145 lines
4.1 KiB
Python
Executable File
145 lines
4.1 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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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 random
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import time
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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=10,
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type=int,
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help='number of vehicles (default: 10)')
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argparser.add_argument(
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'-d', '--delay',
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metavar='D',
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default=2.0,
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type=float,
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help='delay in seconds between spawns (default: 2.0)')
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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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'-f', '--recorder_filename',
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metavar='F',
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default="test1.log",
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help='recorder filename (test1.log)')
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argparser.add_argument(
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'-t', '--recorder_time',
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metavar='T',
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default=0,
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type=int,
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help='recorder duration (auto-stop)')
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args = argparser.parse_args()
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actor_list = []
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try:
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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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blueprints = world.get_blueprint_library().filter('vehicle.*')
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if args.safe:
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blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]
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blueprints = [x for x in blueprints if not x.id.endswith('isetta')]
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def try_spawn_random_vehicle_at(transform):
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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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blueprint.set_attribute('role_name', 'autopilot')
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vehicle = world.try_spawn_actor(blueprint, transform)
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if vehicle is not None:
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actor_list.append(vehicle)
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vehicle.set_autopilot()
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print('spawned %r at %s' % (vehicle.type_id, transform.location))
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return True
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return False
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# @todo Needs to be converted to list to be shuffled.
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spawn_points = list(world.get_map().get_spawn_points())
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random.shuffle(spawn_points)
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print('found %d spawn points.' % len(spawn_points))
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count = args.number_of_vehicles
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print("Recording on file:", client.start_recorder(args.recorder_filename))
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for spawn_point in spawn_points:
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if try_spawn_random_vehicle_at(spawn_point):
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count -= 1
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if count <= 0:
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break
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while count > 0:
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time.sleep(args.delay)
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if try_spawn_random_vehicle_at(random.choice(spawn_points)):
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count -= 1
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print('spawned %d vehicles, press Ctrl+C to exit.' % args.number_of_vehicles)
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if (args.recorder_time > 0):
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time.sleep(args.recorder_time)
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else:
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while True:
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time.sleep(0.1)
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finally:
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print('\ndestroying %d actors' % len(actor_list))
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for actor in actor_list:
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actor.destroy()
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print("Stop recording")
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client.stop_recorder()
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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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