849 lines
34 KiB
Python
Executable File
849 lines
34 KiB
Python
Executable File
#!/usr/bin/env python
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# Copyright (c) 2017 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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# Allows controlling a vehicle with a keyboard. For a simpler and more
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# documented example, please take a look at tutorial.py.
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"""
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Welcome to CARLA manual control.
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Use ARROWS or WASD keys for control.
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W : throttle
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S : brake
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AD : steer
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Q : toggle reverse
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Space : hand-brake
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P : toggle autopilot
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M : toggle manual transmission
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,/. : gear up/down
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TAB : change sensor position
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` : next sensor
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[1-9] : change to sensor [1-9]
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C : change weather (Shift+C reverse)
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Backspace : change vehicle
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R : toggle recording images to disk
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CTRL + R : toggle recording of simulation (replacing any previous)
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CTRL + P : start replaying last recorded simulation
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CTRL + + : increments the start time of the replay by 1 second (+SHIFT = 10 seconds)
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CTRL + - : decrements the start time of the replay by 1 second (+SHIFT = 10 seconds)
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F1 : toggle HUD
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H/? : toggle help
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ESC : quit
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"""
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from __future__ import print_function
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# ==============================================================================
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# -- find carla module ---------------------------------------------------------
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# ==============================================================================
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import glob
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import os
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import sys
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try:
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sys.path.append(glob.glob('**/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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# ==============================================================================
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# -- imports -------------------------------------------------------------------
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# ==============================================================================
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import carla
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from carla import ColorConverter as cc
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import argparse
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import collections
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import datetime
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import logging
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import math
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import random
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import re
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import weakref
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try:
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import pygame
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from pygame.locals import KMOD_CTRL
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from pygame.locals import KMOD_SHIFT
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from pygame.locals import K_0
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from pygame.locals import K_9
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from pygame.locals import K_BACKQUOTE
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from pygame.locals import K_BACKSPACE
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from pygame.locals import K_COMMA
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from pygame.locals import K_DOWN
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from pygame.locals import K_ESCAPE
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from pygame.locals import K_F1
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from pygame.locals import K_LEFT
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from pygame.locals import K_PERIOD
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from pygame.locals import K_RIGHT
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from pygame.locals import K_SLASH
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from pygame.locals import K_SPACE
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from pygame.locals import K_TAB
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from pygame.locals import K_UP
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from pygame.locals import K_a
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from pygame.locals import K_c
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from pygame.locals import K_d
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from pygame.locals import K_h
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from pygame.locals import K_m
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from pygame.locals import K_p
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from pygame.locals import K_q
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from pygame.locals import K_r
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from pygame.locals import K_s
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from pygame.locals import K_w
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from pygame.locals import K_MINUS
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from pygame.locals import K_EQUALS
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except ImportError:
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raise RuntimeError('cannot import pygame, make sure pygame package is installed')
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try:
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import numpy as np
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except ImportError:
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raise RuntimeError('cannot import numpy, make sure numpy package is installed')
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# ==============================================================================
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# -- Global functions ----------------------------------------------------------
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# ==============================================================================
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def find_weather_presets():
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rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
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name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
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presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
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return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
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def get_actor_display_name(actor, truncate=250):
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name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
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return (name[:truncate-1] + u'\u2026') if len(name) > truncate else name
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# ==============================================================================
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# -- World ---------------------------------------------------------------------
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# ==============================================================================
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class World(object):
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def __init__(self, carla_world, hud, actor_filter):
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self.world = carla_world
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self.hud = hud
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self.player = None
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self.collision_sensor = None
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self.lane_invasion_sensor = None
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self.gnss_sensor = None
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self.camera_manager = None
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self._weather_presets = find_weather_presets()
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self._weather_index = 0
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self._actor_filter = actor_filter
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self.restart()
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self.world.on_tick(hud.on_world_tick)
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self.recording_enabled = False
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self.recording_start = 0
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def restart(self):
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# Keep same camera config if the camera manager exists.
