diff --git a/carla_environment.py b/carla_environment.py
index 5fde8310ae4877ddc05cc0a42cf84bb113107256..4bfa8c7d3055e82d6aacbeb870ab35be4debc613 100644
--- a/carla_environment.py
+++ b/carla_environment.py
@@ -7,6 +7,7 @@ import numpy as np
import pygame
import math
import atexit
+from steering_wheel import Controller
# find carla module
try:
@@ -19,34 +20,46 @@ except IndexError:
import carla
-
class Camera:
+ """ Add camera sensor to the carla world """
sensor = None
+ display = None
+ surface = None
width = None
height = None
surface = None
- def __init__(self, width=640, height=480):
+ def __init__(self, world, width=640, height=480):
self.width = width
self.height = height
-
- def spawn(self, camera_actor):
- self.sensor = camera_actor
+ self.display = pygame.display.set_mode(
+ (width, height),
+ pygame.HWSURFACE | pygame.DOUBLEBUF)
+ self.display.fill((0,0,0))
+ camera_blueprint = world.world.get_blueprint_library().find('sensor.camera.rgb')
+ camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
+ camera_blueprint.set_attribute('image_size_x', f'{self.width}')
+ camera_blueprint.set_attribute('image_size_y', f'{self.height}')
+ camera_blueprint.set_attribute('fov', '110')
+ self.sensor = world.world.spawn_actor(camera_blueprint, camera_transform, attach_to=world.player)
self.sensor.listen(lambda data: self.process_img(data))
def process_img(self, data):
array = np.frombuffer(data.raw_data, dtype=np.dtype("uint8"))
- array = np.reshape(array, (self.width, self.height, 4))
+ array = np.reshape(array, (self.height, self.width, 4))
array = array[:, :, :3]
array = array[:, :, ::-1]
self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
-
+
+ def on_update(self):
+ if self.surface is not None:
+ self.display.blit(self.surface, (0, 0))
+ pygame.display.flip()
class World:
+ """ Wrapper for the carla environment, incl. player/vehicle """
player = None
world = None
- camera = None
- surface = None
blueprint_library = None
spawn_points = None
@@ -54,7 +67,6 @@ class World:
self.world = world
self.blueprint_library = self.world.get_blueprint_library()
self.spawn_points = self.world.get_map().get_spawn_points()
- self.camera = Camera()
self.reset()
def reset(self):
@@ -66,58 +78,42 @@ class World:
blueprint = random.choice(self.blueprint_library.filter('vehicle'))
position = random.choice(self.spawn_points)
self.player = self.world.try_spawn_actor(blueprint, position)
- self.player.set_autopilot(True)
- self.spawn_camera()
-
- def spawn_camera(self):
- camera_blueprint = self.blueprint_library.find('sensor.camera.rgb')
- camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
- camera_blueprint.set_attribute('image_size_x', f'{self.camera.width}')
- camera_blueprint.set_attribute('image_size_y', f'{self.camera.height}')
- camera_blueprint.set_attribute('fov', '110')
- self.camera.spawn(self.world.spawn_actor(camera_blueprint, camera_transform, attach_to=self.player))
def destroy(self):
if self.player is not None:
self.player.destroy()
- def __del__(self):
- self.player.destroy()
+ def step(self, action):
+ self.player.apply_control(action)
+
+
class CarlaEnvironment:
world = None
client = None
- display = None
def __init__(self, host="127.0.0.1", port=2000, width=1280, height=720):
- pygame.init()
self.client = carla.Client(host, port)
self.client.set_timeout(2.0)
self.world = World(self.client.get_world())
- self.display = pygame.display.set_mode(
- (width, height),
- pygame.HWSURFACE | pygame.DOUBLEBUF)
