral_margin>0:
-            self.margin += self.lateral_margin
-
-    def get_actor(self, world):
-        if self.rss_state.objectId == 18446744073709551614:
-            return None # "Border Left"
-        elif self.rss_state.objectId == 18446744073709551615:
-            return None # "Border Right"
-        else:
-            return world.get_actor(self.rss_state.objectId)
-
-    def __str__(self):
-        return "RssStateInfo: object=" + str(self.rss_state.objectId) + " dangerous=" + str(self.is_dangerous)
-
-
-class RssSensor(object):
-
-    def __init__(self, parent_actor, world, unstructured_scene_visualizer, bounding_box_visualizer, state_visualizer, routing_targets=None):
-        self.sensor = None
-        self.unstructured_scene_visualizer = unstructured_scene_visualizer
-        self.bounding_box_visualizer = bounding_box_visualizer
-        self._parent = parent_actor
-        self.timestamp = None
-        self.response_valid = False
-        self.proper_response = None
-        self.rss_state_snapshot = None
-        self.situation_snapshot = None
-        self.world_model = None
-        self.individual_rss_states = []
-        self._allowed_heading_ranges = []
-        self.ego_dynamics_on_route = None
-        self.current_vehicle_parameters = self.get_default_parameters()
-        self.route = None
-        self.debug_visualizer = RssDebugVisualizer(parent_actor, world)
-        self.state_visualizer = state_visualizer
-        self.change_to_unstructured_position_map = dict()
-
-        # get max steering angle
-        physics_control = parent_actor.get_physics_control()
-        self._max_steer_angle = 0.0
-        for wheel in physics_control.wheels:
-            if wheel.max_steer_angle > self._max_steer_angle:
-                self._max_steer_angle = wheel.max_steer_angle
-        self._max_steer_angle = math.radians(self._max_steer_angle)
-
-        world = self._parent.get_world()
-        bp = world.get_blueprint_library().find('sensor.other.rss')
-        self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=0.0, z=0.0)), attach_to=self._parent)
-        # We need to pass the lambda a weak reference to self to avoid circular
-        # reference.
-
-        def check_rss_class(clazz):
-            return inspect.isclass(clazz) and "RssSensor" in clazz.__name__
-
-        if not inspect.getmembers(carla, check_rss_class):
-            raise RuntimeError('CARLA PythonAPI not compiled in RSS variant, please "make PythonAPI.rss"')
-
-        self.log_level = carla.RssLogLevel.warn
-        self.map_log_level = carla.RssLogLevel.warn
-
-        self.set_default_parameters()
-
-        self.sensor.register_actor_constellation_callback(self._on_actor_constellation_request)
-
-        self.sensor.listen(self._on_rss_response)
-        self.sensor.set_log_level(self.log_level)
-        self.sensor.set_map_log_level(self.map_log_level)
-
-        # only relevant if actor constellation callback is not registered
-        # self.sensor.ego_vehicle_dynamics = self.current_vehicle_parameters
-
-        self.sensor.road_boundaries_mode = carla.RssRoadBoundariesMode.Off
-
-        self.sensor.reset_routing_targets()
-        if routing_targets:
-            for target in routing_targets:
-                self.sensor.append_routing_target(target)
-
-    def _on_actor_constellation_request(self, actor_constellation_data):
-        # print("_on_actor_constellation_request: ", str(actor_constellation_data))
-
-        actor_constellation_result = carla.RssActorConstellationResult()
-        actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.NotRelevant
-        actor_constellation_result.restrict_speed_limit_mode = ad.rss.map.RssSceneCreation.RestrictSpeedLimitMode.IncreasedSpeedLimit10
-        actor_constellation_result.ego_vehicle_dynamics = self.current_vehicle_parameters
-        actor_constellation_result.actor_object_type = ad.rss.world.ObjectType.Invalid
-        actor_constellation_result.actor_dynamics = self.current_vehicle_parameters
-
-        actor_id = -1
-        # actor_type_id = "none"
-        if actor_constellation_data.other_actor != None:
-            actor_id = actor_constellation_data.other_actor.id
-            # actor_type_id = actor_constellation_data.other_actor.type_id
-
-            ego_on_the_sidewalk = False
-            ego_on_routeable_road = False
-            for occupied_region in actor_constellation_data.ego_match_object.mapMatchedBoundingBox.laneOccupiedRegions:
-                lane = ad.map.lane.getLane(occupied_region.laneId)
-                if lane.type == ad.map.lane.LaneType.PEDESTRIAN:
-                    # if not ego_on_the_sidewalk:
-                    #   print ( "ego-{} on lane of lane type {} => sidewalk".format(actor_id, lane.type))
-                    ego_on_the_sidewalk = True
-                elif ad.map.lane.isRouteable(lane):
-                    # if not ego_on_routeable_road:
-                    #   print ( "ego-{} on lane of lane type {} => road".format(actor_id, lane.type))
-                    ego_on_routeable_road = True
-
-            if 'walker.pedestrian' in actor_constellation_data.other_actor.type_id:
-                # determine if the pedestrian is walking on the sidewalk or on the road
-                pedestrian_on_the_road = False
-                pedestrian_on_the_sidewalk = False
-                for occupied_region in actor_constellation_data.other_match_object.mapMatchedBoundingBox.laneOccupiedRegions:
-                    lane = ad.map.lane.getLane(occupied_region.laneId)
-                    if lane.type == ad.map.lane.LaneType.PEDESTRIAN:
-                        # if not pedestrian_on_the_sidewalk:
-                        #   print ( "pedestrian-{} on lane of lane type {} => sidewalk".format(actor_id, lane.type))
-                        pedestrian_on_the_sidewalk = True
-                    else:
-                        # if not pedestrian_on_the_road:
-                        #    print ( "pedestrian-{} on lane of lane type {} => road".format(actor_id, lane.type))
-                        pedestrian_on_the_road = True
-                if ego_on_routeable_road and not ego_on_the_sidewalk and not pedestrian_on_the_road and pedestrian_on_the_sidewalk:
-                    # pedestrian is not on the road, but on the sidewalk: then common sense is that vehicle has priority
-                    # This analysis can and should be done more detailed, but this is a basic starting point for the decision
-                    # In addition, the road network has to be correct to work best
-                    # (currently there are no sidewalks in intersection areas)
-                    # print ( "pedestrian-{} Off".format(actor_id))
-                    actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.NotRelevant
-                else:
-                    # print ( "pedestrian-{} Unstructured".format(actor_id))
-                    actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.Unstructured
-                actor_constellation_result.actor_object_type = ad.rss.world.ObjectType.Pedestrian
-                actor_constellation_result.actor_dynamics = self.get_pedestrian_parameters()
-            elif 'vehicle' in actor_constellation_data.other_actor.type_id:
-                actor_constellation_result.actor_object_type = ad.rss.world.ObjectType.OtherVehicle
-
-                # set the response time of others vehicles to 2 seconds; the rest stays the same
-                actor_constellation_result.actor_dynamics.responseTime = 2.0
-
-                # per default, if ego is not on the road -> unstructured
-                if ego_on_routeable_road:
-                    actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.Structured
-                else:
-                    # print("vehicle-{} unstructured: reason other ego not on routeable road".format(actor_id))
-                    actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.Unstructured
-
-                # special handling for vehicles standing still
-                actor_vel = actor_constellation_data.other_actor.get_velocity()
-                actor_speed = math.sqrt(actor_vel.x**2 + actor_vel.y**2 + actor_vel.z**2)
-                if actor_speed < 0.01:
-                    # reduce response time
-                    actor_constellation_result.actor_dynamics.responseTime = 1.0
-                    # still in structured?
-                    if actor_constellation_result.rss_calculation_mode == ad.rss.map.RssMode.Structured:
-
-                        actor_distance = math.sqrt(float(actor_constellation_data.ego_match_object.enuPosition.centerPoint.x -
-                                                         actor_constellation_data.other_match_object.enuPosition.centerPoint.x)**2 +
-                                                   float(actor_constellation_data.ego_match_object.enuPosition.centerPoint.y -
-                                                         actor_constellation_data.other_match_object.enuPosition.centerPoint.y)**2)
-                        # print("vehicle-{} unstructured check: other distance {}".format(actor_id, actor_distance))
-
-                        if actor_constellation_data.ego_dynamics_on_route.ego_speed < 0.01:
-                            # both vehicles stand still, so we have to analyze in detail if we possibly want to use
-                            # unstructured mode to cope with blockades on the road...
-
-                            if actor_distance < 10:
-                                # the other has to be near enough to trigger a switch to unstructured
-                                other_outside_routeable_road = False
-                                for occupied_region in actor_constellation_data.other_match_object.mapMatchedBoundingBox.laneOccupiedRegions:
-                                    lane = ad.map.lane.getLane(occupied_region.laneId)
-                                    if not ad.map.lane.isRouteable(lane):
-                                        other_outside_routeable_road = True
-
-                                if other_outside_routeable_road:
-                                    # if the other is somewhat outside the standard routeable road (e.g. parked at the side, ...)
-                                    # we immediately decide for unstructured
-                                    # print("vehicle-{} unstructured: reason other outside routeable
-                                    # road".format(actor_id))
-                                    actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.Unstructured
-                                else:
-                                    # otherwise we have to look in the orientation delta in addition to get some basic idea of the
-                                    # constellation (we don't want to go into unstructured if we both waiting
-                                    # behind a red light...)
-                                    heading_delta = abs(float(actor_constellation_data.ego_match_object.enuPosition.heading -
-                                                              actor_constellation_data.other_match_object.enuPosition.heading))
-                                    if heading_delta > 0.2:  # around 11 degree
-                                        # print("vehicle-{} unstructured: reason heading delta
-                                        # {}".format(actor_id, heading_delta))
-                                        actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.Unstructured
-                                        self.change_to_unstructured_position_map[
-                                            actor_id] = actor_constellation_data.other_match_object.enuPosition
-                        else:
-                            # ego moves
-                            if actor_distance < 10:
-                                # if the ego moves, the other actor doesn't move an the mode was
-                                # previously set to unstructured, keep it
-                                try:
-                                    if self.change_to_unstructured_position_map[actor_id] == actor_constellation_data.other_match_object.enuPosition:
-                                        heading_delta = abs(float(actor_constellation_data.ego_match_object.enuPosition.heading -
-                                                                  actor_constellation_data.other_match_object.enuPosition.heading))
-                                        if heading_delta > 0.2:
-                                            actor_constellation_result.rss_calculation_mode = ad.rss.map.RssMode.Unstructured
-                                        else:
-                                            del self.change_to_unstructured_position_map[actor_id]
-                                except (AttributeError, KeyError):
-                                    pass
-                            else:
-                                if actor_id in self.change_to_unstructured_position_map:
-                                    del self.change_to_unstructured_position_map[actor_id]
-
-                    # still in structured?
-                    if actor_constellation_result.rss_calculation_mode == ad.rss.map.RssMode.Structured:
-                        # in structured case we have to cope with not yet implemented lateral intersection checks in core RSS implementation
-                        # if the other is standing still, we don't assume that he will accelerate
-                        # otherwise if standing at the intersection the acceleration within reaction time
-                        # will allow to enter the intersection which current RSS implementation will immediately consider
-                        # as dangerous
-                        # print("_on_actor_constellation_result({}) setting accelMax to
-                        # zero".format(actor_constellation_data.other_actor.id))
-                        actor_constellation_result.actor_dynamics.alphaLon.accelMax = 0.
-                        actor_constellation_result.actor_dynamics.alphaLat.accelMax = 0.
-        else:
-            # store route for debug drawings
-            self.route = actor_constellation_data.ego_route
-        # since the ego vehicle is controlled manually, it is easy possible that the ego vehicle
-        # accelerates far more in lateral direction than the ego_dynamics indicate
-        # in an automated vehicle this would be considered by the low-level controller when the RSS restriction
-        # is taken into account properly
-        # but the simple RSS restrictor within CARLA is not able to do so...
-        # So we should at least tell RSS about the fact that we acceleration more than this
-        # to be able to react on this
-        abs_avg_route_accel_lat = abs(float(actor_constellation_data.ego_dynamics_on_route.avg_route_accel_lat))
-        if abs_avg_route_accel_lat > actor_constellation_result.ego_vehicle_dynamics.alphaLat.accelMax:
-            # print("!! Route lateral dynamics exceed expectations: route:{} expected:{} !!".format(abs_avg_route_accel_lat,
-            #                                                                                      actor_constellation_result.ego_vehicle_dynamics.alphaLat.accelMax))
-            actor_constellation_result.ego_vehicle_dynamics.alphaLat.accelMax = min(20., abs_avg_route_accel_lat)
-
-        # print("_on_actor_constellation_result({}-{}): ".format(actor_id,
-        # actor_type_id), str(actor_constellation_result))
-        return actor_constellation_result
-
-    def destroy(self):
-        if self.sensor:
-            print("Stopping RSS sensor")
-            self.sensor.stop()
-            print("Deleting Scene Visualizer")
-            self.unstructured_scene_visualizer = None
-            print("Destroying RSS sensor")
-            self.sensor.destroy()
-            print("Destroyed RSS sensor")
-
-    def toggle_debug_visualization_mode(self):
-        self.debug_visualizer.toggleMode()
-
-    def increase_log_level(self):
-        print("inccrease {}".format(self.log_level))
-        if self.log_level < carla.RssLogLevel.off:
-            self.log_level = self.log_level+1
-        self.sensor.set_log_level(self.log_level)
-
-    def decrease_log_level(self):
-        print("decrease {}".format(self.log_level))
-        if self.log_level > carla.RssLogLevel.trace:
-            self.log_level = self.log_level-1
-        self.sensor.set_log_level(self.log_level)
-
-    def increase_map_log_level(self):
-        if self.map_log_level < carla.RssLogLevel.off:
-            self.map_log_level = self.map_log_level+1
-        self.sensor.set_map_log_level(self.map_log_level)
-
-    def decrease_map_log_level(self):
-        if self.map_log_level > carla.RssLogLevel.trace:
-            self.map_log_level = self.map_log_level-1
-        self.sensor.set_map_log_level(self.map_log_level)
-
-    def drop_route(self):
-        self.sensor.drop_route()
-
-    @staticmethod
-    def get_default_parameters():
-        ego_dynamics = ad.rss.world.RssDynamics()
-        ego_dynamics.alphaLon.accelMax = 5
-        ego_dynamics.alphaLon.brakeMax = -8
-        ego_dynamics.alphaLon.brakeMin = -4
-        ego_dynamics.alphaLon.brakeMinCorrect = -3
-        ego_dynamics.alphaLat.accelMax = 0.2
-        ego_dynamics.alphaLat.brakeMin = -0.8
-        ego_dynamics.lateralFluctuationMargin = 0.1
-        ego_dynamics.responseTime = 0.5
-        ego_dynamics.maxSpeedOnAcceleration = 100
-        ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
-        ego_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
-        ego_dynamics.unstructuredSettings.vehicleYawRateChange = 1.3
-        ego_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
-        ego_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
-        ego_dynamics.unstructuredSettings.vehicleFrontIntermediateYawRateChangeRatioSteps = 4
-        ego_dynamics.unstructuredSettings.vehicleBackIntermediateYawRateChangeRatioSteps = 0
-        ego_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 3
-        ego_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 3
-        ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
-        ego_dynamics.unstructuredSettings.pedestrianContinueForwardIntermediateHeadingChangeRatioSteps = 3
-        ego_dynamics.unstructuredSettings.pedestrianContinueForwardIntermediateAccelerationSteps = 0
-        ego_dynamics.unstructuredSettings.pedestrianBrakeIntermediateAccelerationSteps = 3
-        ego_dynamics.unstructuredSettings.pedestrianFrontIntermediateHeadingChangeRatioSteps = 4
-        ego_dynamics.unstructuredSettings.pedestrianBackIntermediateHeadingChangeRatioSteps = 0
-        return ego_dynamics
-
-    def set_default_parameters(self):
-        print("Use 'default' RSS Parameters")
-        self.current_vehicle_parameters = self.get_default_parameters()
-
-    @staticmethod
-    def get_pedestrian_parameters():
-        pedestrian_dynamics = ad.rss.world.RssDynamics()
-        pedestrian_dynamics.alphaLon.accelMax = 2.0
-        pedestrian_dynamics.alphaLon.brakeMax = -2.0
-        pedestrian_dynamics.alphaLon.brakeMin = -2.0
-        pedestrian_dynamics.alphaLon.brakeMinCorrect = -2.0
-        pedestrian_dynamics.alphaLat.accelMax = 0.001
-        pedestrian_dynamics.alphaLat.brakeMin = -0.001
-        pedestrian_dynamics.lateralFluctuationMargin = 0.1
-        pedestrian_dynamics.responseTime = 0.8
-        pedestrian_dynamics.maxSpeedOnAcceleration = 10
-        pedestrian_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
-        pedestrian_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
-        pedestrian_dynamics.unstructuredSettings.pedestrianContinueForwardIntermediateHeadingChangeRatioSteps = 3
-        pedestrian_dynamics.unstructuredSettings.pedestrianContinueForwardIntermediateAccelerationSteps = 0
-        pedestrian_dynamics.unstructuredSettings.pedestrianBrakeIntermediateAccelerationSteps = 3
-        pedestrian_dynamics.unstructuredSettings.pedestrianFrontIntermediateHeadingChangeRatioSteps = 4
-        pedestrian_dynamics.unstructuredSettings.pedestrianBackIntermediateHeadingChangeRatioSteps = 0
-
-        #not used:
-        pedestrian_dynamics.unstructuredSettings.vehicleYawRateChange = 1.3
-        pedestrian_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
-        pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
-        pedestrian_dynamics.unstructuredSettings.vehicleFrontIntermediateYawRateChangeRatioSteps = 4
-        pedestrian_dynamics.unstructuredSettings.vehicleBackIntermediateYawRateChangeRatioSteps = 0
-        pedestrian_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 3
-        pedestrian_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 3
-        return pedestrian_dynamics
-
-    def get_steering_ranges(self):
-        ranges = []
-        for heading_range in self._allowed_heading_ranges:
-            ranges.append(
-                (
-                    (float(self.ego_dynamics_on_route.ego_heading) - float(heading_range.begin)) / self._max_steer_angle,
-                    (float(self.ego_dynamics_on_route.ego_heading) - float(heading_range.end)) / self._max_steer_angle)
-            )
-        return ranges
-
-    def _on_rss_response(self, response):
-        if not self or not response:
-            return
-        delta_time = 0.1
-        if self.timestamp:
-            delta_time = response.timestamp - self.timestamp
-        if delta_time > -0.05:
-            self.timestamp = response.timestamp
-            self.response_valid = response.response_valid
-            self.proper_response = response.proper_response
-            self.ego_dynamics_on_route = response.ego_dynamics_on_route
-            self.rss_state_snapshot = response.rss_state_snapshot
-            self.situation_snapshot = response.situation_snapshot
-            self.world_model = response.world_model
-
-            # calculate the allowed heading ranges:
-            if response.proper_response.headingRanges:
-                heading = float(response.ego_dynamics_on_route.ego_heading)
-                heading_ranges = response.proper_response.headingRanges
-                steering_range = ad.rss.state.HeadingRange()
-                steering_range.begin = - self._max_steer_angle + heading
-                steering_range.end = self._max_steer_angle + heading
-                ad.rss.unstructured.getHeadingOverlap(steering_range, heading_ranges)
-                self._allowed_heading_ranges = heading_ranges
-            else:
-                self._allowed_heading_ranges = []
-
-            if self.unstructured_scene_visualizer:
-                self.unstructured_scene_visualizer.tick(response.frame, response, self._allowed_heading_ranges)
-
-            new_states = []
-            for rss_state in response.rss_state_snapshot.individualResponses:
-                new_states.append(RssStateInfo(rss_state, response.ego_dynamics_on_route, response.world_model))
-            if len(new_states) > 0:
-                new_states.sort(key=lambda rss_states: rss_states.distance)
-            self.individual_rss_states = new_states
-            if self.bounding_box_visualizer:
-                self.bounding_box_visualizer.tick(response.frame, self.individual_rss_states)
-            if self.state_visualizer:
-                self.state_visualizer.tick(self.individual_rss_states)
-            self.debug_visualizer.tick(self.route, not response.proper_response.isSafe,
-                                       self.individual_rss_states, self.ego_dynamics_on_route)
-
-        else:
-            print("ignore outdated response {}".format(delta_time))

