382 lines
14 KiB
Python
Executable File
382 lines
14 KiB
Python
Executable File
#!/usr/bin/env python
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# Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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"""Example script to generate traffic in the simulation"""
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import glob
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import os
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import sys
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import time
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try:
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sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
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sys.version_info.major,
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sys.version_info.minor,
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'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
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except IndexError:
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pass
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import carla
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from carla import VehicleLightState as vls
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import argparse
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import logging
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from numpy import random
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def get_actor_blueprints(world, filter, generation):
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bps = world.get_blueprint_library().filter(filter)
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if generation.lower() == "all":
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return bps
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# If the filter returns only one bp, we assume that this one needed
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# and therefore, we ignore the generation
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if len(bps) == 1:
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return bps
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try:
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int_generation = int(generation)
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# Check if generation is in available generations
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if int_generation in [1, 2, 3]:
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bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
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return bps
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else:
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print(" Warning! Actor Generation is not valid. No actor will be spawned.")
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return []
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except:
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print(" Warning! Actor Generation is not valid. No actor will be spawned.")
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return []
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def main():
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argparser = argparse.ArgumentParser(
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description=__doc__)
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argparser.add_argument(
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'--host',
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metavar='H',
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default='127.0.0.1',
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help='IP of the host server (default: 127.0.0.1)')
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argparser.add_argument(
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'-p', '--port',
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metavar='P',
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default=2000,
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type=int,
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help='TCP port to listen to (default: 2000)')
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argparser.add_argument(
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'-n', '--number-of-vehicles',
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metavar='N',
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default=30,
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type=int,
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help='Number of vehicles (default: 30)')
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argparser.add_argument(
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'-w', '--number-of-walkers',
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metavar='W',
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default=10,
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type=int,
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help='Number of walkers (default: 10)')
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argparser.add_argument(
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'--safe',
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action='store_true',
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help='Avoid spawning vehicles prone to accidents')
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argparser.add_argument(
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'--filterv',
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metavar='PATTERN',
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default='vehicle.*',
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help='Filter vehicle model (default: "vehicle.*")')
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argparser.add_argument(
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'--generationv',
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metavar='G',
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default='All',
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help='restrict to certain vehicle generation (values: "1","2","All" - default: "All")')
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argparser.add_argument(
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'--filterw',
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metavar='PATTERN',
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default='walker.pedestrian.*',
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help='Filter pedestrian type (default: "walker.pedestrian.*")')
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argparser.add_argument(
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'--generationw',
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metavar='G',
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default='2',
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help='restrict to certain pedestrian generation (values: "1","2","All" - default: "2")')
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argparser.add_argument(
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'--tm-port',
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metavar='P',
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default=8000,
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type=int,
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help='Port to communicate with TM (default: 8000)')
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argparser.add_argument(
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'--asynch',
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action='store_true',
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help='Activate asynchronous mode execution')
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argparser.add_argument(
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'--hybrid',
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action='store_true',
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help='Activate hybrid mode for Traffic Manager')
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argparser.add_argument(
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'-s', '--seed',
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metavar='S',
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type=int,
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help='Set random device seed and deterministic mode for Traffic Manager')
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argparser.add_argument(
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'--seedw',
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metavar='S',
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default=0,
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type=int,
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help='Set the seed for pedestrians module')
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argparser.add_argument(
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'--car-lights-on',
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action='store_true',
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default=False,
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help='Enable automatic car light management')
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argparser.add_argument(
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'--hero',
