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CarlaClientPygame.py
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558 lines (480 loc) · 24.8 KB
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import os
import sys
import glob
import time
import threading
import random
import numpy as np
import time
from clients.VehicleActuatorClient import VehicleActuatorClient
from servers.CameraServer import CameraServer, CameraSensor
from servers.SemSegCameraServer import SemSegCameraServer, SemSegCameraSensor
from servers.VehicleStateEstimationServer import StateMeasurementServer
from servers.ImuServer import IMUServer, IMUSensor
from servers.DepthServer import DepthSensor, DepthServer
from servers.LidarServer import LidarSensor, LidarServer
from servers.RadarServer import RadarSensor, RadarServer
from CarlaClient import ip_carla, port_carla
from sensors import get_transform
try:
import pygame
from pygame.locals import K_ESCAPE
from pygame.locals import K_SPACE
from pygame.locals import K_q
from pygame.locals import K_a
from pygame.locals import K_d
from pygame.locals import K_s
from pygame.locals import K_w
except ImportError:
raise RuntimeError('cannot import pygame, make sure pygame package is installed')
try:
import cv2
except ImportError:
raise RuntimeError("cannot import opencv, make sure python OpenCV is installed")
# Importing Carla
try:
sys.path.append(glob.glob('carla-*%d.%d-%s.egg' % (
sys.version_info.major,
sys.version_info.minor,
'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
except IndexError:
pass
import carla
class CarlaClientPygame(object):
def __init__(self, name,
view_cam=False,
position=carla.Location(-75, 115, 0.3),
orientation=carla.Rotation(0, -89, 0),
random_spawn=False,
vehicle_type='vehicle.Seat.Leon',
control='auto', # auto manual rovis
ip_rovis='127.0.0.1',
port_rovis_actuator=None,
port_rovis_cam_front=None,
port_rovis_cam_back=None,
port_rovis_cam_left=None,
port_rovis_cam_right=None,
port_rovis_cam_back_left=None,
port_rovis_cam_back_right=None,
port_rovis_semseg_front=None,
port_rovis_semseg_back=None,
port_rovis_semseg_left=None,
port_rovis_semseg_right=None,
port_rovis_semseg_back_left=None,
port_rovis_semseg_back_right=None,
port_rovis_state_measurement=None,
port_rovis_imu=None,
port_rovis_depth=None,
port_rovis_lidar=None,
port_rovis_radar=None,
target_fps=30,
view_width=940,
view_height=480,
view_fov=90):
# Member variables
self.name = name
self.control = control
self.view_cam = False # view_cam
self.target_fps = target_fps
self.target_freq = 1.0 / self.target_fps
self.view_width = view_width
self.view_height = view_height
self.view_fov = view_fov
self.client = carla.Client(ip_carla, port_carla)
self.client.set_timeout(2.0)
self.world = self.client.get_world()
self.using_carla_ai = False
self.past_steering = 0.
# Flag to update PyGame image
self.capture = True
# Flag for actor termination
self.is_terminated = False
# Get spawn point
if random_spawn:
map = self.world.get_map()
spawn_points = map.get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points \
else carla.Transform()
else:
spawn_point = carla.Transform(position, orientation)
# Instantiate car
bp = self.world.get_blueprint_library().filter(vehicle_type)[0]
self.car = self.world.spawn_actor(bp, spawn_point)
if self.car is None:
print('CarlaPygame - Could not spawn the car. Exiting..')