PythonAPI/examples/rss/rss_visualization.py

@@ -1,738 +0,0 @@
-#!/usr/bin/env python
-#
-# Copyright (c) 2020 Intel Corporation
-#
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(glob.glob(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + '/carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-from enum import Enum
-import math
-import numpy as np
-import pygame
-import weakref
-import carla
-from carla import ad
-
-
-class RssStateVisualizer(object):
-
-    def __init__(self, display_dimensions, font, world):
-        self._surface = None
-        self._display_dimensions = display_dimensions
-        self._font = font
-        self._world = world
-
-    def tick(self, individual_rss_states):
-        state_surface = pygame.Surface((220, self._display_dimensions[1]))
-        state_surface.set_colorkey(pygame.Color('black'))
-        v_offset = 0
-
-        if individual_rss_states:
-            surface = self._font.render('RSS States:', True, (255, 255, 255))
-            state_surface.blit(surface, (8, v_offset))
-            v_offset += 26
-        for state in individual_rss_states:
-            object_name = "Obj"
-            if state.rss_state.objectId == 18446744073709551614:
-                object_name = "Border Left"
-            elif state.rss_state.objectId == 18446744073709551615:
-                object_name = "Border Right"
-            else:
-                other_actor = state.get_actor(self._world)
-                if other_actor:
-                    li = list(other_actor.type_id.split("."))
-                    if li:
-                        li.pop(0)
-                    li = [element.capitalize() for element in li]
-
-                    object_name = " ".join(li).strip()[:15]
-
-            mode = "?"
-            if state.actor_calculation_mode == ad.rss.map.RssMode.Structured:
-                mode = "S"
-            elif state.actor_calculation_mode == ad.rss.map.RssMode.Unstructured:
-                mode = "U"
-            elif state.actor_calculation_mode == ad.rss.map.RssMode.NotRelevant:
-                mode = "-"
-            item = '%4s % 2dm %8s' % (mode, state.distance, object_name)
-
-            surface = self._font.render(item, True, (255, 255, 255))
-            state_surface.blit(surface, (5, v_offset))
-            color = (128, 128, 128)
-            if state.actor_calculation_mode != ad.rss.map.RssMode.NotRelevant:
-                if state.is_dangerous:
-                    color = (255, 0, 0)
-                else:
-                    color = (0, 255, 0)
-            pygame.draw.circle(state_surface, color, (12, v_offset + 7), 5)
-            xpos = 184
-            if state.actor_calculation_mode == ad.rss.map.RssMode.Structured:
-                if not state.rss_state.longitudinalState.isSafe and ((state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceSameDirectionOtherInFront") or (state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceSameDirectionEgoFront")):
-                    pygame.draw.polygon(
-                        state_surface, (
-                            255, 255, 255), ((xpos + 1, v_offset + 1 + 4), (xpos + 6, v_offset + 1 + 0), (xpos + 11, v_offset + 1 + 4),
-                                             (xpos + 7, v_offset + 1 + 4), (xpos + 7, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 12), (xpos + 5, v_offset + 1 + 4)))
-                    xpos += 14
-
-                if not state.rss_state.longitudinalState.isSafe and ((state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceOppositeDirectionEgoCorrectLane") or (state.rss_state.longitudinalState.rssStateInformation.evaluator == "LongitudinalDistanceOppositeDirection")):
-                    pygame.draw.polygon(
-                        state_surface, (
-                            255, 255, 255), ((xpos + 2, v_offset + 1 + 8), (xpos + 6, v_offset + 1 + 12), (xpos + 10, v_offset + 1 + 8),
-                                             (xpos + 7, v_offset + 1 + 8), (xpos + 7, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 0), (xpos + 5, v_offset + 1 + 8)))
-                    xpos += 14
-
-                if not state.rss_state.lateralStateRight.isSafe and not (state.rss_state.lateralStateRight.rssStateInformation.evaluator == "None"):
-                    pygame.draw.polygon(
-                        state_surface, (
-                            255, 255, 255), ((xpos + 0, v_offset + 1 + 4), (xpos + 8, v_offset + 1 + 4), (xpos + 8, v_offset + 1 + 1),
-                                             (xpos + 12, v_offset + 1 + 6), (xpos + 8, v_offset + 1 + 10), (xpos + 8, v_offset + 1 + 8), (xpos + 0, v_offset + 1 + 8)))
-                    xpos += 14
-                if not state.rss_state.lateralStateLeft.isSafe and not (state.rss_state.lateralStateLeft.rssStateInformation.evaluator == "None"):
-                    pygame.draw.polygon(
-                        state_surface, (
-                            255, 255, 255), ((xpos + 0, v_offset + 1 + 6), (xpos + 4, v_offset + 1 + 1), (xpos + 4, v_offset + 1 + 4),
-                                             (xpos + 12, v_offset + 1 + 4), (xpos + 12, v_offset + 1 + 8), (xpos + 4, v_offset + 1 + 8), (xpos + 4, v_offset + 1 + 10)))
-                    xpos += 14
-            elif state.actor_calculation_mode == ad.rss.map.RssMode.Unstructured:
-                text = ""
-                if state.rss_state.unstructuredSceneState.response == ad.rss.state.UnstructuredSceneResponse.DriveAway:
-                    text = "  D"
-                elif state.rss_state.unstructuredSceneState.response == ad.rss.state.UnstructuredSceneResponse.ContinueForward:
-                    text = "  C"
-                elif state.rss_state.unstructuredSceneState.response == ad.rss.state.UnstructuredSceneResponse.Brake:
-                    text = "  B"
-                surface = self._font.render(text, True, (255, 255, 255))
-                state_surface.blit(surface, (xpos, v_offset))
-
-            v_offset += 14
-            self._surface = state_surface
-
-    def render(self, display, v_offset):
-        if self._surface:
-            display.blit(self._surface, (0, v_offset))
-
-
-def get_matrix(transform):
-    """
-    Creates matrix from carla transform.
-    """
-
-    rotation = transform.rotation
-    location = transform.location
-    c_y = np.cos(np.radians(rotation.yaw))
-    s_y = np.sin(np.radians(rotation.yaw))
-    c_r = np.cos(np.radians(rotation.roll))
-    s_r = np.sin(np.radians(rotation.roll))
-    c_p = np.cos(np.radians(rotation.pitch))
-    s_p = np.sin(np.radians(rotation.pitch))
-    matrix = np.matrix(np.identity(4))
-    matrix[0, 3] = location.x
-    matrix[1, 3] = location.y
-    matrix[2, 3] = location.z
-    matrix[0, 0] = c_p * c_y
-    matrix[0, 1] = c_y * s_p * s_r - s_y * c_r
-    matrix[0, 2] = -c_y * s_p * c_r - s_y * s_r
-    matrix[1, 0] = s_y * c_p
-    matrix[1, 1] = s_y * s_p * s_r + c_y * c_r
-    matrix[1, 2] = -s_y * s_p * c_r + c_y * s_r
-    matrix[2, 0] = s_p
-    matrix[2, 1] = -c_p * s_r
-    matrix[2, 2] = c_p * c_r
-    return matrix
-
-# ==============================================================================
-# -- RssUnstructuredSceneVisualizer ------------------------------------------------
-# ==============================================================================
-
-
-class RssUnstructuredSceneVisualizerMode(Enum):
-    disabled = 1
-    window = 2
-    fullscreen = 3
-
-
-class RssUnstructuredSceneVisualizer(object):
-
-    def __init__(self, parent_actor, world, display_dimensions):
-        self._last_rendered_frame = -1
-        self._surface = None
-        self._current_rss_surface = None
-        self.current_camera_surface = (0, None)
-        self._world = world
-        self._parent_actor = parent_actor
-        self._display_dimensions = display_dimensions
-        self._camera = None
-        self._mode = RssUnstructuredSceneVisualizerMode.disabled
-
-        self.restart(RssUnstructuredSceneVisualizerMode.window)
-
-    def destroy(self):
-        if self._camera:
-            self._camera.stop()
-            self._camera.destroy()
-            self._camera = None
-
-    def restart(self, mode):
-        # setup up top down camera
-        self.destroy()
-        self._mode = mode
-
-        spawn_sensor = False
-        if mode == RssUnstructuredSceneVisualizerMode.window:
-            self._dim = (self._display_dimensions[0] / 3, self._display_dimensions[1] / 2)
-            spawn_sensor = True
-        elif mode == RssUnstructuredSceneVisualizerMode.fullscreen:
-            self._dim = (self._display_dimensions[0], self._display_dimensions[1])
-            spawn_sensor = True
-        else:
-            self._surface = None
-
-        if spawn_sensor:
-            self._calibration = np.identity(3)
-            self._calibration[0, 2] = self._dim[0] / 2.0
-            self._calibration[1, 2] = self._dim[1] / 2.0
-            self._calibration[0, 0] = self._calibration[1, 1] = self._dim[0] / \
-            (2.0 * np.tan(90.0 * np.pi / 360.0))  # fov default: 90.0
-
-            bp_library = self._world.get_blueprint_library()
-            bp = bp_library.find('sensor.camera.rgb')
-            bp.set_attribute('image_size_x', str(self._dim[0]))
-            bp.set_attribute('image_size_y', str(self._dim[1]))
-
-            self._camera = self._world.spawn_actor(
-                bp,
-                carla.Transform(carla.Location(x=7.5, z=10), carla.Rotation(pitch=-90)),
-                attach_to=self._parent_actor)
-            # We need to pass the lambda a weak reference to self to avoid
-            # circular reference.
-            weak_self = weakref.ref(self)
-            self._camera.listen(lambda image: self._parse_image(weak_self, image))
-
-    def update_surface(self, cam_frame, rss_frame):
-        if self._mode == RssUnstructuredSceneVisualizerMode.disabled:
-            return
-        render = False
-
-        if cam_frame and self._current_rss_surface and self._current_rss_surface[0] == cam_frame:
-            render = True
-
-        if rss_frame and self.current_camera_surface and self.current_camera_surface[0] == rss_frame:
-            render = True
-
-        if render:
-            surface = self.current_camera_surface[1]
-            surface.blit(self._current_rss_surface[1], (0, 0))
-            rect = pygame.Rect((0, 0), (2, surface.get_height()))
-            pygame.draw.rect(surface, (0, 0, 0), rect, 0)
-            rect = pygame.Rect((0, 0), (surface.get_width(), 2))
-            pygame.draw.rect(surface, (0, 0, 0), rect, 0)
-            rect = pygame.Rect((0, surface.get_height() - 2), (surface.get_width(), surface.get_height()))
-            pygame.draw.rect(surface, (0, 0, 0), rect, 0)
-            rect = pygame.Rect((surface.get_width() - 2, 0), (surface.get_width(), surface.get_width()))
-            pygame.draw.rect(surface, (0, 0, 0), rect, 0)
-            self._surface = surface
-
-    def toggle_camera(self):
-        print("Toggle RssUnstructuredSceneVisualizer")
-        if self._mode == RssUnstructuredSceneVisualizerMode.window:
-            self.restart(RssUnstructuredSceneVisualizerMode.fullscreen)
-        elif self._mode == RssUnstructuredSceneVisualizerMode.fullscreen:
-            self.restart(RssUnstructuredSceneVisualizerMode.disabled)
-        elif self._mode == RssUnstructuredSceneVisualizerMode.disabled:
-            self.restart(RssUnstructuredSceneVisualizerMode.window)
-
-    @staticmethod
-    def _parse_image(weak_self, image):
-        self = weak_self()
-        if not self:
-            return
-        image.convert(carla.ColorConverter.Raw)
-        array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
-        array = np.reshape(array, (image.height, image.width, 4))
-        array = array[:, :, :3]
-        array = array[:, :, ::-1]
-        surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
-        self.current_camera_surface = (image.frame, surface)
-        self.update_surface(image.frame, None)
-
-    @staticmethod
-    def rotate_around_point(xy, radians, origin):
-        """Rotate a point around a given point.
-        """
-        x, y = xy
-        offset_x, offset_y = origin
-        adjusted_x = (x - offset_x)
-        adjusted_y = (y - offset_y)
-        cos_rad = math.cos(radians)
-        sin_rad = math.sin(radians)
-        qx = offset_x + cos_rad * adjusted_x - sin_rad * adjusted_y
-        qy = offset_y + sin_rad * adjusted_x + cos_rad * adjusted_y
-
-        return qx, qy
-
-    def tick(self, frame, rss_response, allowed_heading_ranges):
-        if not self._camera:
-            return
-        surface = pygame.Surface(self._dim)
-        surface.set_colorkey(pygame.Color('black'))
-        surface.set_alpha(180)
-        try:
-            lines = RssUnstructuredSceneVisualizer.get_trajectory_sets(
-                rss_response.rss_state_snapshot, self._camera.get_transform(), self._calibration)
-
-            polygons = []
-            for heading_range in allowed_heading_ranges:
-                polygons.append((RssUnstructuredSceneVisualizer.transform_points(
-                    RssUnstructuredSceneVisualizer._get_points_from_pairs(
-                        RssUnstructuredSceneVisualizer.draw_heading_range(
-                            heading_range, rss_response.ego_dynamics_on_route)),
-                    self._camera.get_transform(), self._calibration), (0, 0, 255)))
-
-            RssUnstructuredSceneVisualizer.draw_lines(surface, lines)
-            RssUnstructuredSceneVisualizer.draw_polygons(surface, polygons)
-
-        except RuntimeError as e:
-            print("ERROR {}".format(e))
-        self._current_rss_surface = (frame, surface)
-        self.update_surface(None, frame)
-
-    def render(self, display):
-        if self._surface:
-            display.blit(self._surface, (display.get_width() - self._dim[0], 0))
-
-    @staticmethod
-    def draw_heading_range(heading_range, ego_dynamics_on_route):
-        line = [(float(ego_dynamics_on_route.ego_center.x), float(ego_dynamics_on_route.ego_center.y))]
-        length = 3.0
-        current_angle = float(heading_range.begin)
-        max_angle = float(heading_range.end)
-        if heading_range.end < heading_range.begin:
-            max_angle += 2.0 * np.pi
-
-        while current_angle < max_angle:
-            line.append((float(ego_dynamics_on_route.ego_center.x) + length * np.cos(current_angle),
-                         float(ego_dynamics_on_route.ego_center.y) + length * np.sin(current_angle)))
-            current_angle += 0.2
-
-        if current_angle != max_angle:
-            line.append((float(ego_dynamics_on_route.ego_center.x) + length * np.cos(max_angle),
-                         float(ego_dynamics_on_route.ego_center.y) + length * np.sin(max_angle)))
-
-        line.append((float(ego_dynamics_on_route.ego_center.x), float(ego_dynamics_on_route.ego_center.y)))
-        return line
-
-    @staticmethod
-    def get_trajectory_sets(rss_state_snapshot, camera_transform, calibration):
-        """
-        Creates 3D bounding boxes based on carla vehicle list and camera.
-        """
-        trajectory_sets = []
-
-        # ego
-        trajectory_sets.append((RssUnstructuredSceneVisualizer.transform_points(RssUnstructuredSceneVisualizer._get_trajectory_set_points(
-            rss_state_snapshot.unstructuredSceneEgoInformation.brakeTrajectorySet), camera_transform, calibration), (255, 0, 0)))
-        trajectory_sets.append((RssUnstructuredSceneVisualizer.transform_points(RssUnstructuredSceneVisualizer._get_trajectory_set_points(
-            rss_state_snapshot.unstructuredSceneEgoInformation.continueForwardTrajectorySet), camera_transform, calibration), (0, 255, 0)))
-
-        # others
-        for state in rss_state_snapshot.individualResponses:
-            if state.unstructuredSceneState.rssStateInformation.brakeTrajectorySet:
-                trajectory_sets.append((RssUnstructuredSceneVisualizer.transform_points(RssUnstructuredSceneVisualizer._get_trajectory_set_points(
-                    state.unstructuredSceneState.rssStateInformation.brakeTrajectorySet), camera_transform, calibration), (255, 0, 0)))
-            if state.unstructuredSceneState.rssStateInformation.continueForwardTrajectorySet:
-                trajectory_sets.append((RssUnstructuredSceneVisualizer.transform_points(RssUnstructuredSceneVisualizer._get_trajectory_set_points(
-                    state.unstructuredSceneState.rssStateInformation.continueForwardTrajectorySet), camera_transform, calibration), (0, 255, 0)))
-
-        return trajectory_sets
-
-    @staticmethod
-    def draw_lines(surface, lines):
-        """
-        Draws lines on pygame display.
-        """
-        for line, color in lines:
-            if len(line) > 1:
-                pygame.draw.lines(surface, color, True, line, 2)
-
-    @staticmethod
-    def draw_polygons(surface, polygons):
-        """
-        Draws polygons on pygame display.
-        """
