#!/usr/bin/env python """ Script to control weather parameters in simulations """ import glob import os import sys import argparse 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 SUN_PRESETS = { 'day': (60.0, 0.0), 'night': (-90.0, 0.0), 'sunset': (0.5, 180.0)} WEATHER_PRESETS = { 'clear': [10.0, 0.0, 0.0, 5.0, 0.0, 0.0, 0.2, 0.0], 'overcast': [80.0, 0.0, 0.0, 50.0, 2.0, 0.0, 0.9, 10.0], 'rain': [100.0, 80.0, 90.0, 100.0, 20.0, 0.0, 0.9, 100.0]} CAR_LIGHTS = { 'None' : [carla.VehicleLightState.NONE], 'Position' : [carla.VehicleLightState.Position], 'LowBeam' : [carla.VehicleLightState.LowBeam], 'HighBeam' : [carla.VehicleLightState.HighBeam], 'Brake' : [carla.VehicleLightState.Brake], 'RightBlinker' : [carla.VehicleLightState.RightBlinker], 'LeftBlinker' : [carla.VehicleLightState.LeftBlinker], 'Reverse' : [carla.VehicleLightState.Reverse], 'Fog' : [carla.VehicleLightState.Fog], 'Interior' : [carla.VehicleLightState.Interior], 'Special1' : [carla.VehicleLightState.Special1], 'Special2' : [carla.VehicleLightState.Special2], 'All' : [carla.VehicleLightState.All]} LIGHT_GROUP = { 'None' : [carla.LightGroup.NONE], # 'Vehicle' : [carla.LightGroup.Vehicle], 'Street' : [carla.LightGroup.Street], 'Building' : [carla.LightGroup.Building], 'Other' : [carla.LightGroup.Other]} def apply_sun_presets(args, weather): """Uses sun presets to set the sun position""" if args.sun is not None: if args.sun in SUN_PRESETS: weather.sun_altitude_angle = SUN_PRESETS[args.sun][0] weather.sun_azimuth_angle = SUN_PRESETS[args.sun][1] else: print("[ERROR]: Command [--sun | -s] '" + args.sun + "' not known") sys.exit(1) def apply_weather_presets(args, weather): """Uses weather presets to set the weather parameters""" if args.weather is not None: if args.weather in WEATHER_PRESETS: weather.cloudiness = WEATHER_PRESETS[args.weather][0] weather.precipitation = WEATHER_PRESETS[args.weather][1] weather.precipitation_deposits = WEATHER_PRESETS[args.weather][2] weather.wind_intensity = WEATHER_PRESETS[args.weather][3] weather.fog_density = WEATHER_PRESETS[args.weather][4] weather.fog_distance = WEATHER_PRESETS[args.weather][5] weather.fog_falloff = WEATHER_PRESETS[args.weather][6] weather.wetness = WEATHER_PRESETS[args.weather][7] else: print("[ERROR]: Command [--weather | -w] '" + args.weather + "' not known") sys.exit(1) def apply_weather_values(args, weather): """Set weather values individually""" if args.azimuth is not None: weather.sun_azimuth_angle = args.azimuth if args.altitude is not None: weather.sun_altitude_angle = args.altitude if args.clouds is not None: weather.cloudiness = args.clouds if args.rain is not None: weather.precipitation = args.rain if args.puddles is not None: weather.precipitation_deposits = args.puddles if args.wind is not None: weather.wind_intensity = args.wind if args.fog is not None: weather.fog_density = args.fog if args.fogdist is not None: weather.fog_distance = args.fogdist if args.fogfalloff is not None: weather.fog_falloff = args.fogfalloff if args.wetness is not None: weather.wetness = args.wetness def apply_lights_to_cars(args, world): if args.cars is None: return light_mask = carla.VehicleLightState.NONE for option in args.cars: light_mask |= CAR_LIGHTS[option][0] # Get all cars in level all_vehicles = world.get_actors() for ve in all_vehicles: if "vehicle." in ve.type_id: ve.set_light_state(carla.VehicleLightState(light_mask)) def apply_lights_manager(args, light_manager): if args.lights is None: return light_group = 'None' if args.lightgroup is not None: light_group = args.lightgroup # filter by group lights = light_manager.get_all_lights(LIGHT_GROUP[light_group][0]) # light_group i = 0 while (i < len(args.lights)): option = args.lights[i] if option == "on": light_manager.turn_on(lights) elif option == "off": light_manager.turn_off(lights) elif option == "intensity": light_manager.set_intensity(lights, int(args.lights[i + 1])) i += 1 elif option == "color": r = int(args.lights[i + 1]) g = int(args.lights[i + 2]) b = int(args.lights[i + 3]) light_manager.set_color(lights, carla.Color(r, g, b)) i += 3 i += 1 def main(): """Start function""" 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( '--sun', default=None, type=str, help='Sun position presets [' + ' | '.join([i for i in SUN_PRESETS]) + ']') argparser.add_argument( '--weather', default=None, type=str, help='Weather condition presets [' + ' | '.join([i for i in WEATHER_PRESETS]) + ']') argparser.add_argument( '--altitude', '-alt', metavar='A', default=None, type=float, help='Sun altitude [-90.0, 90.0]') argparser.add_argument( '--azimuth', '-azm', metavar='A', default=None, type=float, help='Sun azimuth [0.0, 360.0]') argparser.add_argument( '--clouds', '-c', metavar='C', default=None, type=float, help='Clouds amount [0.0, 100.0]') argparser.add_argument( '--rain', '-r', metavar='R', default=None, type=float, help='Rain amount [0.0, 100.0]') argparser.add_argument( '--puddles', '-pd', metavar='Pd', default=None, type=float, help='Puddles amount [0.0, 100.0]') argparser.add_argument( '--wind', '-w', metavar='W', default=None, type=float, help='Wind intensity [0.0, 100.0]') argparser.add_argument( '--fog', '-f', metavar='F', default=None, type=float, help='Fog intensity [0.0, 100.0]') argparser.add_argument( '--fogdist', '-fd', metavar='Fd', default=None, type=float, help='Fog Distance [0.0, 100.0)') argparser.add_argument( '--fogfalloff', '-fo', metavar='Fo', default=None, type=float, help='Fog Falloff [0.0, inf)') argparser.add_argument( '--wetness', '-wet', metavar='Wet', default=None, type=float, help='Wetness intensity [0.0, 100.0]') argparser.add_argument( '--cars', metavar='Cars', default=None, type=str, nargs='+', help='Light Cars [' + ' | '.join([i for i in CAR_LIGHTS]) + ']') argparser.add_argument( '--lights', '-l', metavar='Lights', default=None, type=str, nargs='+', help='Street Lights []') argparser.add_argument( '--lightgroup', '-lg', metavar='LightGroup', default=None, type=str, help='Light Group [' + ' | '.join([i for i in LIGHT_GROUP]) + ']') args = argparser.parse_args() # since all the arguments are None by default # (except for the first 2, host and port) # we can check if all the arguments have been provided arg_values = [v for _, v in args.__dict__.items()][2:] if all(i is (None and False) for i in arg_values): argparser.error('No arguments provided.') client = carla.Client(args.host, args.port) client.set_timeout(2.0) world = client.get_world() weather = world.get_weather() # apply presets apply_sun_presets(args, weather) apply_weather_presets(args, weather) # apply weather values individually apply_weather_values(args, weather) world.set_weather(weather) # apply car light changes apply_lights_to_cars(args, world) apply_lights_manager(args, world.get_lightmanager()) world.wait_for_tick() if __name__ == '__main__': main()