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cam_index = self.camera_manager._index if self.camera_manager is not None else 0
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cam_pos_index = self.camera_manager._transform_index if self.camera_manager is not None else 0
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# Get a random blueprint.
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blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
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blueprint.set_attribute('role_name', 'hero')
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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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# Spawn the player.
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if self.player is not None:
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spawn_point = self.player.get_transform()
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spawn_point.location.z += 2.0
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spawn_point.rotation.roll = 0.0
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spawn_point.rotation.pitch = 0.0
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self.destroy()
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self.player = self.world.try_spawn_actor(blueprint, spawn_point)
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while self.player is None:
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spawn_points = self.world.get_map().get_spawn_points()
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spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
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self.player = self.world.try_spawn_actor(blueprint, spawn_point)
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# Set up the sensors.
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self.collision_sensor = CollisionSensor(self.player, self.hud)
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self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
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self.gnss_sensor = GnssSensor(self.player)
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self.camera_manager = CameraManager(self.player, self.hud)
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self.camera_manager._transform_index = cam_pos_index
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self.camera_manager.set_sensor(cam_index, notify=False)
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actor_type = get_actor_display_name(self.player)
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self.hud.notification(actor_type)
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def next_weather(self, reverse=False):
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self._weather_index += -1 if reverse else 1
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self._weather_index %= len(self._weather_presets)
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preset = self._weather_presets[self._weather_index]
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self.hud.notification('Weather: %s' % preset[1])
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self.player.get_world().set_weather(preset[0])
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def tick(self, clock):
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self.hud.tick(self, clock)
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def render(self, display):
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self.camera_manager.render(display)
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self.hud.render(display)
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def destroySensors(self):
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self.camera_manager.sensor.destroy()
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self.camera_manager.sensor = None
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self.camera_manager._index = None
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def destroy(self):
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actors = [
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self.camera_manager.sensor,
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self.collision_sensor.sensor,
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self.lane_invasion_sensor.sensor,
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self.gnss_sensor.sensor,
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self.player]
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for actor in actors:
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if actor is not None:
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actor.destroy()
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# ==============================================================================
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# -- KeyboardControl -----------------------------------------------------------
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# ==============================================================================
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class KeyboardControl(object):
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def __init__(self, world, start_in_autopilot):
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self._autopilot_enabled = start_in_autopilot
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if isinstance(world.player, carla.Vehicle):
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self._control = carla.VehicleControl()
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world.player.set_autopilot(self._autopilot_enabled)
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elif isinstance(world.player, carla.Walker):
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self._control = carla.WalkerControl()
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self._autopilot_enabled = False
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self._rotation = world.player.get_transform().rotation
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else:
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raise NotImplementedError("Actor type not supported")
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self._steer_cache = 0.0
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world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
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def parse_events(self, client, world, clock):
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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return True
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elif event.type == pygame.KEYUP:
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if self._is_quit_shortcut(event.key):
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return True
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elif event.key == K_BACKSPACE:
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world.restart()
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elif event.key == K_F1:
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world.hud.toggle_info()
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elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
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world.hud.help.toggle()
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elif event.key == K_TAB:
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world.camera_manager.toggle_camera()
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elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT:
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world.next_weather(reverse=True)
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elif event.key == K_c:
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world.next_weather()
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elif event.key == K_BACKQUOTE:
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world.camera_manager.next_sensor()
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elif event.key > K_0 and event.key <= K_9:
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world.camera_manager.set_sensor(event.key - 1 - K_0)