-        for polygon, color in polygons:
-            if len(polygon) > 1:
-                pygame.draw.polygon(surface, color, polygon)
-
-    @staticmethod
-    def transform_points(world_cords, camera_transform, calibration):
-        """
-        Returns trajectory set projected to camera view
-        """
-        world_cords = np.transpose(world_cords)
-        cords_x_y_z = RssUnstructuredSceneVisualizer._world_to_sensor(world_cords, camera_transform)[:3, :]
-        cords_y_minus_z_x = np.concatenate([cords_x_y_z[1, :], -cords_x_y_z[2, :], cords_x_y_z[0, :]])
-        ts = np.transpose(np.dot(calibration, cords_y_minus_z_x))
-        camera_ts = np.concatenate([ts[:, 0] / ts[:, 2], ts[:, 1] / ts[:, 2], ts[:, 2]], axis=1)
-        line_to_draw = []
-        for point in camera_ts:
-            line_to_draw.append((int(point[0, 0]), int(point[0, 1])))
-        return line_to_draw
-
-    @staticmethod
-    def _get_trajectory_set_points(trajectory_set):
-        """
-        """
-        cords = np.zeros((len(trajectory_set), 4))
-        i = 0
-        for pt in trajectory_set:
-            cords[i, :] = np.array([pt.x, -pt.y, 0, 1])
-            i += 1
-        return cords
-
-    @staticmethod
-    def _get_points_from_pairs(trajectory_set):
-        """
-        """
-        cords = np.zeros((len(trajectory_set), 4))
-        i = 0
-        for pt in trajectory_set:
-            cords[i, :] = np.array([pt[0], -pt[1], 0, 1])
-            i += 1
-        return cords
-
-    @staticmethod
-    def _world_to_sensor(cords, camera_transform):
-        """
-        Transforms world coordinates to sensor.
-        """
-        sensor_world_matrix = get_matrix(camera_transform)
-        world_sensor_matrix = np.linalg.inv(sensor_world_matrix)
-        sensor_cords = np.dot(world_sensor_matrix, cords)
-        return sensor_cords
-
-# ==============================================================================
-# -- RssBoundingBoxVisualizer ------------------------------------------------------
-# ==============================================================================
-
-
-class RssBoundingBoxVisualizer(object):
-
-    def __init__(self, display_dimensions, world, camera):
-        self._last_camera_frame = 0
-        self._surface_for_frame = []
-        self._world = world
-        self._dim = display_dimensions
-        self._calibration = np.identity(3)
-        self._calibration[0, 2] = self._dim[0] / 2.0
-        self._calibration[1, 2] = self._dim[1] / 2.0
-        self._calibration[0, 0] = self._calibration[1, 1] = self._dim[0] / \
-            (2.0 * np.tan(90.0 * np.pi / 360.0))  # fov default: 90.0
-        self._camera = camera
-
-    def tick(self, frame, individual_rss_states):
-        if len(self._surface_for_frame) > 0:
-            try:
-                while self._surface_for_frame[0][0] < self._last_camera_frame:
-                    self._surface_for_frame.pop(0)
-            except IndexError:
-                return
-
-        # only render on new frame
-        if len(self._surface_for_frame) > 0:
-            if self._surface_for_frame[0][0] == frame:
-                return
-
-        surface = pygame.Surface(self._dim)
-        surface.set_colorkey(pygame.Color('black'))
-        surface.set_alpha(80)
-        try:
-            bounding_boxes = RssBoundingBoxVisualizer.get_bounding_boxes(
-                individual_rss_states, self._camera.get_transform(), self._calibration, self._world)
-            RssBoundingBoxVisualizer.draw_bounding_boxes(surface, bounding_boxes)
-            self._surface_for_frame.append((frame, surface, len(bounding_boxes)))
-        except RuntimeError:
-            pass
-
-    def render(self, display, current_camera_frame):
-        rendered = False
-        boxes_to_render = 0
-        for frame, surface, box_count in self._surface_for_frame:
-            if frame == current_camera_frame:
-                display.blit(surface, (0, 0))
-                boxes_to_render = box_count
-                rendered = True
-                break
-        if not rendered and boxes_to_render > 0:
-            print("Warning: {} bounding boxes were not drawn.".format(boxes_to_render))
-        self._last_camera_frame = current_camera_frame
-
-    @staticmethod
-    def get_bounding_boxes(individual_rss_states, camera_transform, calibration, world):
-        """
-        Creates 3D bounding boxes based on carla vehicle list and camera.
-        """
-        bounding_boxes = []
-        for state in individual_rss_states:
-            if state.actor_calculation_mode != ad.rss.map.RssMode.NotRelevant and state.is_dangerous:
-                other_actor = state.get_actor(world)
-                if other_actor:
-                    bounding_boxes.append(RssBoundingBoxVisualizer.get_bounding_box(
-                        other_actor, camera_transform, calibration))
-        # filter objects behind camera
-        bounding_boxes = [bb for bb in bounding_boxes if all(bb[:, 2] > 0)]
-        return bounding_boxes
-
-    @staticmethod
-    def draw_bounding_boxes(surface, bounding_boxes, color=pygame.Color('red')):
-        """
-        Draws bounding boxes on pygame display.
-        """
-        for bbox in bounding_boxes:
-            points = [(int(bbox[i, 0]), int(bbox[i, 1])) for i in range(8)]
-            # draw lines
-            # base
-            polygon = [points[0], points[1], points[2], points[3]]
-            pygame.draw.polygon(surface, color, polygon)
-            # top
-            polygon = [points[4], points[5], points[6], points[7]]
-            pygame.draw.polygon(surface, color, polygon)
-            # base-top
-            polygon = [points[0], points[1], points[5], points[4]]
-            pygame.draw.polygon(surface, color, polygon)
-            polygon = [points[1], points[2], points[6], points[5]]
-            pygame.draw.polygon(surface, color, polygon)
-            polygon = [points[2], points[6], points[7], points[3]]
-            pygame.draw.polygon(surface, color, polygon)
-            polygon = [points[0], points[4], points[7], points[3]]
-            pygame.draw.polygon(surface, color, polygon)
-
-    @staticmethod
-    def get_bounding_box(vehicle, camera_transform, calibration):
-        """
-        Returns 3D bounding box for a vehicle based on camera view.
-        """
-
-        bb_cords = RssBoundingBoxVisualizer._create_bb_points(vehicle)
-        cords_x_y_z = RssBoundingBoxVisualizer._vehicle_to_sensor(bb_cords, vehicle, camera_transform)[:3, :]
-        cords_y_minus_z_x = np.concatenate([cords_x_y_z[1, :], -cords_x_y_z[2, :], cords_x_y_z[0, :]])
-        bbox = np.transpose(np.dot(calibration, cords_y_minus_z_x))
-        camera_bbox = np.concatenate([bbox[:, 0] / bbox[:, 2], bbox[:, 1] / bbox[:, 2], bbox[:, 2]], axis=1)
-        return camera_bbox
-
-    @staticmethod
-    def _create_bb_points(vehicle):
-        """
-        Returns 3D bounding box for a vehicle.
-        """
-
-        cords = np.zeros((8, 4))
-        extent = vehicle.bounding_box.extent
-        cords[0, :] = np.array([extent.x, extent.y, -extent.z, 1])
-        cords[1, :] = np.array([-extent.x, extent.y, -extent.z, 1])
-        cords[2, :] = np.array([-extent.x, -extent.y, -extent.z, 1])
-        cords[3, :] = np.array([extent.x, -extent.y, -extent.z, 1])
-        cords[4, :] = np.array([extent.x, extent.y, extent.z, 1])
-        cords[5, :] = np.array([-extent.x, extent.y, extent.z, 1])
-        cords[6, :] = np.array([-extent.x, -extent.y, extent.z, 1])
-        cords[7, :] = np.array([extent.x, -extent.y, extent.z, 1])
-        return cords
-
-    @staticmethod
-    def _vehicle_to_sensor(cords, vehicle, camera_transform):
-        """
-        Transforms coordinates of a vehicle bounding box to sensor.
-        """
-
-        world_cord = RssBoundingBoxVisualizer._vehicle_to_world(cords, vehicle)
-        sensor_cord = RssBoundingBoxVisualizer._world_to_sensor(world_cord, camera_transform)
-        return sensor_cord
-
-    @staticmethod
-    def _vehicle_to_world(cords, vehicle):
-        """
-        Transforms coordinates of a vehicle bounding box to world.
-        """
-
-        bb_transform = carla.Transform(vehicle.bounding_box.location)
-        bb_vehicle_matrix = get_matrix(bb_transform)
-        vehicle_world_matrix = get_matrix(vehicle.get_transform())
-        bb_world_matrix = np.dot(vehicle_world_matrix, bb_vehicle_matrix)
-        world_cords = np.dot(bb_world_matrix, np.transpose(cords))
-        return world_cords
-
-    @staticmethod
-    def _world_to_sensor(cords, camera_transform):
-        """
-        Transforms world coordinates to sensor.
-        """
-
-        sensor_world_matrix = get_matrix(camera_transform)
-        world_sensor_matrix = np.linalg.inv(sensor_world_matrix)
-        sensor_cords = np.dot(world_sensor_matrix, cords)
-        return sensor_cords
-
-# ==============================================================================
-# -- RssDebugVisualizer ------------------------------------------------------------
-# ==============================================================================
-
-
-class RssDebugVisualizationMode(Enum):
-    Off = 1
-    RouteOnly = 2
-    VehicleStateOnly = 3
-    VehicleStateAndRoute = 4
-    All = 5
-
-
-class RssDebugVisualizer(object):
-
-    def __init__(self, player, world):
-        self._world = world
-        self._player = player
-        self._visualization_mode = RssDebugVisualizationMode.Off
-
-    def toggleMode(self):
-        if self._visualization_mode == RssDebugVisualizationMode.All:
-            self._visualization_mode = RssDebugVisualizationMode.Off
-        elif self._visualization_mode == RssDebugVisualizationMode.Off:
-            self._visualization_mode = RssDebugVisualizationMode.RouteOnly
-        elif self._visualization_mode == RssDebugVisualizationMode.RouteOnly:
-            self._visualization_mode = RssDebugVisualizationMode.VehicleStateOnly
-        elif self._visualization_mode == RssDebugVisualizationMode.VehicleStateOnly:
-            self._visualization_mode = RssDebugVisualizationMode.VehicleStateAndRoute
-        elif self._visualization_mode == RssDebugVisualizationMode.VehicleStateAndRoute:
-            self._visualization_mode = RssDebugVisualizationMode.All
-        print("New Debug Visualizer Mode {}".format(self._visualization_mode))
-
-    def tick(self, route, dangerous, individual_rss_states, ego_dynamics_on_route):
-        if self._visualization_mode == RssDebugVisualizationMode.RouteOnly or \
-                self._visualization_mode == RssDebugVisualizationMode.VehicleStateAndRoute or \
-                self._visualization_mode == RssDebugVisualizationMode.All:
-            self.visualize_route(dangerous, route)
-
-        if self._visualization_mode == RssDebugVisualizationMode.VehicleStateOnly or \
-                self._visualization_mode == RssDebugVisualizationMode.VehicleStateAndRoute or \
-                self._visualization_mode == RssDebugVisualizationMode.All:
-            self.visualize_rss_results(individual_rss_states)
-
-        if self._visualization_mode == RssDebugVisualizationMode.All:
-            self.visualize_ego_dynamics(ego_dynamics_on_route)
-
-    def visualize_route(self, dangerous, route):
-        if not route:
-            return
-        right_lane_edges = dict()
-        left_lane_edges = dict()
-
-        for road_segment in route.roadSegments:
-            right_most_lane = road_segment.drivableLaneSegments[0]
-            if right_most_lane.laneInterval.laneId not in right_lane_edges:
-                edge = ad.map.route.getRightProjectedENUEdge(right_most_lane.laneInterval)
-                right_lane_edges[right_most_lane.laneInterval.laneId] = edge
-                intersection_lane = ad.map.intersection.Intersection.isLanePartOfAnIntersection(right_most_lane.laneInterval.laneId)
-
-                color = carla.Color(r=(128 if dangerous else 255))
-                if intersection_lane:
-                    color.b = 128 if dangerous else 255
-                color = carla.Color(r=255, g=0, b=255)
-                self.visualize_enu_edge(edge, color, self._player.get_location().z)
-
-            left_most_lane = road_segment.drivableLaneSegments[-1]
-            if left_most_lane.laneInterval.laneId not in left_lane_edges:
-                edge = ad.map.route.getLeftProjectedENUEdge(left_most_lane.laneInterval)
-                left_lane_edges[left_most_lane.laneInterval.laneId] = edge
-                intersection_lane = ad.map.intersection.Intersection.isLanePartOfAnIntersection(left_most_lane.laneInterval.laneId)
-                color = carla.Color(g=(128 if dangerous else 255))
-                if intersection_lane:
-                    color.b = 128 if dangerous else 255
-
-                self.visualize_enu_edge(edge, color, self._player.get_location().z)
-
-    def visualize_enu_edge(self, edge, color, z_offset):
-        for point in edge:
-            carla_point = carla.Location(x=float(point.x), y=-1. * float(point.y), z=float(point.z) + z_offset)
-            self._world.debug.draw_point(carla_point, 0.1, color, 0.1, False)
-
-    def visualize_rss_results(self, state_snapshot):
-        for state in state_snapshot:
-            other_actor = state.get_actor(self._world)
-            if not other_actor:
-                # print("Actor not found. Skip visualizing state {}".format(state))
-                continue
-            ego_point = self._player.get_location()
-            ego_point.z += 0.05
-            yaw = self._player.get_transform().rotation.yaw
-            cosine = math.cos(math.radians(yaw))
-            sine = math.sin(math.radians(yaw))
-            line_offset = carla.Location(-sine * 0.1, cosine * 0.1, 0.0)
-
-            point = other_actor.get_location()
-            point.z += 0.05
-            indicator_color = carla.Color(0, 255, 0)
-            dangerous = ad.rss.state.isDangerous(state.rss_state)
-            if dangerous:
-                indicator_color = carla.Color(255, 0, 0)
-            elif state.rss_state.situationType == ad.rss.situation.SituationType.NotRelevant:
-                indicator_color = carla.Color(150, 150, 150)
-
-            if self._visualization_mode == RssDebugVisualizationMode.All:
-                # the connection lines are only visualized if All is requested
-                lon_color = indicator_color
-                lat_l_color = indicator_color
-                lat_r_color = indicator_color
-                if not state.rss_state.longitudinalState.isSafe:
-                    lon_color.r = 255
-                    lon_color.g = 0 if dangerous else 255
-                if not state.rss_state.lateralStateLeft.isSafe:
-                    lat_l_color.r = 255
-                    lat_l_color.g = 0 if dangerous else 255
-                if not state.rss_state.lateralStateRight.isSafe:
-                    lat_r_color.r = 255
-                    lat_r_color.g = 0 if dangerous else 255
-                self._world.debug.draw_line(ego_point, point, 0.1, lon_color, 0.02, False)
-                self._world.debug.draw_line(ego_point - line_offset, point -
-                                            line_offset, 0.1, lat_l_color, 0.02, False)
-                self._world.debug.draw_line(ego_point + line_offset, point +
-                                            line_offset, 0.1, lat_r_color, 0.02, False)
-            point.z += 3.
-            self._world.debug.draw_point(point, 0.2, indicator_color, 0.02, False)
-
-    def visualize_ego_dynamics(self, ego_dynamics_on_route):
-        color = carla.Color(0, 0, 255)
-
-        sin_heading = math.sin(float(ego_dynamics_on_route.route_heading))
-        cos_heading = math.cos(float(ego_dynamics_on_route.route_heading))
-
-        heading_location_start = self._player.get_location()
-        heading_location_start.x -= cos_heading * 10.
-        heading_location_start.y += sin_heading * 10.
-        heading_location_start.z += 0.5
-        heading_location_end = self._player.get_location()
-        heading_location_end.x += cos_heading * 10.
-        heading_location_end.y -= sin_heading * 10.
-        heading_location_end.z += 0.5
-
-        self._world.debug.draw_arrow(heading_location_start, heading_location_end, 0.1, 0.1, color, 0.02, False)
-
-        sin_center = math.sin(float(ego_dynamics_on_route.route_heading) + math.pi / 2.)
-        cos_center = math.cos(float(ego_dynamics_on_route.route_heading) + math.pi / 2.)
-        center_location_start = self._player.get_location()
-        center_location_start.x -= cos_center * 2.
-        center_location_start.y += sin_center * 2.
-        center_location_start.z += 0.5
-        center_location_end = self._player.get_location()
-        center_location_end.x += cos_center * 2.
-        center_location_end.y -= sin_center * 2.
-        center_location_end.z += 0.5
-
-        self._world.debug.draw_line(center_location_start, center_location_end, 0.1, color, 0.02, False)