sys.exit(1)
self.car.apply_control(carla.VehicleControl(manual_gear_shift=True, gear=1))
self.car.apply_control(carla.VehicleControl(manual_gear_shift=False))
# Setup camera
self.camera = CameraSensor('',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.camera.setup_camera_rgb(get_transform('default'))
# Init actuators
if port_rovis_actuator is not None:
self.vehicle_actuator = VehicleActuatorClient(ip=ip_rovis, port=port_rovis_actuator)
self.vehicle_actuator.init_client()
if self.control != 'rovis':
print('{} - In order to use Actuators, you must enable \'rovis\' control.'.format(self.name))
elif self.control == 'rovis':
print('{} - \'rovis\' control does not work without enabling actuators filter.'.format(self.name))
self.control = 'auto'
# Attach MonoCameras
if port_rovis_cam_front is not None:
self.front_cam_sensor = CameraSensor('CarlaPygame - FrontCamera',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.front_cam_sensor.setup_camera_rgb(get_transform('front'))
# self.front_cam_sensor.init_view()
self.front_cam_server = CameraServer(ip=ip_rovis,
port=port_rovis_cam_front,
dt=0.0,
cam_sensor=self.front_cam_sensor)
self.front_cam_server.init_server()
if port_rovis_cam_back is not None:
self.back_cam_sensor = CameraSensor('CarlaPygame - BackCamera',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.back_cam_sensor.setup_camera_rgb(get_transform('back'))
# self.back_cam_sensor.init_view()
self.back_cam_server = CameraServer(ip=ip_rovis,
port=port_rovis_cam_back,
dt=0.0,
cam_sensor=self.back_cam_sensor)
self.back_cam_server.init_server()
if port_rovis_cam_left is not None:
self.left_cam_sensor = CameraSensor('CarlaPygame - LeftCamera',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.left_cam_sensor.setup_camera_rgb(get_transform('front_left'))
# self.left_cam_sensor.init_view()
self.left_cam_server = CameraServer(ip=ip_rovis,
port=port_rovis_cam_left,
dt=0.0,
cam_sensor=self.left_cam_sensor)
self.left_cam_server.init_server()
if port_rovis_cam_right is not None:
self.right_cam_sensor = CameraSensor('CarlaPygame - RightCamera',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.right_cam_sensor.setup_camera_rgb(get_transform('front_right'))
# self.right_cam_sensor.init_view()
self.right_cam_server = CameraServer(ip=ip_rovis,
port=port_rovis_cam_right,
dt=0.0,
cam_sensor=self.right_cam_sensor)
self.right_cam_server.init_server()
if port_rovis_cam_back_left is not None:
self.back_left_cam_sensor = CameraSensor('CarlaPygame - BackLeftCamera',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.back_left_cam_sensor.setup_camera_rgb(get_transform('back_left'))
# self.back_left_cam_sensor.init_view()
self.back_left_cam_server = CameraServer(ip=ip_rovis,
port=port_rovis_cam_back_left,
dt=0.0,
cam_sensor=self.back_left_cam_sensor)
self.back_left_cam_server.init_server()
if port_rovis_cam_back_right is not None:
self.back_right_cam_sensor = CameraSensor('CarlaPygame - BackRightCamera',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.back_right_cam_sensor.setup_camera_rgb(get_transform('back_right'))
# self.back_right_cam_sensor.init_view()
self.back_right_cam_server = CameraServer(ip=ip_rovis,
port=port_rovis_cam_back_right,
dt=0.0,
cam_sensor=self.back_right_cam_sensor)
self.back_right_cam_server.init_server()
# Attach SemSeg Camera
if port_rovis_semseg_front is not None:
self.semseg_front_sensor = SemSegCameraSensor('CarlaPygame - SemSegFront',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.semseg_front_sensor.setup_camera(get_transform('front'))
# self.semseg_front_sensor.init_view()
self.semseg_front_server = SemSegCameraServer(ip=ip_rovis,
port=port_rovis_semseg_front,
dt=0.0,
cam_sensor=self.semseg_front_sensor)
self.semseg_front_server.init_server()
if port_rovis_semseg_back is not None:
self.semseg_back_sensor = SemSegCameraSensor('CarlaPygame - SemSegBack',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.semseg_back_sensor.setup_camera(get_transform('back'))
# self.semseg_back_sensor.init_view()
self.semseg_back_server = SemSegCameraServer(ip=ip_rovis,
port=port_rovis_semseg_back,
dt=0.0,
cam_sensor=self.semseg_back_sensor)