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elif event.key == K_r and not (pygame.key.get_mods() & KMOD_CTRL):
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world.camera_manager.toggle_recording()
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elif event.key == K_r and (pygame.key.get_mods() & KMOD_CTRL):
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if (world.recording_enabled):
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client.stop_recorder()
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world.recording_enabled = False
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world.hud.notification("Recorder is OFF")
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else:
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client.start_recorder("manual_recording.rec")
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world.recording_enabled = True
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world.hud.notification("Recorder is ON")
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elif event.key == K_p and (pygame.key.get_mods() & KMOD_CTRL):
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# stop recorder
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client.stop_recorder()
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world.recording_enabled = False
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# work around to fix camera at start of replaying
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currentIndex = world.camera_manager._index
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world.destroySensors()
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# disable autopilot
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self._autopilot_enabled = False
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world.player.set_autopilot(self._autopilot_enabled)
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world.hud.notification("Replaying file 'manual_recording.rec'")
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# replayer
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client.replay_file("manual_recording.rec", world.recording_start, 0)
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world.camera_manager.set_sensor(currentIndex)
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elif event.key == K_MINUS and (pygame.key.get_mods() & KMOD_CTRL):
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if pygame.key.get_mods() & KMOD_SHIFT:
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world.recording_start -= 10
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else:
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world.recording_start -= 1
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world.hud.notification("Recording start time is %d" % (world.recording_start))
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elif event.key == K_EQUALS and (pygame.key.get_mods() & KMOD_CTRL):
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if pygame.key.get_mods() & KMOD_SHIFT:
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world.recording_start += 10
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else:
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world.recording_start += 1
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world.hud.notification("Recording start time is %d" % (world.recording_start))
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if isinstance(self._control, carla.VehicleControl):
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if event.key == K_q:
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self._control.gear = 1 if self._control.reverse else -1
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elif event.key == K_m:
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self._control.manual_gear_shift = not self._control.manual_gear_shift
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self._control.gear = world.player.get_control().gear
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world.hud.notification('%s Transmission' % ('Manual' if self._control.manual_gear_shift else 'Automatic'))
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elif self._control.manual_gear_shift and event.key == K_COMMA:
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self._control.gear = max(-1, self._control.gear - 1)
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elif self._control.manual_gear_shift and event.key == K_PERIOD:
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self._control.gear = self._control.gear + 1
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elif event.key == K_p and not (pygame.key.get_mods() & KMOD_CTRL):
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self._autopilot_enabled = not self._autopilot_enabled
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world.player.set_autopilot(self._autopilot_enabled)
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world.hud.notification('Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
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if not self._autopilot_enabled:
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if isinstance(self._control, carla.VehicleControl):
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self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
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self._control.reverse = self._control.gear < 0
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elif isinstance(self._control, carla.WalkerControl):
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self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time())
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world.player.apply_control(self._control)
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def _parse_vehicle_keys(self, keys, milliseconds):
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self._control.throttle = 1.0 if keys[K_UP] or keys[K_w] else 0.0
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steer_increment = 5e-4 * milliseconds
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if keys[K_LEFT] or keys[K_a]:
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self._steer_cache -= steer_increment
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elif keys[K_RIGHT] or keys[K_d]:
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self._steer_cache += steer_increment
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else:
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self._steer_cache = 0.0
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self._steer_cache = min(0.7, max(-0.7, self._steer_cache))
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self._control.steer = round(self._steer_cache, 1)
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self._control.brake = 1.0 if keys[K_DOWN] or keys[K_s] else 0.0
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self._control.hand_brake = keys[K_SPACE]
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def _parse_walker_keys(self, keys, milliseconds):
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self._control.speed = 0.0
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if keys[K_DOWN] or keys[K_s]:
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self._control.speed = 0.0
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if keys[K_LEFT] or keys[K_a]:
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self._control.speed = .01
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self._rotation.yaw -= 0.08 * milliseconds
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if keys[K_RIGHT] or keys[K_d]:
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self._control.speed = .01
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self._rotation.yaw += 0.08 * milliseconds
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if keys[K_UP] or keys[K_w]:
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self._control.speed = 5.556 if pygame.key.get_mods() & KMOD_SHIFT else 2.778
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self._control.jump = keys[K_SPACE]
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self._rotation.yaw = round(self._rotation.yaw, 1)
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self._control.direction = self._rotation.get_forward_vector()