PythonAPI/examples/rss/scenarios/unstructured_blocked_road.xosc

@@ -1,187 +0,0 @@
-<?xml version="1.0"?>
-<OpenSCENARIO>
-  <FileHeader revMajor="1" revMinor="0" date="2019-06-25T00:00:00" description="CARLA:FollowLeadingVehicle" author=""/>
-  <ParameterDeclarations>
-    <ParameterDeclaration name="$leadingSpeed" parameterType="double" value="2.0"/>
-  </ParameterDeclarations>
-  <CatalogLocations>
-  </CatalogLocations>
-  <RoadNetwork>
-    <LogicFile filepath="Town01"/>
-    <SceneGraphFile filepath=""/>
-  </RoadNetwork>
-  <Entities>
-    <ScenarioObject name="hero">
-      <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
-        <ParameterDeclarations/>
-        <Performance maxSpeed="69.444" maxAcceleration="10.0" maxDeceleration="10.0"/>
-        <BoundingBox>
-          <Center x="1.5" y="0.0" z="0.9"/>
-          <Dimensions width="2.1" length="4.5" height="1.8"/>
-        </BoundingBox>
-        <Axles>
-          <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
-          <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
-        </Axles>
-        <Properties>
-          <Property name="type" value="ego_vehicle"/>
-          <Property name="color" value="0,0,255"/>
-        </Properties>
-      </Vehicle>
-    </ScenarioObject>
-    <ScenarioObject name="blockingVehicle">
-      <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
-        <ParameterDeclarations/>
-        <Performance maxSpeed="69.444" maxAcceleration="10.0" maxDeceleration="10.0"/>
-        <BoundingBox>
-          <Center x="1.5" y="0.0" z="0.9"/>
-          <Dimensions width="2.1" length="4.5" height="1.8"/>
-        </BoundingBox>
-        <Axles>
-          <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
-          <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
-        </Axles>
-        <Properties>
-          <Property name="type" value="simulation"/>
-          <Property name="color" value="255,0,0"/>
-        </Properties>
-      </Vehicle>
-    </ScenarioObject>
-  </Entities>
-  <Storyboard>
-    <Init>
-      <Actions>
-        <GlobalAction>
-          <EnvironmentAction>
-            <Environment name="Environment1">
-              <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/>
-              <Weather cloudState="free">
-                <Sun intensity="1.0" azimuth="0.0" elevation="1.31"/>
-                <Fog visualRange="100000.0"/>
-                <Precipitation precipitationType="dry" intensity="0.0"/>
-              </Weather>
-              <RoadCondition frictionScaleFactor="1.0"/>
-            </Environment>
-          </EnvironmentAction>
-        </GlobalAction>
-        <Private entityRef="hero">
-          <PrivateAction>
-            <TeleportAction>
-              <Position>
-                <WorldPosition x="150" y="133" z="0" h="0"/>
-              </Position>
-            </TeleportAction>
-          </PrivateAction>          
-          <PrivateAction>
-            <ControllerAction>
-                <AssignControllerAction>
-                    <Controller name="EgoVehicleAgent">
-                        <Properties>
-                            <Property name="module" value="external_control" />
-                        </Properties>
-                    </Controller>
-                </AssignControllerAction>
-                <OverrideControllerValueAction>
-                    <Throttle value="0" active="false" />
-                    <Brake value="0" active="false" />
-                    <Clutch value="0" active="false" />
-                    <ParkingBrake value="0" active="false" />
-                    <SteeringWheel value="0" active="false" />
-                    <Gear number="0" active="false" />
-                </OverrideControllerValueAction>
-            </ControllerAction>
-        </PrivateAction>
-        </Private>
-        <Private entityRef="blockingVehicle">
-          <PrivateAction>
-            <TeleportAction>
-              <Position>
-                <WorldPosition x="165" y="133" z="0" h="2.8"/>
-              </Position>
-            </TeleportAction>
-          </PrivateAction>
-        </Private>
-      </Actions>
-    </Init>
-    <Story name="MyStory">
-      <Act name="Behavior">
-        <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence">
-          <Actors selectTriggeringEntities="false">
-            <EntityRef entityRef="hero"/>
-          </Actors>
-          <Maneuver name="EmptyManeuver">
-            <Event name="EmptyEvent" priority="overwrite">
-              <!-- never triggered -->
-              <Action name="EmptyAcion">
-              </Action>
-              <StartTrigger>
-              </StartTrigger>
-            </Event>
-          </Maneuver>
-        </ManeuverGroup>
-        <StartTrigger>
-          <ConditionGroup>
-            <Condition name="StartTime" delay="0" conditionEdge="rising">
-              <ByValueCondition>
-                <SimulationTimeCondition value="0" rule="equalTo"/>
-              </ByValueCondition>
-            </Condition>
-          </ConditionGroup>
-        </StartTrigger>
-        <StopTrigger>
-          <ConditionGroup>
-            <Condition name="EndCondition" delay="0" conditionEdge="rising">
-              <ByEntityCondition>
-                <TriggeringEntities triggeringEntitiesRule="any">
-                  <EntityRef entityRef="hero"/>
-                </TriggeringEntities>
-                <EntityCondition>
-                  <TraveledDistanceCondition value="100.0"/>
-                </EntityCondition>
-              </ByEntityCondition>
-            </Condition>
-          </ConditionGroup>
-        </StopTrigger>
-      </Act>
-    </Story>
-    <StopTrigger>
-      <ConditionGroup>
-        <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="" value="" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-        <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising">
-          <ByValueCondition>
-            <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/>
-          </ByValueCondition>
-        </Condition>
-      </ConditionGroup>
-    </StopTrigger>
-  </Storyboard>
-</OpenSCENARIO>

