240 lines
8.8 KiB
YAML
240 lines
8.8 KiB
YAML
---
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- module_name: carla
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doc: >
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# - CLASSES ------------------------------
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classes:
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- class_name: Client
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# - DESCRIPTION ------------------------
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doc: >
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Client used to connect to a Carla server
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# - PROPERTIES -------------------------
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instance_variables:
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# - METHODS ----------------------------
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methods:
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- def_name: __init__
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params:
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- param_name: host
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type: str
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doc: >
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IP address where a CARLA Simulator instance is running
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- param_name: port
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type: int
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doc: >
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TCP port where the CARLA Simulator instance is running
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- param_name: worker_threads
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type: int
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default: 0
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doc: >
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Number of working threads used for background updates. If 0, use all
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available concurrency.
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doc: >
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Client constructor
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# --------------------------------------
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- def_name: set_timeout
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params:
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- param_name: seconds
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type: float
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doc: >
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New timeout value in seconds
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doc: >
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Set the timeout in seconds allowed to block when doing networking calls
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# --------------------------------------
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- def_name: get_client_version
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params:
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return: str
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doc: >
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Get the client version as a string
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# --------------------------------------
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- def_name: get_server_version
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params:
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return: str
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doc: >
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Get the server version as a string
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# --------------------------------------
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- def_name: get_world
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params:
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return: carla.World
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doc: >
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Get the world currently active in the simulation
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# --------------------------------------
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- def_name: get_available_maps
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params:
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return: list(str)
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doc: >
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Get a list of strings of the maps available on server. The result can be something like:
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'/Game/Carla/Maps/Town01'
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'/Game/Carla/Maps/Town02'
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'/Game/Carla/Maps/Town03'
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'/Game/Carla/Maps/Town04'
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'/Game/Carla/Maps/Town05'
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'/Game/Carla/Maps/Town06'
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'/Game/Carla/Maps/Town07'
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# --------------------------------------
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- def_name: reload_world
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params:
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raises: RuntimeError
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doc: >
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Reload the current world, note that a new world is created with default
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settings using the same map. All actors present in the world will be
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destroyed.
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# --------------------------------------
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- def_name: load_world
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params:
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- param_name: map_name
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type: str
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doc: >
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Name of the map to load, accepts both full paths and map names, e.g.
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'/Game/Carla/Maps/Town01' or 'Town01'.
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doc: >
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Load a new world with default settings using `map_name` map. All actors
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present in the current world will be destroyed.
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# --------------------------------------
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- def_name: start_recorder
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params:
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- param_name: filename
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type: str
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doc: >
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Name of the file to write the recorded data
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doc: >
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If we use a simple name like 'recording.log' then it will be saved at server folder 'CarlaUE4/Saved/recording.log'.
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If we use some folder in the name, then it will be considered to be an absolute path, like '/home/carla/recording.log'.
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# --------------------------------------
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- def_name: stop_recorder
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params:
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doc: >
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Stops the recording in progress.
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# --------------------------------------
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- def_name: show_recorder_file_info
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params:
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- param_name: filename
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type: str
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doc: >
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Name of the recorded file to load
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- param_name: show_all
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type: bool
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doc: >
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Show all detailed info, or just a summary
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doc: >
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Will show info about the recorded file (frames, times, events, state, positions...)
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We have the option to show all the details per frame, that includes all the traffic light states, position of all actors, and animations data.
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# --------------------------------------
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- def_name: show_recorder_collisions
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params:
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- param_name: filename
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type: str
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doc: >
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Name of the recorded file to load
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- param_name: category1
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type: single char
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doc: >
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Character specifying the category of the first actor
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- param_name: category2
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type: single char
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doc: >
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Character specifying the category of the second actor
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doc: >
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This will show which collisions were recorded in the file. We can use a filter for the collisions we want, using two categories.
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The categories can be:
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'h' = Hero
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'v' = Vehicle
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'w' = Walker
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't' = Traffic light
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'o' = Other
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'a' = Any
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So, if you want to see only collisions about a vehicle and a walker, we would use for category1 'v' and category2 'w'.
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Or if you want all the collisions (filter off) you can use 'a' as both categories.
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# --------------------------------------
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- def_name: show_recorder_actors_blocked
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params:
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- param_name: filename
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type: str
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doc: >
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Name of the recorded file to load
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- param_name: min_time
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type: float
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doc: >
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How many seconds has to be stoped an actor to be considered as blocked
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- param_name: min_distance
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type: float
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doc: >
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How many centimeters needs to move the actor in order to be considered as moving, and not blocked
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doc: >
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Shows which actors seem blocked by some reason.
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The idea is to calculate which actors are not moving as much as 'min_distance' for a period of 'min_time'.
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By default min_time = 60 seconds (1 min) and min_distance = 100 centimeters (1 m).
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# --------------------------------------
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- def_name: replay_file
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params:
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- param_name: name
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type: str
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doc: >
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Name of the file.
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- param_name: start
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type: float
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doc: >
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Time in seconds where to start the playback. If it is negative, then it starts from the end.
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- param_name: duration
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type: float
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doc: >
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Id of the actor to follow. If this is 0 then camera is disabled
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- param_name: follow_id
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type: int
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doc: >
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doc: >
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Playback a file
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# --------------------------------------
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- def_name: set_replayer_time_factor
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params:
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- param_name: time_factor
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type: float
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doc: >
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A value of 1.0 means normal time factor.
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A value < 1.0 means slow motion (for example 0.5 is half speed)
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A value > 1.0 means fast motion (for example 2.0 is double speed)
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doc: >
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Apply a different playback speed to current playback. Can be used several times while a playback is in curse.
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# --------------------------------------
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- def_name: apply_batch
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params:
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- param_name: commands
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type: list
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doc: >
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A list of commands to execute in batch. Each command has a different number of parameters.
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Currently, we can use these [commands](#command.ApplyAngularVelocity):
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SpawnActor
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DestroyActor
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ApplyVehicleControl
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ApplyWalkerControl
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ApplyTransform
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ApplyVelocity
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AplyAngularVelocity
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ApplyImpulse
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SetSimulatePhysics
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SetAutopilot
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doc: >
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This function executes the whole list of commands on a single simulation step.
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For example, to set autopilot on some actors, we could use:
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[sample_code](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L126).
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We don't have control about the response of each command. If we need that, we can use `apply_batch_sync()`.
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# --------------------------------------
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- def_name: apply_batch_sync
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params:
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- param_name: commands
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type: list
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doc: >
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A list of commands to execute in batch. For a list of commands available see function above apply_batch().
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- param_name: due_tick_cue
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type: bool
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doc: >
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A boolean parameter to specify whether or not to perform a carla.World.tick after applying the batch in _synchronous mode_.
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return: list
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doc: >
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This function executes the whole list of commands on a single simulation
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step, blocks until the commands are executed, and returns a list of
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[`command.Response`](#command.Response) that can be used to determine whether a single
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command succeeded or not.
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[sample_code](https://github.com/carla-simulator/carla/blob/10c5f6a482a21abfd00220c68c7f12b4110b7f63/PythonAPI/examples/spawn_npc.py#L112-L116)
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# --------------------------------------
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...
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