148 lines
4.2 KiB
Python
Executable File
148 lines
4.2 KiB
Python
Executable File
#!/usr/bin/env python
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# Copyright (c) 2019 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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"""
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CARLA Dynamic Weather:
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Connect to a CARLA Simulator instance and control the weather. Change Sun
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position smoothly with time and generate storms occasionally.
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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/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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import argparse
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import math
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def clamp(value, minimum=0.0, maximum=100.0):
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return max(minimum, min(value, maximum))
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class Sun(object):
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def __init__(self, azimuth, altitude):
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self.azimuth = azimuth
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self.altitude = altitude
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self._t = 0.0
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def tick(self, delta_seconds):
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self._t += 0.008 * delta_seconds
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self._t %= 2.0 * math.pi
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self.azimuth += 0.25 * delta_seconds
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self.azimuth %= 360.0
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self.altitude = 35.0 * (math.sin(self._t) + 1.0)
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def __str__(self):
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return 'Sun(%.2f, %.2f)' % (self.azimuth, self.altitude)
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class Storm(object):
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def __init__(self, precipitation):
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self._t = precipitation if precipitation > 0.0 else -50.0
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self._increasing = True
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self.clouds = 0.0
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self.rain = 0.0
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self.puddles = 0.0
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self.wind = 0.0
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def tick(self, delta_seconds):
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delta = (1.3 if self._increasing else -1.3) * delta_seconds
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self._t = clamp(delta + self._t, -250.0, 100.0)
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self.clouds = clamp(self._t + 40.0, 0.0, 90.0)
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self.rain = clamp(self._t, 0.0, 80.0)
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delay = -10.0 if self._increasing else 90.0
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self.puddles = clamp(self._t + delay, 0.0, 75.0)
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self.wind = clamp(self._t - delay, 0.0, 80.0)
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if self._t == -250.0:
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self._increasing = True
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if self._t == 100.0:
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self._increasing = False
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def __str__(self):
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return 'Storm(clouds=%d%%, rain=%d%%, wind=%d%%)' % (self.clouds, self.rain, self.wind)
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class Weather(object):
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def __init__(self, weather):
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self.weather = weather
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self._sun = Sun(weather.sun_azimuth_angle, weather.sun_altitude_angle)
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self._storm = Storm(weather.precipitation)
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def tick(self, delta_seconds):
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self._sun.tick(delta_seconds)
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self._storm.tick(delta_seconds)
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self.weather.cloudiness = self._storm.clouds
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self.weather.precipitation = self._storm.rain
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self.weather.precipitation_deposits = self._storm.puddles
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self.weather.wind_intensity = self._storm.wind
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self.weather.sun_azimuth_angle = self._sun.azimuth
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self.weather.sun_altitude_angle = self._sun.altitude
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def __str__(self):
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return '%s %s' % (self._sun, self._storm)
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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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'-s', '--speed',
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metavar='FACTOR',
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default=1.0,
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type=float,
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help='rate at which the weather changes (default: 1.0)')
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args = argparser.parse_args()
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speed_factor = args.speed
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update_freq = 0.1 / speed_factor
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client = carla.Client(args.host, args.port)
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client.set_timeout(2.0)
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world = client.get_world()
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weather = Weather(world.get_weather())
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elapsed_time = 0.0
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while True:
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timestamp = world.wait_for_tick(seconds=30.0).timestamp
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elapsed_time += timestamp.delta_seconds
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if elapsed_time > update_freq:
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weather.tick(speed_factor * elapsed_time)
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world.set_weather(weather.weather)
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sys.stdout.write('\r' + str(weather) + 12 * ' ')
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sys.stdout.flush()
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elapsed_time = 0.0
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if __name__ == '__main__':
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main()
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