PythonAPI/examples/rss/scenarios/unstructured_pedestrian_on_road.xosc

@@ -1,223 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<OpenSCENARIO>
-    <FileHeader revMajor="1" revMinor="0" date="2020-03-20T00:00:00" description="CARLA:AgentExample" author="" />
-    <ParameterDeclarations/>
-    <CatalogLocations/>
-    <RoadNetwork>
-        <LogicFile filepath="Town01" />
-        <SceneGraphFile filepath="" />
-    </RoadNetwork>
-    <Entities>
-        <ScenarioObject name="hero">
-            <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car">
-                <ParameterDeclarations/>
-                <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
-                <BoundingBox>
-                    <Center x="1.5" y="0.0" z="0.9" />
-                    <Dimensions width="2.1" length="4.5" height="1.8"/>
-                </BoundingBox>
-                <Axles>
-                    <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3" />
-                    <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3" />
-                </Axles>
-                <Properties>
-                    <Property name="type" value="ego_vehicle" />
-                    <Property name="color" value="0,0,255" />
-                </Properties>
-            </Vehicle>
-        </ScenarioObject>
-        <ScenarioObject name="pedestrian1">
-            <Pedestrian mass="100" model="walker.pedestrian.0001" name="Pedestrian1" pedestrianCategory="pedestrian">
-                <ParameterDeclarations/>
-                <BoundingBox>
-                    <Center x="0.5" y="0.5" z="0.9"/>
-                    <Dimensions width="1.0" length="1.0" height="1.8"/>
-                </BoundingBox>
-                <Properties>
-                    <Property name="type" value="simulation"/>
-                </Properties>
-            </Pedestrian>
-        </ScenarioObject>
-    </Entities>
-    <Storyboard>
-        <Init>
-            <Actions>         
-                <GlobalAction>
-                    <EnvironmentAction>
-                        <Environment name="Environment1">
-                            <TimeOfDay animation="false" dateTime="2020-03-20T12:00:00"/>
-                            <Weather cloudState="free">
-                                <Sun intensity="0.85" azimuth="0" elevation="1.31" />
-                                <Fog visualRange="100000.0" />
-                                <Precipitation precipitationType="dry" intensity="0.0" />
-                            </Weather>
-                            <RoadCondition frictionScaleFactor="1.0" />
-                        </Environment>
-                    </EnvironmentAction>
-                </GlobalAction>
-                <Private entityRef="hero">
-                    <PrivateAction>
-                        <TeleportAction>
-                            <Position>
-                                <WorldPosition x="338.9" y="319.5" z="1" h="4.71" />
-                            </Position>
-                        </TeleportAction>
-                    </PrivateAction>
-                    <PrivateAction>
-                        <ControllerAction>
-                            <AssignControllerAction>
-                                <Controller name="EgoVehicleAgent">
-                                    <Properties>
-                                        <Property name="module" value="external_control"/>
-                                    </Properties>
-                                </Controller>
-                            </AssignControllerAction>
-                            <OverrideControllerValueAction>
-                                <Throttle value="0" active="false" />
-                                <Brake value="0" active="false" />
-                                <Clutch value="0" active="false" />
-                                <ParkingBrake value="0" active="false" />
-                                <SteeringWheel value="0" active="false" />
-                                <Gear number="0" active="false" />
-                            </OverrideControllerValueAction>
-                        </ControllerAction>
-                    </PrivateAction>
-                    <PrivateAction>
-                        <LongitudinalAction>
-                            <SpeedAction>
-                                <SpeedActionDynamics dynamicsShape="step" value="20" dynamicsDimension="distance"/>
-                                <SpeedActionTarget>
-                                    <AbsoluteTargetSpeed value="10" />
-                                </SpeedActionTarget>
-                            </SpeedAction>
-                        </LongitudinalAction>
-                    </PrivateAction>
-                </Private>
-                <Private entityRef="pedestrian1">
-                    <PrivateAction>
-                        <TeleportAction>
-                            <Position>
-                                <WorldPosition x="339.5" y="300" z="1" h="4.71" />
-                            </Position>
-                        </TeleportAction>
-                    </PrivateAction>
-                </Private>
-            </Actions>
-        </Init>
-        <Story name="MyStory">
-            <Act name="Behavior">
-                <ManeuverGroup name="Pedestrian1ManeuverSequence" maximumExecutionCount="1">
-                    <Actors selectTriggeringEntities="false">
-                        <EntityRef entityRef="pedestrian1" />
-                    </Actors>
-                    <Maneuver name="Pedestrian1RouteManeuver">
-                        <!-- 
-                            1. walk 20m when the ego-vehicle starts moving
-                            1. pause for some seconds
-                            3. walk another 20m
-                        -->
-                        <Event name="Pedestrian1WalksEvent" priority="overwrite">
-                            <Action name="Pedestrian1Walks">
-                                <PrivateAction>
-                                    <LongitudinalAction>
-                                        <SpeedAction>
-                                            <SpeedActionDynamics dynamicsShape="step" value="20" dynamicsDimension="distance"/>
-                                            <SpeedActionTarget>
-                                                <AbsoluteTargetSpeed value="2" />
-                                            </SpeedActionTarget>
-                                        </SpeedAction>
-                                    </LongitudinalAction>
-                                </PrivateAction>
-                            </Action>
-                            <StartTrigger>
-                                <ConditionGroup>
-                                    <Condition name="Pedestrian1WalksCondition" delay="0" conditionEdge="rising">
-                                        <ByEntityCondition>
-                                            <TriggeringEntities triggeringEntitiesRule="any">
-                                                <EntityRef entityRef="hero" />
-                                            </TriggeringEntities>
-                                            <EntityCondition>
-                                                <TraveledDistanceCondition value="1.0" />
-                                            </EntityCondition>
-                                        </ByEntityCondition>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartTrigger>
-                        </Event>
-                        <Event name="Pedestrian1WaitsEvent" priority="overwrite">
-                            <Action name="Pedestrian1Waits">
-                                <PrivateAction>
-                                    <LongitudinalAction>
-                                    <SpeedAction>
-                                        <SpeedActionDynamics dynamicsShape="step" value="10" dynamicsDimension="time"/>
-                                        <SpeedActionTarget>
-                                            <AbsoluteTargetSpeed value="0.0"/>
-                                        </SpeedActionTarget>
-                                    </SpeedAction>
-                                    </LongitudinalAction>
-                                </PrivateAction>
-                            </Action>
-                            <StartTrigger>
-                                <ConditionGroup>
-                                    <Condition name="AfterPedestrian1Walks" delay="0" conditionEdge="rising">
-                                    <ByValueCondition>
-                                        <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="Pedestrian1Walks" state="endTransition"/>
-                                    </ByValueCondition>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartTrigger>
-                        </Event>
-                        <Event name="Pedestrian1ContinuesWalkingEvent" priority="overwrite">
-                            <!-- contine walking 20m -->
-                            <Action name="Pedestrian1ContinuesWalking">
-                                <PrivateAction>
-                                    <LongitudinalAction>
-                                        <SpeedAction>
-                                            <SpeedActionDynamics dynamicsShape="step" value="20" dynamicsDimension="distance"/>
-                                            <SpeedActionTarget>
-                                                <AbsoluteTargetSpeed value="2" />
-                                            </SpeedActionTarget>
-                                        </SpeedAction>
-                                    </LongitudinalAction>
-                                </PrivateAction>
-                            </Action>
-                            <StartTrigger>
-                                <ConditionGroup>
-                                    <Condition name="AfterPedestrian1Waits" delay="0" conditionEdge="rising">
-                                    <ByValueCondition>
-                                        <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="Pedestrian1Waits" state="endTransition"/>
-                                    </ByValueCondition>
-                                    </Condition>
-                                </ConditionGroup>
-                            </StartTrigger>
-                        </Event>
-                    </Maneuver>
-                </ManeuverGroup>
-                <StartTrigger>
-                    <ConditionGroup>
-                        <Condition name="StartTime" delay="0" conditionEdge="rising">
-                            <ByValueCondition>
-                                <SimulationTimeCondition value="0" rule="equalTo" />
-                            </ByValueCondition>
-                        </Condition>
-                    </ConditionGroup>
-                </StartTrigger>
-                <StopTrigger>
-                    <ConditionGroup>
-                        <Condition name="EndCondition" delay="0" conditionEdge="rising">
-                            <ByEntityCondition>
-                                <TriggeringEntities triggeringEntitiesRule="any">
-                                    <EntityRef entityRef="hero" />
-                                </TriggeringEntities>
-                                <EntityCondition>
-                                    <TraveledDistanceCondition value="40.0" />
-                                </EntityCondition>
-                            </ByEntityCondition>
-                        </Condition>
-                    </ConditionGroup>
-                </StopTrigger>
-            </Act>
-        </Story>
-        <StopTrigger/>
-    </Storyboard>
-</OpenSCENARIO>

PythonAPI/examples/show_recorder_actors_blocked.py

@@ -1,78 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import carla
-
-import argparse
-
-
-def main():
-
-    argparser = argparse.ArgumentParser(
-        description=__doc__)
-    argparser.add_argument(
-        '--host',
-        metavar='H',
-        default='127.0.0.1',
-        help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument(
-        '-p', '--port',
-        metavar='P',
-        default=2000,
-        type=int,
-        help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '-f', '--recorder_filename',
-        metavar='F',
-        default="test1.rec",
-        help='recorder filename (test1.rec)')
-    argparser.add_argument(
-        '-t', '--time',
-        metavar='T',
-        default="30",
-        type=float,
-        help='minimum time to consider it is blocked')
-    argparser.add_argument(
-        '-d', '--distance',
-        metavar='D',
-        default="100",
-        type=float,
-        help='minimum distance to consider it is not moving (in cm)')
-    args = argparser.parse_args()
-
-    try:
-
-        client = carla.Client(args.host, args.port)
-        client.set_timeout(60.0)
-
-        print(client.show_recorder_actors_blocked(args.recorder_filename, args.time, args.distance))
-
-    finally:
-        pass
-
-
-if __name__ == '__main__':
-
-    try:
-        main()
-    except KeyboardInterrupt:
-        pass
-    finally:
-        print('\ndone.')

PythonAPI/examples/tutorial.py

@@ -1,128 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import carla
-
-import random
-import time
-
-
-def main():
-    actor_list = []
-
-    # In this tutorial script, we are going to add a vehicle to the simulation
-    # and let it drive in autopilot. We will also create a camera attached to
-    # that vehicle, and save all the images generated by the camera to disk.
-
-    try:
-        # First of all, we need to create the client that will send the requests
-        # to the simulator. Here we'll assume the simulator is accepting
-        # requests in the localhost at port 2000.
-        client = carla.Client('localhost', 2000)
-        client.set_timeout(2.0)
-
-        # Once we have a client we can retrieve the world that is currently
-        # running.
-        world = client.get_world()
-
-        # The world contains the list blueprints that we can use for adding new
-        # actors into the simulation.
-        blueprint_library = world.get_blueprint_library()
-
-        # Now let's filter all the blueprints of type 'vehicle' and choose one
-        # at random.
-        bp = random.choice(blueprint_library.filter('vehicle'))
-
-        # A blueprint contains the list of attributes that define a vehicle's
-        # instance, we can read them and modify some of them. For instance,
-        # let's randomize its color.
-        if bp.has_attribute('color'):
-            color = random.choice(bp.get_attribute('color').recommended_values)
-            bp.set_attribute('color', color)
-
-        # Now we need to give an initial transform to the vehicle. We choose a
-        # random transform from the list of recommended spawn points of the map.
-        transform = random.choice(world.get_map().get_spawn_points())
-
-        # So let's tell the world to spawn the vehicle.
-        vehicle = world.spawn_actor(bp, transform)
-
-        # It is important to note that the actors we create won't be destroyed
-        # unless we call their "destroy" function. If we fail to call "destroy"
-        # they will stay in the simulation even after we quit the Python script.
-        # For that reason, we are storing all the actors we create so we can
-        # destroy them afterwards.
-        actor_list.append(vehicle)
-        print('created %s' % vehicle.type_id)
-
-        # Let's put the vehicle to drive around.
-        vehicle.set_autopilot(True)
-
-        # Let's add now a "depth" camera attached to the vehicle. Note that the
-        # transform we give here is now relative to the vehicle.
-        camera_bp = blueprint_library.find('sensor.camera.depth')
-        camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
-        camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
-        actor_list.append(camera)
-        print('created %s' % camera.type_id)
-
-        # Now we register the function that will be called each time the sensor
-        # receives an image. In this example we are saving the image to disk
-        # converting the pixels to gray-scale.
-        cc = carla.ColorConverter.LogarithmicDepth
-        camera.listen(lambda image: image.save_to_disk('_out/%06d.png' % image.frame, cc))
-
-        # Oh wait, I don't like the location we gave to the vehicle, I'm going
-        # to move it a bit forward.
-        location = vehicle.get_location()
-        location.x += 40
-        vehicle.set_location(location)
-        print('moved vehicle to %s' % location)
-
-        # But the city now is probably quite empty, let's add a few more
-        # vehicles.
-        transform.location += carla.Location(x=40, y=-3.2)
-        transform.rotation.yaw = -180.0
-        for _ in range(0, 10):
-            transform.location.x += 8.0
-
-            bp = random.choice(blueprint_library.filter('vehicle'))
-
-            # This time we are using try_spawn_actor. If the spot is already
-            # occupied by another object, the function will return None.
-            npc = world.try_spawn_actor(bp, transform)
-            if npc is not None:
-                actor_list.append(npc)
-                npc.set_autopilot(True)
-                print('created %s' % npc.type_id)
-
-        time.sleep(5)
-
-    finally:
-
-        print('destroying actors')
-        camera.destroy()
-        client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
-        print('done.')
-
-
-if __name__ == '__main__':
-
-    main()