self.semseg_back_server.init_server()
if port_rovis_semseg_left is not None:
self.semseg_left_sensor = SemSegCameraSensor('CarlaPygame - SemSegLeft',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.semseg_left_sensor.setup_camera(get_transform('front_left'))
# self.semseg_left_sensor.init_view()
self.semseg_left_server = SemSegCameraServer(ip=ip_rovis,
port=port_rovis_semseg_left,
dt=0.0,
cam_sensor=self.semseg_left_sensor)
self.semseg_left_server.init_server()
if port_rovis_semseg_right is not None:
self.semseg_right_sensor = SemSegCameraSensor('CarlaPygame - SemSegRight',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.semseg_right_sensor.setup_camera(get_transform('front_right'))
# self.semseg_right_sensor.init_view()
self.semseg_right_server = SemSegCameraServer(ip=ip_rovis,
port=port_rovis_semseg_right,
dt=0.0,
cam_sensor=self.semseg_right_sensor)
self.semseg_right_server.init_server()
if port_rovis_semseg_back_left is not None:
self.semseg_back_left_sensor = SemSegCameraSensor('CarlaPygame - SemSegBackLeft',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.semseg_back_left_sensor.setup_camera(get_transform('back_left'))
# self.semseg_back_left_sensor.init_view()
self.semseg_back_left_server = SemSegCameraServer(ip=ip_rovis,
port=port_rovis_semseg_back_left,
dt=0.0,
cam_sensor=self.semseg_back_left_sensor)
self.semseg_back_left_server.init_server()
if port_rovis_semseg_back_right is not None:
self.semseg_back_right_sensor = SemSegCameraSensor('CarlaPygame - SemSegBackRight',
self.car,
self.view_width,
self.view_height,
self.view_fov)
self.semseg_back_right_sensor.setup_camera(get_transform('back_right'))
# self.semseg_back_right_sensor.init_view()
self.semseg_back_right_server = SemSegCameraServer(ip=ip_rovis,
port=port_rovis_semseg_back_right,
dt=0.0,
cam_sensor=self.semseg_back_right_sensor)
self.semseg_back_right_server.init_server()
# Attach Depth sensor
if port_rovis_depth is not None:
self.depth_sensor = DepthSensor(name='CarlaPygame - RGBD Front',
parent_actor=self.car)
self.depth_sensor.setup_depth(get_transform('depth'))
# self.depth_sensor.init_view()
self.depth_server = DepthServer(ip=ip_rovis,
port=port_rovis_depth,
dt=0.0,
depth_sensor=self.depth_sensor)
self.depth_server.init_server()
# Attach Lidar sensor
if port_rovis_lidar is not None:
self.lidar_sensor = LidarSensor(name='CarlaPygame - LidarTop',
parent_actor=self.car)
self.lidar_sensor.setup_lidar(get_transform('lidar'))
# self.lidar_sensor.init_view()
self.lidar_server = LidarServer(ip=ip_rovis,
port=port_rovis_lidar,
dt=0.0,
lidar_sensor=self.lidar_sensor)
self.lidar_server.init_server()
# Attach Radar sensor
if port_rovis_radar is not None:
self.radar_sensor = RadarSensor(name='CarlaPygame - RadarFront',
parent_actor=self.car)
self.radar_sensor.setup_radar(get_transform('radar'))
# self.radar_sensor.init_view()
self.radar_server = RadarServer(ip=ip_rovis,
port=port_rovis_radar,
dt=0.0,
radar_sensor=self.radar_sensor)
self.radar_server.init_server()
# Attach IMU sensor
if port_rovis_imu is not None:
self.imu_sensor = IMUSensor(name='CarlaPygame - IMU',
car=self.car)
self.imu_sensor.setup_imu()
# self.imu_sensor.init_view()
self.imu_server = IMUServer(ip=ip_rovis,
port=port_rovis_imu,
dt=0.0,
imu_sensor=self.imu_sensor)
self.imu_server.init_server()
# Attach State measurement sensor
if port_rovis_state_measurement is not None:
# Attach IMU sensor if not created
if port_rovis_imu is None:
self.imu_sensor = IMUSensor(name='IMU_state_measurement',
car=self.car)
self.imu_sensor.setup_imu()
# State measurement server
self.state_meas_server = StateMeasurementServer(ip=ip_rovis,
port=port_rovis_state_measurement,
dt=0.00,
car=self.car,
imu=self.imu_sensor,
client_name='CarlaPygame')
self.state_meas_server.init_server()
print(' # ClientPygame initialised successfully.')
def terminate(self):
self.car.destroy()
self.camera.destroy()
self.is_terminated = True
return
self.front_cam_sensor.destroy()
self.back_cam_sensor.destroy()
self.vehicle_actuator.is_terminated = True
self.front_cam_server.is_terminated = True
self.back_cam_server.is_terminated = True
print(' # ClientPygame successfully terminated.')