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action='store_true',
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default=False,
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help='Set one of the vehicles as hero')
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argparser.add_argument(
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'--respawn',
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action='store_true',
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default=False,
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help='Automatically respawn dormant vehicles (only in large maps)')
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argparser.add_argument(
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'--no-rendering',
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action='store_true',
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default=False,
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help='Activate no rendering mode')
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args = argparser.parse_args()
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logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
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vehicles_list = []
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walkers_list = []
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all_id = []
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client = carla.Client(args.host, args.port)
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client.set_timeout(10.0)
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synchronous_master = False
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random.seed(args.seed if args.seed is not None else int(time.time()))
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try:
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world = client.get_world()
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traffic_manager = client.get_trafficmanager(args.tm_port)
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traffic_manager.set_global_distance_to_leading_vehicle(2.5)
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if args.respawn:
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traffic_manager.set_respawn_dormant_vehicles(True)
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if args.hybrid:
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traffic_manager.set_hybrid_physics_mode(True)
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traffic_manager.set_hybrid_physics_radius(70.0)
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if args.seed is not None:
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traffic_manager.set_random_device_seed(args.seed)
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settings = world.get_settings()
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if not args.asynch:
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traffic_manager.set_synchronous_mode(True)
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if not settings.synchronous_mode:
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synchronous_master = True
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settings.synchronous_mode = True
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settings.fixed_delta_seconds = 0.05
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else:
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synchronous_master = False
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else:
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print("You are currently in asynchronous mode. If this is a traffic simulation, \
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you could experience some issues. If it's not working correctly, switch to synchronous \
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mode by using traffic_manager.set_synchronous_mode(True)")
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if args.no_rendering:
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settings.no_rendering_mode = True
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world.apply_settings(settings)
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blueprints = get_actor_blueprints(world, args.filterv, args.generationv)
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if not blueprints:
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raise ValueError("Couldn't find any vehicles with the specified filters")
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blueprintsWalkers = get_actor_blueprints(world, args.filterw, args.generationw)
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if not blueprintsWalkers:
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raise ValueError("Couldn't find any walkers with the specified filters")
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if args.safe:
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blueprints = [x for x in blueprints if x.get_attribute('base_type') == 'car']
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blueprints = sorted(blueprints, key=lambda bp: bp.id)
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spawn_points = world.get_map().get_spawn_points()
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number_of_spawn_points = len(spawn_points)
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if args.number_of_vehicles < number_of_spawn_points:
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random.shuffle(spawn_points)
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elif args.number_of_vehicles > number_of_spawn_points:
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msg = 'requested %d vehicles, but could only find %d spawn points'
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logging.warning(msg, args.number_of_vehicles, number_of_spawn_points)
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args.number_of_vehicles = number_of_spawn_points
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# @todo cannot import these directly.
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SpawnActor = carla.command.SpawnActor
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SetAutopilot = carla.command.SetAutopilot
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FutureActor = carla.command.FutureActor
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# --------------
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# Spawn vehicles
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# --------------
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batch = []
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hero = args.hero
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for n, transform in enumerate(spawn_points):
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if n >= args.number_of_vehicles:
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break
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blueprint = random.choice(blueprints)
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if blueprint.has_attribute('color'):
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color = random.choice(blueprint.get_attribute('color').recommended_values)
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blueprint.set_attribute('color', color)
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if blueprint.has_attribute('driver_id'):
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driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
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blueprint.set_attribute('driver_id', driver_id)
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if hero:
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blueprint.set_attribute('role_name', 'hero')
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hero = False
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else:
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blueprint.set_attribute('role_name', 'autopilot')
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# spawn the cars and set their autopilot and light state all together
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batch.append(SpawnActor(blueprint, transform)
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.then(SetAutopilot(FutureActor, True, traffic_manager.get_port())))
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for response in client.apply_batch_sync(batch, synchronous_master):
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if response.error:
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logging.error(response.error)
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else:
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vehicles_list.append(response.actor_id)
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# Set automatic vehicle lights update if specified
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if args.car_lights_on:
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all_vehicle_actors = world.get_actors(vehicles_list)
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for actor in all_vehicle_actors:
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traffic_manager.update_vehicle_lights(actor, True)
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# -------------
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# Spawn Walkers
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# -------------