PythonAPI/examples/tutorial_gbuffer.py

@@ -1,127 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-import glob
-import os
-import sys
-
-try:
-    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import carla
-
-import random
-import time
-
-
-
-def main():
-    actor_list = []
-
-    # In this tutorial script, we are going to add a vehicle to the simulation
-    # and let it drive in autopilot. We will also create a camera attached to
-    # that vehicle, and save all the images generated by the camera to disk.
-    # Additionally, we will save all of the gbuffer textures for each frame.
-
-    try:
-        # First of all, we need to create the client that will send the requests
-        # to the simulator. Here we'll assume the simulator is accepting
-        # requests in the localhost at port 2000.
-        client = carla.Client('127.0.0.1', 2000)
-        client.set_timeout(2.0)
-
-        # Once we have a client we can retrieve the world that is currently
-        # running.
-        world = client.get_world()
-
-        # The world contains the list blueprints that we can use for adding new
-        # actors into the simulation.
-        blueprint_library = world.get_blueprint_library()
-
-        # Now let's filter all the blueprints of type 'vehicle' and choose one
-        # at random.
-        bp = random.choice(blueprint_library.filter('vehicle'))
-
-        # A blueprint contains the list of attributes that define a vehicle's
-        # instance, we can read them and modify some of them. For instance,
-        # let's randomize its color.
-        if bp.has_attribute('color'):
-            color = random.choice(bp.get_attribute('color').recommended_values)
-            bp.set_attribute('color', color)
-
-        # Now we need to give an initial transform to the vehicle. We choose a
-        # random transform from the list of recommended spawn points of the map.
-        transform = world.get_map().get_spawn_points()[0]
-
-        # So let's tell the world to spawn the vehicle.
-        vehicle = world.spawn_actor(bp, transform)
-
-        # It is important to note that the actors we create won't be destroyed
-        # unless we call their "destroy" function. If we fail to call "destroy"
-        # they will stay in the simulation even after we quit the Python script.
-        # For that reason, we are storing all the actors we create so we can
-        # destroy them afterwards.
-        actor_list.append(vehicle)
-        print('created %s' % vehicle.type_id)
-
-        # Let's put the vehicle to drive around.
-        vehicle.set_autopilot(True)
-
-        # Let's add now a "rgb" camera attached to the vehicle. Note that the
-        # transform we give here is now relative to the vehicle.
-        camera_bp = blueprint_library.find('sensor.camera.rgb')
-        camera_bp.set_attribute('image_size_x', '1920')
-        camera_bp.set_attribute('image_size_y', '1080')
-        camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
-        camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
-        actor_list.append(camera)
-        print('created %s' % camera.type_id)
-
-        # Register a callback for whenever a new frame is available. This step is
-        # currently required to correctly receive the gbuffer textures, as it is 
-        # used to determine whether the sensor is active.
-        camera.listen(lambda image: image.save_to_disk('_out/FinalColor-%06d.png' % image.frame))
-
-        # Here we will register the callbacks for each gbuffer texture.
-        # The function "listen_to_gbuffer" behaves like the regular listen function,
-        # but you must first pass it the ID of the desired gbuffer texture.
-        camera.listen_to_gbuffer(carla.GBufferTextureID.SceneColor, lambda image: image.save_to_disk('_out/GBuffer-SceneColor-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.SceneDepth, lambda image: image.save_to_disk('_out/GBuffer-SceneDepth-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.SceneStencil, lambda image: image.save_to_disk('_out/GBuffer-SceneStencil-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferA, lambda image: image.save_to_disk('_out/GBuffer-A-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferB, lambda image: image.save_to_disk('_out/GBuffer-B-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferC, lambda image: image.save_to_disk('_out/GBuffer-C-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferD, lambda image: image.save_to_disk('_out/GBuffer-D-%06d.png' % image.frame))
-        # Note that some gbuffer textures may not be available for a particular scene.
-        # For example, the textures E and F are likely unavailable in this example,
-        # which will result in them being sent as black images.
-        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferE, lambda image: image.save_to_disk('_out/GBuffer-E-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferF, lambda image: image.save_to_disk('_out/GBuffer-F-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.Velocity, lambda image: image.save_to_disk('_out/GBuffer-Velocity-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.SSAO, lambda image: image.save_to_disk('_out/GBuffer-SSAO-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.CustomDepth, lambda image: image.save_to_disk('_out/GBuffer-CustomDepth-%06d.png' % image.frame))
-        camera.listen_to_gbuffer(carla.GBufferTextureID.CustomStencil, lambda image: image.save_to_disk('_out/GBuffer-CustomStencil-%06d.png' % image.frame))
-
-        time.sleep(10)
-
-    finally:
-
-        print('destroying actors')
-        camera.destroy()
-        client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
-        print('done.')
-
-
-if __name__ == '__main__':
-
-    main()

PythonAPI/examples/vehicle_physics.py

@@ -85,7 +85,7 @@ def main(arg):
         # Impulse/Force at the center of mass of the object
         impulse = 10 * car_mass
 
-        print("# Adding an Impulse of %f N s" % impulse)
+        print("# Adding an Impulse of {:.1f} N s".format(impulse))
         vehicle.add_impulse(carla.Vector3D(0, 0, impulse))
 
         wait(world)
@@ -93,7 +93,7 @@ def main(arg):
         vehicle.set_target_velocity(carla.Vector3D(0, 0, 0))
         wait(world)
 
-        print("# Adding a Force of %f N" % (impulse / delta))
+        print("# Adding a Force of {:.1f} N".format(impulse / delta))
         # The add_force method should not be use for instantaneous forces like this one,
         # it is more useful for constant or variable forces acting in a finite amount of time.
         # In this script it is done with the proper scaling to show the equivalence
@@ -107,8 +107,6 @@ def main(arg):
         vehicle.set_target_velocity(carla.Vector3D(0, 0, 0))
         wait(world)
 
-        wait(world, 500)
-
 
     finally:
         world.apply_settings(original_settings)
@@ -134,7 +132,7 @@ if __name__ == "__main__":
     argparser.add_argument(
         '--filter',
         metavar='PATTERN',
-        default='model3',
+        default='vehicle.*',
         help='actor filter (default: "vehicle.*")')
     args = argparser.parse_args()
 