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@staticmethod
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def _is_quit_shortcut(key):
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return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
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# ==============================================================================
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# -- HUD -----------------------------------------------------------------------
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# ==============================================================================
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class HUD(object):
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def __init__(self, width, height):
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self.dim = (width, height)
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font = pygame.font.Font(pygame.font.get_default_font(), 20)
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fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
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default_font = 'ubuntumono'
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mono = default_font if default_font in fonts else fonts[0]
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mono = pygame.font.match_font(mono)
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self._font_mono = pygame.font.Font(mono, 14)
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self._notifications = FadingText(font, (width, 40), (0, height - 40))
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self.help = HelpText(pygame.font.Font(mono, 24), width, height)
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self.server_fps = 0
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self.frame_number = 0
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self.simulation_time = 0
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self._show_info = True
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self._info_text = []
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self._server_clock = pygame.time.Clock()
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def on_world_tick(self, timestamp):
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self._server_clock.tick()
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self.server_fps = self._server_clock.get_fps()
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self.frame_number = timestamp.frame_count
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self.simulation_time = timestamp.elapsed_seconds
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def tick(self, world, clock):
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if not self._show_info:
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return
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t = world.player.get_transform()
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v = world.player.get_velocity()
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c = world.player.get_control()
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heading = 'N' if abs(t.rotation.yaw) < 89.5 else ''
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heading += 'S' if abs(t.rotation.yaw) > 90.5 else ''
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heading += 'E' if 179.5 > t.rotation.yaw > 0.5 else ''
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heading += 'W' if -0.5 > t.rotation.yaw > -179.5 else ''
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colhist = world.collision_sensor.get_collision_history()
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collision = [colhist[x + self.frame_number - 200] for x in range(0, 200)]
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max_col = max(1.0, max(collision))
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collision = [x / max_col for x in collision]
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vehicles = world.world.get_actors().filter('vehicle.*')
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self._info_text = [
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'Server: % 16.0f FPS' % self.server_fps,
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'Client: % 16.0f FPS' % clock.get_fps(),
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'',
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'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20),
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'Map: % 20s' % world.world.map_name,
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'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
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'',
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'Speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
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u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading),
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'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
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'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
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'Height: % 18.0f m' % t.location.z,
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'']
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if isinstance(c, carla.VehicleControl):
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self._info_text += [
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('Throttle:', c.throttle, 0.0, 1.0),
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('Steer:', c.steer, -1.0, 1.0),
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('Brake:', c.brake, 0.0, 1.0),
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('Reverse:', c.reverse),
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('Hand brake:', c.hand_brake),
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('Manual:', c.manual_gear_shift),
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'Gear: %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
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elif isinstance(c, carla.WalkerControl):
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self._info_text += [
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('Speed:', c.speed, 0.0, 5.556),
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('Jump:', c.jump)]
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self._info_text += [
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'',
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'Collision:',
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collision,
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'',
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'Number of vehicles: % 8d' % len(vehicles)]
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if len(vehicles) > 1:
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self._info_text += ['Nearby vehicles:']
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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))
|
|
self._notifications.tick(world, clock)
|
|
|
|
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_number, 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_detector')
|
|
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
|
|
text = ['%r' % str(x).split()[-1] for x in set(event.crossed_lane_markings)]
|
|
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', '5000')
|
|
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]/3), 3))
|
|
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)
|
|
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_number)
|
|
|
|
|
|
# ==============================================================================
|
|
# -- 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 = KeyboardControl(world, args.autopilot)
|
|
|
|
clock = pygame.time.Clock()
|
|
while True:
|
|
clock.tick_busy_loop(60)
|
|
if controller.parse_events(client, world, clock):
|
|
return
|
|
world.tick(clock)
|
|
world.render(display)
|
|
pygame.display.flip()
|
|
|
|
finally:
|
|
|
|
client.stop_recorder()
|
|
|
|
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()
|