- self.display.fill((0,0,0))
- def on_update(self):
- if self.world.camera.surface is not None:
- self.display.blit(self.world.camera.surface, (0, 0))
- pygame.display.flip()
-
- def __del__(self):
- pygame.quit()
-
+ def step(self, action):
+ control = carla.VehicleControl(throttle=action[0], steer=action[2], brake=action[1])
+ self.world.step(control)
+
if __name__ == "__main__":
+ pygame.init()
+
env = CarlaEnvironment()
+ cam = Camera(env.world)
+ ctrl = Controller()
running = True
- while running:
- env.on_update()
- for event in pygame.event.get():
- if event.type == pygame.KEYUP:
- if event.key == pygame.K_q:
- running = False
+ while ctrl.is_running():
+ ctrl.on_update()
+ env.step(ctrl.get_action())
+ cam.on_update()
env.world.destroy()
- env = None
+ pygame.quit()
diff --git a/steering_wheel.py b/steering_wheel.py
index 089d20591a064421eec836ea55ab939c0099c4ae..22dde87dc1708db3741d167fa76ad1ae9ad02642 100644
--- a/steering_wheel.py
+++ b/steering_wheel.py
@@ -3,22 +3,22 @@
import pygame
DIRECTION=0
-SPEED=1
-BREAKS=2
+THROTTLE=1
+BRAKES=2
INPUTS=3
OFFSET = 2.0
class ManualSteeringWheel:
""" Steering wheel """
- axis_count = 0
+ axis_count = 0.0
joystick = None
- direction = 0
- speed = 0
- breaks = 0
+ direction = 0.0
+ throttle = 0.0
+ brakes = 0.0
+ reverse = False
def __init__(self):
- pygame.init()
self.joystick = pygame.joystick.Joystick(0)
self.joystick.init()
self.axis_count = self.joystick.get_numaxes()
@@ -30,28 +30,50 @@ class ManualSteeringWheel:
self.direction = self.joystick.get_axis(DIRECTION)
return self.direction
- def get_speed(self, update=True):
- """ Update and return speed."""
+ def get_throttle(self, update=True):
+ """ Update and return throttle."""
if update:
pygame.event.get()
- self.speed = (OFFSET - (self.joystick.get_axis(SPEED) + 1.0)) / OFFSET
- return self.speed
+ self.throttle = (OFFSET - (self.joystick.get_axis(THROTTLE) + 1.0)) / OFFSET
+ return self.throttle
- def get_breaks(self, update=True):
- """ Update and return breaks. """
+ def get_brakes(self, update=True):
+ """ Update and return brakes. """
if update:
pygame.event.get()
- self.breaks = (OFFSET - (self.joystick.get_axis(BREAKS) + 1.0)) / OFFSET
- return self.breaks
+ self.brakes = (OFFSET - (self.joystick.get_axis(BRAKES) + 1.0)) / OFFSET
+ if self.brakes < 0.01:
+ self.brakes = 0.0
+ return self.brakes
- def on_update(self):
+ def update_controls(self):
""" Poll for pygame events. """
- pygame.event.get()
self.get_direction(update=False)
- self.get_speed(update=False)
- self.get_breaks(update=False)
+ self.get_throttle(update=False)
+ self.get_brakes(update=False)
+
+ def get_action(self):
+ return [self.throttle, self.brakes, self.direction, self.reverse]
+
+
+class Controller(ManualSteeringWheel):
+ running = True
+
+ def is_running(self):
+ return self.running
+
+ def on_update(self):
+ for event in pygame.event.get():
+ if event.type == pygame.KEYUP:
+ if event.key == pygame.K_r:
+ self.reverse = not self.reverse
+ elif event.key == pygame.K_q:
+ self.running = False
+
+ self.update_controls()
if __name__ == '__main__':
+ pygame.init()
clock = pygame.time.Clock()
sw = ManualSteeringWheel()
@@ -59,6 +81,6 @@ if __name__ == '__main__':
# Receive all occured events
print("")
print("Direction: " + str(sw.get_direction()))
- print("Speed: " + str(sw.get_speed()))
- print("Breaks: " + str(sw.get_breaks()))
+ print("Speed: " + str(sw.get_throttle()))
+ print("Brakes: " + str(sw.get_brakes()))
clock.tick(2)