PythonAPI/util/check_collisions_substepping.py

@@ -1,518 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-"""
-Test collisions example for CARLA
-This script runs several scenarios involving collisions and check if they
-are deterministic for different simulation parameters.
-"""
-
-import glob
-import os
-import sys
-import argparse
-import time
-import filecmp
-import shutil
-
-import numpy as np
-
-try:
-    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import carla
-
-
-class Scenario():
-    def __init__(self, client, world, save_snapshots_mode=False):
-        self.world = world
-        self.client = client
-        self.actor_list = []
-        self.init_timestamp = []
-        self.active = False
-        self.prefix = ""
-        self.save_snapshots_mode = save_snapshots_mode
-        self.snapshots = []
-
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        self.prefix = prefix
-        self.actor_list = []
-        self.active = True
-        self.snapshots = []
-
-        self.reload_world(settings, spectator_tr)
-
-        # Init timestamp
-        world_snapshot = self.world.get_snapshot()
-        self.init_timestamp = {'frame0' : world_snapshot.frame, 'time0' : world_snapshot.timestamp.elapsed_seconds}
-
-    def add_actor(self, actor, actor_name="Actor"):
-        actor_idx = len(self.actor_list)
-
-        name = str(actor_idx) + "_" + actor_name
-
-        self.actor_list.append((name, actor))
-
-        if self.save_snapshots_mode:
-            self.snapshots.append(np.empty((0,11), float))
-
-    def wait(self, frames=100):
-        for _i in range(0, frames):
-            self.world.tick()
-
-    def clear_scene(self):
-        for actor in self.actor_list:
-            actor[1].destroy()
-
-        self.active = False
-
-    def reload_world(self, settings = None, spectator_tr = None):
-        self.client.reload_world()
-        if settings is not None:
-            self.world.apply_settings(settings)
-        if spectator_tr is not None:
-            self.reset_spectator(spectator_tr)
-
-    def reset_spectator(self, spectator_tr):
-        spectator = self.world.get_spectator()
-        spectator.set_transform(spectator_tr)
-
-    def save_snapshot(self, actor):
-        snapshot = self.world.get_snapshot()
-
-        actor_snapshot = np.array([
-                float(snapshot.frame - self.init_timestamp['frame0']), \
-                snapshot.timestamp.elapsed_seconds - self.init_timestamp['time0'], \
-                actor.get_location().x, actor.get_location().y, actor.get_location().z, \
-                actor.get_velocity().x, actor.get_velocity().y, actor.get_velocity().z, \
-                actor.get_angular_velocity().x, actor.get_angular_velocity().y, actor.get_angular_velocity().z])
-        return actor_snapshot
-
-    def save_snapshots(self):
-        if not self.save_snapshots_mode:
-            return
-
-        for i in range (0, len(self.actor_list)):
-            self.snapshots[i] = np.vstack((self.snapshots[i], self.save_snapshot(self.actor_list[i][1])))
-
-    def save_snapshots_to_disk(self):
-        if not self.save_snapshots_mode:
-            return
-
-        for i, actor in enumerate(self.actor_list):
-            np.savetxt(self.get_filename(actor[0]), self.snapshots[i])
-
-    def get_filename_with_prefix(self, prefix, actor_id=None, frame=None):
-        add_id = "" if actor_id is None else "_" + actor_id
-        add_frame = "" if frame is None else ("_%04d") % frame
-        return prefix + add_id + add_frame + ".out"
-
-    def get_filename(self, actor_id=None, frame=None):
-        return self.get_filename_with_prefix(self.prefix, actor_id, frame)
-
-    def run_simulation(self, prefix, run_settings, spectator_tr, tics = 200):
-        original_settings = self.world.get_settings()
-
-        self.init_scene(prefix, run_settings, spectator_tr)
-
-        t_start = time.perf_counter()
-        for _i in range(0, tics):
-            self.world.tick()
-            self.save_snapshots()
-        t_end = time.perf_counter()
-
-        self.world.apply_settings(original_settings)
-        self.save_snapshots_to_disk()
-        self.clear_scene()
-
-        return t_end - t_start
-
-
-class TwoSpawnedCars(Scenario):
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        super().init_scene(prefix, settings, spectator_tr)
-
-        blueprint_library = self.world.get_blueprint_library()
-
-        vehicle00_tr = carla.Transform(carla.Location(100, -257, 0.02), carla.Rotation(yaw=181.5))
-        vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
-
-        vehicle01_tr = carla.Transform(carla.Location(110, -253, 0.04), carla.Rotation(yaw=181.5))
-        vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
-        self.wait(1)
-
-        vehicle00.set_target_velocity(carla.Vector3D(-25, 0, 0))
-        vehicle01.set_target_velocity(carla.Vector3D(-25, 0, 0))
-
-        self.add_actor(vehicle00, "Car")
-        self.add_actor(vehicle01, "Car")
-
-        self.wait(1)
-
-
-
-class TwoCarsSlowSpeedCollision(Scenario):
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        super().init_scene(prefix, settings, spectator_tr)
-
-        blueprint_library = self.world.get_blueprint_library()
-
-        vehicle00_tr = carla.Transform(carla.Location(100, -256, 0.015), carla.Rotation(yaw=178))
-        vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
-
-        vehicle01_tr = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
-        vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
-        self.wait(1)
-
-        vehicle00.set_target_velocity(carla.Vector3D(-12, 0, 0))
-        vehicle01.set_target_velocity(carla.Vector3D(+12, 0, 0))
-
-        self.add_actor(vehicle00, "Car")
-        self.add_actor(vehicle01, "Car")
-
-        self.wait(1)
-
-
-class TwoCarsHighSpeedCollision(Scenario):
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        super().init_scene(prefix, settings, spectator_tr)
-
-        blueprint_library = self.world.get_blueprint_library()
-
-        vehicle00_tr = carla.Transform(carla.Location(140, -256, 0.015), carla.Rotation(yaw=180))
-        vehicle00 = self.world.spawn_actor(blueprint_library.filter("tt")[0], vehicle00_tr)
-
-        vehicle01_tr = carla.Transform(carla.Location(40, -255, 0.04), carla.Rotation(yaw=0))
-        vehicle01 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle01_tr)
-        self.wait(1)
-
-        vehicle00.set_target_velocity( carla.Vector3D(-50, 0, 0))
-        vehicle01.set_target_velocity(carla.Vector3D(+50, 0, 0))
-
-        self.add_actor(vehicle00, "Car")
-        self.add_actor(vehicle01, "Car")
-
-        self.wait(1)
-
-
-class ThreeCarsSlowSpeedCollision(Scenario):
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        super().init_scene(prefix, settings, spectator_tr)
-
-        blueprint_library = self.world.get_blueprint_library()
-
-        vehicle00_tr = carla.Transform(carla.Location(110, -255, 0.05), carla.Rotation(yaw=180))
-        vehicle00 = self.world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
-
-        vehicle01_tr = carla.Transform(carla.Location(53, -257, 0.00), carla.Rotation(yaw=0))
-        vehicle01 = self.world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
-
-        vehicle02_tr = carla.Transform(carla.Location(85, -230, 0.04), carla.Rotation(yaw=-90))
-        vehicle02 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
-
-        self.wait(1)
-
-        vehicle00.set_target_velocity(carla.Vector3D(-15, 0, 0))
-        vehicle01.set_target_velocity(carla.Vector3D(+15, 0, 0))
-        vehicle02.set_target_velocity(carla.Vector3D(0, -15, 0))
-
-        self.add_actor(vehicle00, "Car")
-        self.add_actor(vehicle01, "Car")
-        self.add_actor(vehicle02, "Car")
-
-        self.wait(1)
-
-
-
-class ThreeCarsHighSpeedCollision(Scenario):
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        super().init_scene(prefix, settings, spectator_tr)
-
-        blueprint_library = self.world.get_blueprint_library()
-
-        vehicle00_tr = carla.Transform(carla.Location(110, -255, 0.05), carla.Rotation(yaw=180))
-        vehicle00 = self.world.spawn_actor(blueprint_library.filter("prius")[0], vehicle00_tr)
-
-        vehicle01_tr = carla.Transform(carla.Location(53, -257, 0.00), carla.Rotation(yaw=0))
-        vehicle01 = self.world.spawn_actor(blueprint_library.filter("a2")[0], vehicle01_tr)
-
-        vehicle02_tr = carla.Transform(carla.Location(85, -230, 0.04), carla.Rotation(yaw=-90))
-        vehicle02 = self.world.spawn_actor(blueprint_library.filter("lincoln")[0], vehicle02_tr)
-
-        self.wait(1)
-
-        vehicle00.set_target_velocity(carla.Vector3D(-30, 0, 0))
-        vehicle01.set_target_velocity(carla.Vector3D(+30, 0, 0))
-        vehicle02.set_target_velocity(carla.Vector3D(0, -30, 0))
-
-        self.add_actor(vehicle00, "Car")
-        self.add_actor(vehicle01, "Car")
-        self.add_actor(vehicle02, "Car")
-
-        self.wait(1)
-
-
-
-class CarBikeCollision(Scenario):
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        super().init_scene(prefix, settings, spectator_tr)
-
-        blueprint_library = self.world.get_blueprint_library()
-
-        car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
-        car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
-
-        bike_tr = carla.Transform(carla.Location(85, -245, 0.04), carla.Rotation(yaw=-90))
-        bike = self.world.spawn_actor(blueprint_library.filter("*gazelle*")[0], bike_tr)
-        self.wait(1)
-
-        car.set_target_velocity(carla.Vector3D(+30, 0, 0))
-        bike.set_target_velocity(carla.Vector3D(0, -12, 0))
-
-        self.add_actor(car, "Car")
-        self.add_actor(bike, "Bike")
-
-        self.wait(1)
-
-
-
-class CarWalkerCollision(Scenario):
-    def init_scene(self, prefix, settings = None, spectator_tr = None):
-        super().init_scene(prefix, settings, spectator_tr)
-
-        blueprint_library = self.world.get_blueprint_library()
-
-        car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
-        car = self.world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
-
-        walker_tr = carla.Transform(carla.Location(85, -255, 1.00), carla.Rotation(yaw=-90))
-        walker_bp = blueprint_library.filter("walker.pedestrian.0007")[0]
-        if walker_bp.has_attribute('is_invincible'):
-            walker_bp.set_attribute('is_invincible', 'false')
-        walker = self.world.spawn_actor(walker_bp, walker_tr)
-
-        self.wait(1)
-
-        car.set_target_velocity(carla.Vector3D(+20, 0, 0))
-        walker.set_simulate_physics(True)
-        self.add_actor(car, "Car")
-        self.add_actor(walker, "Walker")
-
-        self.wait(1)
-
-
-
-class CollisionScenarioTester():
-    def __init__(self, scene, output_path):
-        self.scene = scene
-        self.world = self.scene.world
-        self.client = self.scene.client
-        self.scenario_name = self.scene.__class__.__name__
-        self.output_path = output_path
-
-    def compare_files(self, file_i, file_j):
-        check_ij = filecmp.cmp(file_i, file_j)
-
-        if check_ij:
-            return True
-
-        data_i = np.loadtxt(file_i)
-        data_j = np.loadtxt(file_j)
-
-        max_error = np.amax(np.abs(data_i-data_j))
-
-        return max_error < 0.01
-
-    def check_simulations(self, rep_prefixes, gen_prefix):
-        repetitions = len(rep_prefixes)
-        mat_check = np.zeros((repetitions, repetitions), int)
-
-        for i in range(0, repetitions):
-            mat_check[i][i] = 1
-            for j in range(0, i):
-                sim_check = True
-                for actor in self.scene.actor_list:
-                    actor_id = actor[0]
-                    file_i = self.scene.get_filename_with_prefix(rep_prefixes[i], actor_id)
-                    file_j = self.scene.get_filename_with_prefix(rep_prefixes[j], actor_id)
-
-                    check_ij = self.compare_files(file_i, file_j)
-                    sim_check = sim_check and check_ij
-                mat_check[i][j] = int(sim_check)
-                mat_check[j][i] = int(sim_check)
-
-        determinism = np.sum(mat_check,axis=1)
-        #max_rep_equal = np.amax(determinism)
-        max_rep_equal_idx = np.argmax(determinism)
-        min_rep_equal_idx = np.argmin(determinism)
-
-        determinism_set = list(set(determinism))
-        determinism_set.sort(reverse=True)
-
-        #print(determinism)
-        #print(np.argmax(determinism))
-        #print(np.argmin(determinism))
-
-        self.save_simulations(rep_prefixes, gen_prefix, max_rep_equal_idx, min_rep_equal_idx)
-
-        return determinism_set
-
-    def save_simulations(self, rep_prefixes, prefix, max_idx, min_idx):
-        for actor in self.scene.actor_list:
-            actor_id = actor[0]
-            reference_id = "reference_" + actor_id
-            file_repetition = self.scene.get_filename_with_prefix(rep_prefixes[max_idx], actor_id)
-            file_reference  = self.scene.get_filename_with_prefix(prefix, reference_id)
-
-            shutil.copyfile(file_repetition, file_reference)
-
-        if min_idx != max_idx:
-            for actor in self.scene.actor_list:
-                actor_id = actor[0]
-                failed_id = "failed_" + actor_id
-                file_repetition = self.scene.get_filename_with_prefix(rep_prefixes[min_idx], actor_id)
-                file_failed     = self.scene.get_filename_with_prefix(prefix, failed_id)
-
-                shutil.copyfile(file_repetition, file_failed)
-
-        for r_prefix in rep_prefixes:
-            for actor in self.scene.actor_list:
-                actor_id = actor[0]
-                file_repetition = self.scene.get_filename_with_prefix(r_prefix, actor_id)
-
-                os.remove(file_repetition)
-
-    def test_scenario(self, fps=20, fps_phys=100, repetitions = 1, sim_tics = 100):
-        output_str = "Testing Determinism in %s for %3d render FPS and %3d physics FPS -> " % (self.scenario_name, fps, fps_phys)
-
-        # Creating run features: prefix, settings and spectator options
-        prefix = self.output_path + self.scenario_name + "_" + str(fps) + "_" + str(fps_phys)
-
-        config_settings = self.world.get_settings()
-        config_settings.synchronous_mode = True
-        config_settings.fixed_delta_seconds = 1.0/fps
-        config_settings.substepping = True
-        config_settings.max_substep_delta_time = 1.0/fps_phys
-        config_settings.max_substeps = 16
-
-        spectator_tr = carla.Transform(carla.Location(120, -256, 10), carla.Rotation(yaw=180))
-
-        t_comp = 0
-        sim_prefixes = []
-        for i in range(0, repetitions):
-            prefix_rep = prefix + "_rep" + str(i)
-            t_comp += self.scene.run_simulation(prefix_rep, config_settings, spectator_tr, tics=sim_tics)
-            sim_prefixes.append(prefix_rep)
-
-        determ_repet = self.check_simulations(sim_prefixes, prefix)
-        output_str += "Deterministic Repetitions: %r / %2d" % (determ_repet, repetitions)
-        output_str += "  -> Comp. Time per frame: %.0f" % (t_comp/repetitions*sim_tics)
-
-        if determ_repet[0] != repetitions:
-            print("Error!!! Scenario %s is not deterministic: %d / %d" % (self.scenario_name, determ_repet[0], repetitions))
-
-        return output_str
-
-
-
-def main(arg):
-    """Main function of the script"""
-    client = carla.Client(arg.host, arg.port)
-    client.set_timeout(30.0)
-    world = client.get_world()
-    pre_settings = world.get_settings()
-    world = client.load_world("Town03")
-
-    spectator_transform = carla.Transform(carla.Location(120, -256, 5), carla.Rotation(yaw=180))
-    spectator_transform.location.z += 5
-    spectator = world.get_spectator()
-    spectator.set_transform(spectator_transform)
-
-    try:
-        # Setting output temporal folder
-        output_path = os.path.dirname(os.path.realpath(__file__))
-        output_path = os.path.join(output_path, "_collisions") + os.path.sep
-        if not os.path.exists(output_path):
-            os.mkdir(output_path)
-
-
-        test_list = [
-            CollisionScenarioTester(TwoSpawnedCars(client, world, True), output_path),
-            CollisionScenarioTester(TwoCarsSlowSpeedCollision(client, world, True), output_path),
-            CollisionScenarioTester(TwoCarsHighSpeedCollision(client, world, True), output_path),
-            CollisionScenarioTester(CarBikeCollision(client, world, True), output_path),
-            CollisionScenarioTester(CarWalkerCollision(client, world, True), output_path),
-            CollisionScenarioTester(ThreeCarsSlowSpeedCollision(client, world, True), output_path),
-            CollisionScenarioTester(ThreeCarsHighSpeedCollision(client, world, True), output_path),
-        ]
-
-        repetitions = 10
-        for item in test_list:
-            print("--------------------------------------------------------------")
-            #item.test_scenario(20,  20, repetitions)
-            #item.test_scenario(20,  40, repetitions)
-            #item.test_scenario(20,  60, repetitions)
-            #item.test_scenario(20,  80, repetitions)
-            out = item.test_scenario(20, 100, repetitions)
-            print(out)
-
-        print("--------------------------------------------------------------")
-
-        # Remove all the output files
-        #shutil.rmtree(path)
-
-
-    finally:
-        world.apply_settings(pre_settings)
-
-
-
-if __name__ == "__main__":
-
-    argparser = argparse.ArgumentParser(
-        description=__doc__)
-    argparser.add_argument(
-        '--host',
-        metavar='H',
-        default='localhost',
-        help='IP of the host CARLA Simulator (default: localhost)')
-    argparser.add_argument(
-        '-p', '--port',
-        metavar='P',
-        default=2000,
-        type=int,
-        help='TCP port of CARLA Simulator (default: 2000)')
-    argparser.add_argument(
-        '--filter',
-        metavar='PATTERN',
-        default='model3',
-        help='actor filter (default: "vehicle.*")')
-#    argparser.add_argument(
-#        '-fps', '--fps',
-#        metavar='FPS',
-#        default=20,
-#        type=int,
-#        help='Frames per simulatation second (default: 20)')
-#    argparser.add_argument(
-#        '-phys_fps', '--phys_fps',
-#        metavar='PHYSFPS',
-#        default=100,
-#        type=int,
-#        help='Target physical frames per simulatation second, it will \
-#            divide the dt in substeps if required to get more precision.  (default: 100)')
-    args = argparser.parse_args()
-
-    try:
-        main(args)
-    except KeyboardInterrupt:
-        print(' - Exited by user.')