def print_available_maps(self):
print([elem.split('/')[-1] for elem in self.client.get_available_maps()])
def game_loop(self):
# https://carla.readthedocs.io/en/0.8.4/configuring_the_simulation/#synchronous-vs-asynchronous-mode
self.set_synchronous_mode(True)
pygame.init()
pygame.font.init()
my_font = pygame.font.SysFont('Comic Sans MS', 30)
display = pygame.display.set_mode((self.view_width, self.view_height), pygame.HWSURFACE | pygame.DOUBLEBUF)
pygame_clock = pygame.time.Clock()
while not self.is_terminated:
self.world.tick()
# Capture flag for cameras. Without this, the image will not send
if hasattr(self, 'front_cam_sensor'):
self.front_cam_sensor.capture = True
if hasattr(self, 'back_cam_sensor'):
self.back_cam_sensor.capture = True
if hasattr(self, 'left_cam_sensor'):
self.left_cam_sensor.capture = True
if hasattr(self, 'right_cam_sensor'):
self.right_cam_sensor.capture = True
if hasattr(self, 'back_left_cam_sensor'):
self.back_left_cam_sensor.capture = True
if hasattr(self, 'back_right_cam_sensor'):
self.back_right_cam_sensor.capture = True
if hasattr(self, 'semseg_front_sensor'):
self.semseg_front_sensor.capture = True
if hasattr(self, 'semseg_back_sensor'):
self.semseg_back_sensor.capture = True
if hasattr(self, 'semseg_left_sensor'):
self.semseg_left_sensor.capture = True
if hasattr(self, 'semseg_right_sensor'):
self.semseg_right_sensor.capture = True
if hasattr(self, 'semseg_back_left_sensor'):
self.semseg_back_left_sensor.capture = True
if hasattr(self, 'semseg_back_right_sensor'):
self.semseg_back_right_sensor.capture = True
# Draw radar on the world
# self.radar_sensor.draw_radar(self.world)
# Capture flag for pygame camera.
# If this flag is not set, the pygame image will not update
self.camera.capture = True
pygame_clock.tick(self.target_fps)
# Toggle between control methods (Rovis, manual or Carla Auto Pilot)
if self.control == 'rovis':
self.rovis_control(self.car)
elif self.control == 'manual':
self.manual_control(self.car)
else: # auto
self.carla_ai_control(self.car)
self.world.tick()
self.render(display, fps=pygame_clock.get_fps())
pygame.display.flip()
pygame.event.pump()
for event in pygame.event.get():
if event.type == pygame.QUIT:
self.terminate()
pygame.quit()
def set_synchronous_mode(self, synchronous_mode):
settings = self.world.get_settings()
settings.synchronous_mode = synchronous_mode
if synchronous_mode:
settings.fixed_delta_seconds = self.target_freq
self.world.apply_settings(settings)
def render(self, display, fps=-1):
"""
Transforms image from camera sensor and blits it to main pygame display.
It also displays the FPS.
"""
array = self.camera.process_img_rgb()
if array is not None:
array = array[:, :, ::-1]
surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
display.blit(surface, (0, 0))
if fps != -1:
my_font = pygame.font.SysFont('Comic Sans MS', 20)
display.blit(my_font.render("%.2f" % fps, False, (255, 0, 0)), (0, 0))
def manual_control(self, car):
"""
Applies control to main car based on pygame pressed keys.
Will return True If ESCAPE is hit, otherwise False to end main loop.
"""
keys = pygame.key.get_pressed()
if keys[K_ESCAPE] or keys[K_q]:
self.terminate()
return True
control = car.get_control()
control.throttle = 0
if keys[K_w]:
control.throttle = 1
control.reverse = False
elif keys[K_s]:
control.throttle = 1
control.reverse = True
if keys[K_a]:
control.steer = max(-1., min(control.steer - 0.05, 0))
elif keys[K_d]:
control.steer = min(1., max(control.steer + 0.05, 0))
else:
control.steer = 0
control.hand_brake = keys[K_SPACE]
car.apply_control(control)
return False
def rovis_control(self, car):
keys = pygame.key.get_pressed()
if keys[K_ESCAPE] or keys[K_q]:
self.terminate()
return True
control = car.get_control()
control.throttle = self.vehicle_actuator.throttle
control.steer = -self.vehicle_actuator.steering
if self.vehicle_actuator.throttle < 0:
control.reverse = True
else:
control.reverse = False
car.apply_control(control)
return False
def carla_ai_control(self, car):
if self.using_carla_ai is False:
self.using_carla_ai = True
car.set_autopilot()
self.using_carla_ai = True
keys = pygame.key.get_pressed()
if keys[K_ESCAPE] or keys[K_q]:
self.terminate()
return True
if __name__ == '__main__':
print('NOT runnable. Check \'Run_CarlaClients.py\'')