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# some settings
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percentagePedestriansRunning = 0.0 # how many pedestrians will run
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percentagePedestriansCrossing = 0.0 # how many pedestrians will walk through the road
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if args.seedw:
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world.set_pedestrians_seed(args.seedw)
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random.seed(args.seedw)
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# 1. take all the random locations to spawn
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spawn_points = []
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for i in range(args.number_of_walkers):
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spawn_point = carla.Transform()
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loc = world.get_random_location_from_navigation()
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if (loc != None):
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spawn_point.location = loc
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spawn_points.append(spawn_point)
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# 2. we spawn the walker object
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batch = []
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walker_speed = []
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for spawn_point in spawn_points:
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walker_bp = random.choice(blueprintsWalkers)
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# set as not invincible
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probability = random.randint(0,100 + 1);
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if walker_bp.has_attribute('is_invincible'):
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walker_bp.set_attribute('is_invincible', 'false')
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if walker_bp.has_attribute('can_use_wheelchair') and probability < 11:
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walker_bp.set_attribute('use_wheelchair', 'true')
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# set the max speed
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if walker_bp.has_attribute('speed'):
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if (random.random() > percentagePedestriansRunning):
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# walking
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walker_speed.append(walker_bp.get_attribute('speed').recommended_values[1])
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else:
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# running
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walker_speed.append(walker_bp.get_attribute('speed').recommended_values[2])
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else:
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print("Walker has no speed")
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walker_speed.append(0.0)
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batch.append(SpawnActor(walker_bp, spawn_point))
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results = client.apply_batch_sync(batch, True)
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walker_speed2 = []
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for i in range(len(results)):
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if results[i].error:
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logging.error(results[i].error)
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else:
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walkers_list.append({"id": results[i].actor_id})
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walker_speed2.append(walker_speed[i])
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walker_speed = walker_speed2
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# 3. we spawn the walker controller
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batch = []
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walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
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for i in range(len(walkers_list)):
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batch.append(SpawnActor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"]))
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results = client.apply_batch_sync(batch, True)
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for i in range(len(results)):
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if results[i].error:
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logging.error(results[i].error)
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else:
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walkers_list[i]["con"] = results[i].actor_id
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# 4. we put together the walkers and controllers id to get the objects from their id
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for i in range(len(walkers_list)):
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all_id.append(walkers_list[i]["con"])
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all_id.append(walkers_list[i]["id"])
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all_actors = world.get_actors(all_id)
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# wait for a tick to ensure client receives the last transform of the walkers we have just created
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if args.asynch or not synchronous_master:
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world.wait_for_tick()
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else:
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world.tick()
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# 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
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# set how many pedestrians can cross the road
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world.set_pedestrians_cross_factor(percentagePedestriansCrossing)
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for i in range(0, len(all_id), 2):
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# start walker
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all_actors[i].start()
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# set walk to random point
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all_actors[i].go_to_location(world.get_random_location_from_navigation())
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# max speed
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all_actors[i].set_max_speed(float(walker_speed[int(i/2)]))
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print('spawned %d vehicles and %d walkers, press Ctrl+C to exit.' % (len(vehicles_list), len(walkers_list)))
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# Example of how to use Traffic Manager parameters
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traffic_manager.global_percentage_speed_difference(30.0)
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while True:
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if not args.asynch and synchronous_master:
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world.tick()
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else:
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world.wait_for_tick()
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finally:
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if not args.asynch and synchronous_master:
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settings = world.get_settings()
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settings.synchronous_mode = False
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settings.no_rendering_mode = False
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settings.fixed_delta_seconds = None
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world.apply_settings(settings)
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print('\ndestroying %d vehicles' % len(vehicles_list))
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client.apply_batch([carla.command.DestroyActor(x) for x in vehicles_list])
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# stop walker controllers (list is [controller, actor, controller, actor ...])
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for i in range(0, len(all_id), 2):
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all_actors[i].stop()
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print('\ndestroying %d walkers' % len(walkers_list))
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client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
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time.sleep(0.5)
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if __name__ == '__main__':
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try:
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main()
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except KeyboardInterrupt:
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pass
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finally:
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print('\ndone.')
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