PythonAPI/util/check_lidar_bb.py

@@ -1,370 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma de
-# Barcelona (UAB).
-#
-# This work is licensed under the terms of the MIT license.
-# For a copy, see <https://opensource.org/licenses/MIT>.
-
-"""
-
-Lidar/BB check for CARLA
-This script obtains the LiDAR's point cloud corresponding to all the vehicles
-of the scene and make sure that they are inside the bounding box of the 
-corresponding actor.
-This is done in a predefined route in Town03 with a high speed and several agressive 
-turns.
-
-In a nutshell, the script have a queue that is filled in each frame with a lidar point 
-cloud and an structure for storing the Bounding Boxes. This last one is emulated as a 
-sensor filling the queue in the on_tick callback of the carla.world. In this way, we make
-sure that we are correctly syncronizing the lidar point cloud and BB/actor transformations.
-Then, we select the points corresponding to each actor (car) in the scene and check they
-are inside the bounding boxes of that actor, all in each vehicle frame of reference.
-
-Important Data structure description:
-  + Lidar data structure: four element tuple with:
-      - [0] Frame
-      - [1] Sensor name: 'semlidar'
-      - [2] Point cloud in the form of a numpy dictionary with all semantic lidar information
-      - [3] Global transformation of the sensor
-  + Bounding box data structure: four element tuple with:
-      - [0] Frame
-      - [1] Sensor name: 'bb'
-      - [2] List of actor information: each a tuple with:
-            - [0] Actor id
-            - [1] Actor type (blueprint's name)
-            - [0] Actor's global transformation
-            - [0] Actor's bounding box
- + ActorTrace class: Takes the Lidar data structure and one actor information and
-    check if all the data points related with this actor are inside its BB.
-    This is done in the local coordinate frame of the actor and should be done like:
-        trace = ActorTrace(actor_info, lidar_data)
-        trace.process()
-        trace.check_lidar_data()
-
-
-"""
-
-import glob
-import os
-import sys
-import numpy as np
-from queue import Queue
-from queue import Empty
-
-try:
-    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
-        sys.version_info.major,
-        sys.version_info.minor,
-        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
-except IndexError:
-    pass
-
-import carla
-
-
-class ActorTrace(object):
-    """Class that store and process information about an actor at certain moment."""
-    def __init__(self, actor, lidar):
-        self.set_lidar(lidar)
-        self.set_actor(actor)
-        self._lidar_pc_local = np.array([])
-        self._bb_vertices = np.array([])
-        self._bb_minlimits = [0, 0, 0]
-        self._bb_maxlimits = [0, 0, 0]
-
-    def set_lidar(self, lidar):
-        self._frame = lidar[0]
-        self._lidar_data = lidar[2]
-        self._lidar_transf = lidar[3]
-
-    def set_actor(self, actor):
-        self._actor_id = actor[0]
-        self._actor_type = actor[1]
-        self._actor_transf = actor[2]
-        self._actor_bb = actor[3]
-
-    def process(self):
-        # Filter lidar points that correspond to my actor id
-        data_actor = self._lidar_data[self._lidar_data['ObjIdx'] == self._actor_id]
-
-        # Take the xyz point cloud data and transform it to actor's frame
-        points = np.array([data_actor['x'], data_actor['y'], data_actor['z']]).T
-        points = np.append(points, np.ones((points.shape[0], 1)), axis=1)
-        points = np.dot(self._lidar_transf.get_matrix(), points.T).T         # sensor -> world
-        points = np.dot(self._actor_transf.get_inverse_matrix(), points.T).T # world -> actor
-        points = points[:, :-1]
-
-        # Saving the points in 'local' coordinates
-        self._lidar_pc_local = points
-
-        # We compute the limits in the local frame of reference using the
-        # vertices of the bounding box
-        vertices = self._actor_bb.get_local_vertices()
-        ver_py = []
-        for v in vertices:
-            ver_py.append([v.x, v.y, v.z])
-        ver_np = np.array(ver_py)
-
-        self._bb_vertices = ver_np
-
-        self._bb_minlimits = ver_np.min(axis=0) - 0.001
-        self._bb_maxlimits = ver_np.max(axis=0) + 0.001
-
-    def print(self, print_if_empty = False):
-        if self._lidar_pc_local.shape[0] > 0 or print_if_empty:
-            np.savetxt("veh_data_%d_%s_%d.out" % (self._frame, self._actor_type, self._actor_id), self._lidar_pc_local)
-            np.savetxt("bb_data_%d_%s_%d.out"  % (self._frame, self._actor_type, self._actor_id), self._bb_vertices)
-
-    def lidar_is_outside_bb(self, check_axis = [True, True, True]):
-        lidar_pc = self._lidar_pc_local
-
-        if check_axis[0]:
-            xmin = self._bb_minlimits[0]
-            xmax = self._bb_maxlimits[0]
-            out = np.any((lidar_pc[:,0] > xmax) | (lidar_pc[:,0] < xmin))
-            if out:
-                print("Problem with x axis")
-                return True
-
-        if check_axis[1]:
-            ymin = self._bb_minlimits[1]
-            ymax = self._bb_maxlimits[1]
-            out = np.any((lidar_pc[:, 1] > ymax) | (lidar_pc[:, 1] < ymin))
-            if out:
-                print("Problem with y axis")
-                return True
-
-        if check_axis[2]:
-            zmin = self._bb_minlimits[2]
-            zmax = self._bb_maxlimits[2]
-            out = np.any((lidar_pc[:, 2] > zmax) | (lidar_pc[:, 2] < zmin))
-            if out:
-                print("Problem with z axis")
-                return True
-
-        return False
-    
-    def check_lidar_data(self):
-        if self.lidar_is_outside_bb():
-            print("Error!!! Points of lidar point cloud are outside its BB for car %d: %s " % (self._actor_id, self._actor_type))
-            self.print()
-            return False
-        else:
-            return True
-
-def wait(world, frames=100, queue = None, slist = None):
-    for i in range(0, frames):
-        world.tick()
-
-        if queue != None and slist != None:
-            try:
-                for _i in range (0, len(slist)):
-                    s_frame = queue.get(True, 1.0)
-            except Empty:
-                print("    Some of the sensor information is missed")
-
-# Sensor callback.
-# This is where you receive the sensor data and 
-# process it as you liked and the important part is that,
-# at the end, it should include an element into the sensor queue.
-def lidar_callback(sensor_data, sensor_queue, sensor_name):
-    sensor_pc_local = np.frombuffer(sensor_data.raw_data, dtype=np.dtype([
-        ('x', np.float32), ('y', np.float32), ('z', np.float32),
-        ('CosAngle', np.float32), ('ObjIdx', np.uint32), ('ObjTag', np.uint32)]))
-    sensor_transf = sensor_data.transform
-    sensor_queue.put((sensor_data.frame, sensor_name, sensor_pc_local, sensor_transf))
-
-def bb_callback(snapshot, world, sensor_queue, sensor_name):
-    data_array = []
-
-    vehicles = world.get_actors().filter('vehicle.*')
-    for actor in vehicles:
-        data_array.append((actor.id, actor.type_id, actor.get_transform(), actor.bounding_box))
-
-    sensor_queue.put((snapshot.frame, sensor_name, data_array))
-
-def move_spectator(world, actor):
-    actor_tr = actor.get_transform()
-    spectator_transform = carla.Transform(actor_tr.location, actor_tr.rotation)
-    spectator_transform.location -= actor_tr.get_forward_vector() * 5
-    spectator_transform.location -= actor_tr.get_up_vector() * 3
-    spectator = world.get_spectator()
-    spectator.set_transform(spectator_transform)
-
-def world_callback(snapshot, world, sensor_queue, sensor_name, actor):
-    move_spectator(world, actor)
-    bb_callback(snapshot, world, sensor_queue, sensor_name)
-
-def process_sensors(w_frame, sensor_queue, sensor_number):
-    if sensor_number != 2:
-        print("Error!!! Sensor number should be two")
-
-    sl_data = None
-    bb_data = None
-
-    try:
-        for i in range (0, sensor_number):
-            s_frame = sensor_queue.get(True, 1.0)
-            while s_frame[0] != w_frame:
-                print("Warning! Missmatch for sensor %s in the frame timestamp (w: %d, s: %d)" % (s_frame[1], w_frame, s_frame[0]))
-                print("This could be due to accumulated data for previous steps")
-                s_frame = sensor_queue.get(True, 1.0)
-
-            if s_frame[1] == "semlidar":
-                sl_data = s_frame
-            elif s_frame[1] == "bb":
-                bb_data = s_frame
-            #print("    Frame: %d   Sensor: %s Len: %d " % (s_frame[0], s_frame[1], len(s_frame[2])))
-    except Empty:
-        print("Error!!! The needeinformation is not here!!!")
-        return
-
-    if sl_data == None or bb_data == None:
-        print("Error!!! Missmatch for sensor %s in the frame timestamp (w: %d, s: %d)" % (s_frame[1], w_frame, s_frame[0]))
-
-    for actor_data in bb_data[2]:
-        trace_vehicle = ActorTrace(actor_data, sl_data)
-        trace_vehicle.process()
-        trace_vehicle.check_lidar_data()
-
-class SpawnCar(object):
-    def __init__(self, location, rotation, filter="vehicle.*", autopilot = False, velocity = None):
-        self._filter = filter
-        self._transform = carla.Transform(location, rotation)
-        self._autopilot = autopilot
-        self._velocity = velocity
-        self._actor = None
-        self._world = None
-    
-    def spawn(self, world):
-        self._world = world
-        actor_BP = world.get_blueprint_library().filter(self._filter)[0]
-        self._actor = world.spawn_actor(actor_BP, self._transform)
-        self._actor.set_autopilot(True)
-
-        return self._actor
-
-    def destroy(self):
-        if self._actor != None:
-            self._actor.destroy()
-
-
-CarPropList = [
-    SpawnCar(carla.Location(x=83,  y= -40, z=5),  carla.Rotation(yaw=-90),  filter= "mkz_2017", autopilot=True),
-    SpawnCar(carla.Location(x=83,  y= -30, z=3),  carla.Rotation(yaw=-90),  filter= "ambulance", autopilot=True),
-    SpawnCar(carla.Location(x=83,  y= -20, z=3),  carla.Rotation(yaw=-90),  filter= "etron", autopilot=True),
-    SpawnCar(carla.Location(x=120, y= -3.5, z=2), carla.Rotation(yaw=+180), filter= "microlino", autopilot=True),
-    SpawnCar(carla.Location(x=100, y= -3.5, z=2), carla.Rotation(yaw=+180), filter= "coupe_2020", autopilot=True),
-    SpawnCar(carla.Location(x=140, y= -3.5, z=2), carla.Rotation(yaw=+180), filter= "model3", autopilot=True),
-    SpawnCar(carla.Location(x=160, y= -3.5, z=2), carla.Rotation(yaw=+180), filter= "impala", autopilot=False),
-    SpawnCar(carla.Location(x=180, y= -3.5, z=2), carla.Rotation(yaw=+180), filter= "a2", autopilot=True),
-    SpawnCar(carla.Location(x=60,  y= +6, z=2),   carla.Rotation(yaw=+00),  filter= "sprinter", autopilot=True),
-    SpawnCar(carla.Location(x=80,  y= +6, z=2),   carla.Rotation(yaw=+00),  filter= "t2", autopilot=True),
-    SpawnCar(carla.Location(x=100, y= +6, z=2),   carla.Rotation(yaw=+00),  filter= "mustang", autopilot=True),
-    SpawnCar(carla.Location(x=120, y= +6, z=2),   carla.Rotation(yaw=+00),  filter= "patrol_2021", autopilot=True),
-    SpawnCar(carla.Location(x=140, y= +6, z=2),   carla.Rotation(yaw=+00),  filter= "impala", autopilot=True),
-    SpawnCar(carla.Location(x=160, y= +6, z=2),   carla.Rotation(yaw=+00),  filter= "prius", autopilot=True),
-    SpawnCar(carla.Location(x=234, y= +20,z=2),   carla.Rotation(yaw=+90),  filter= "charger_police_2020", autopilot=True),
-    SpawnCar(carla.Location(x=234, y= +40,z=2),   carla.Rotation(yaw=+90),  filter= "microlino", autopilot=True),
-    SpawnCar(carla.Location(x=234, y= +80,z=2),   carla.Rotation(yaw=+90),  filter= "tt", autopilot=True),
-    SpawnCar(carla.Location(x=243, y= -40,z=2),   carla.Rotation(yaw=-90),  filter= "etron", autopilot=True),
-    SpawnCar(carla.Location(x=243, y= -20,z=2),   carla.Rotation(yaw=-90),  filter= "mkz_2017", autopilot=True),
-    SpawnCar(carla.Location(x=243, y= +00,z=2),   carla.Rotation(yaw=-90),  filter= "mustang", autopilot=True),
-    SpawnCar(carla.Location(x=243, y= +20,z=2),   carla.Rotation(yaw=-90),  filter= "cooper_s_2021", autopilot=True),
-    SpawnCar(carla.Location(x=243, y= +40,z=2),   carla.Rotation(yaw=-90),  filter= "charger_2020", autopilot=True),
-    SpawnCar(carla.Location(x=243, y= +60,z=2),   carla.Rotation(yaw=-90),  filter= "mkz_2020", autopilot=True),
-    SpawnCar(carla.Location(x=243, y= +80,z=2),   carla.Rotation(yaw=-90),  filter= "tt", autopilot=True),
-    SpawnCar(carla.Location(x=243, y=+100,z=2),   carla.Rotation(yaw=-90),  filter= "a2", autopilot=True),
-    SpawnCar(carla.Location(x=243, y=+120,z=2),   carla.Rotation(yaw=-90),  filter= "wrangler_rubicon", autopilot=True),
-    SpawnCar(carla.Location(x=243, y=+140,z=2),   carla.Rotation(yaw=-90),  filter= "c3", autopilot=True)
-]
-
-def spawn_prop_vehicles(world):
-    for car in CarPropList:
-        car.spawn(world)
-
-def destroy_prop_vehicles():
-    for car in CarPropList:
-        car.destroy()
-
-
-def main():
-    # We start creating the client
-    client = carla.Client('localhost', 2000)
-    client.set_timeout(2.0)
-    world = client.get_world()
-
-    try:
-        # We need to save the settings to be able to recover them at the end
-        # of the script to leave the server in the same state that we found it.
-        original_settings = world.get_settings()
-        settings = world.get_settings()
-
-        # We set CARLA syncronous mode
-        settings.fixed_delta_seconds = 0.05
-        settings.synchronous_mode = True
-        world.apply_settings(settings)
-
-        traffic_manager = client.get_trafficmanager(8000)
-        traffic_manager.set_synchronous_mode(True)
-
-        # We create the sensor queue in which we keep track of the information
-        # already received. This structure is thread safe and can be
-        # accessed by all the sensors callback concurrently without problem.
-        sensor_queue = Queue()
-
-        # Spawning ego vehicle
-        actor_BP = world.get_blueprint_library().filter("vehicle.lincoln.mkz_2017")[0]
-        car_tr = carla.Transform(carla.Location(x=239, y=125, z=0.9), carla.Rotation(yaw=-88.5))
-        actor = world.spawn_actor(actor_BP, car_tr)
-
-        world.tick()
-        move_spectator(world, actor)
-
-        spawn_prop_vehicles(world)
-
-        wait(world, 10)
-
-        # We create all the sensors and keep them in a list for convenience.
-        sensor_list = []
-
-        lidar_bp = world.get_blueprint_library().find('sensor.lidar.ray_cast_semantic')
-        lidar_bp.set_attribute('channels', '64')
-        lidar_bp.set_attribute('points_per_second', '500000')
-        lidar_bp.set_attribute('range', '300')
-        lidar_bp.set_attribute('upper_fov', '10.0')
-        lidar_bp.set_attribute('lower_fov', '-90.0')
-        lidar_tr = carla.Transform(carla.Location(z=3), carla.Rotation(yaw=0))
-        lidar = world.spawn_actor(lidar_bp, lidar_tr, attach_to=actor)
-        lidar.listen(lambda data: lidar_callback(data, sensor_queue, "semlidar"))
-        world.on_tick(lambda snapshot: world_callback(snapshot, world, sensor_queue, "bb", actor))
-        sensor_list.append(lidar)
-        sensor_list.append(actor) # actor acts as a 'sensor' to simplify bb-lidar data comparison 
-        
-        # Set autopilot for main vehicle
-        actor.enable_constant_velocity(carla.Vector3D(20, 0, 0))
-
-        for _i in range(0, 100):
-            # Tick the server
-            world.tick()
-            w_frame = world.get_snapshot().frame
-            process_sensors(w_frame, sensor_queue, len(sensor_list))
-
-        actor.disable_constant_velocity()
-
-    finally:
-        world.apply_settings(original_settings)
-
-        # Destroy all the actors
-        destroy_prop_vehicles()
-        for sensor in sensor_list:
-            sensor.destroy()
-        
-
-if __name__ == "__main__":
-    try:
-        main()
-    except KeyboardInterrupt:
-        print(' - Exited by user.')