CARLA_0.9.6/PythonAPI/carla/agents/navigation/carla_env.py [19:147]: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - try: sys.path.append(glob.glob('../carla/dist/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 import math from dotmap import DotMap try: import pygame except ImportError: raise RuntimeError('cannot import pygame, make sure pygame package is installed') try: import numpy as np except ImportError: raise RuntimeError('cannot import numpy, make sure numpy package is installed') try: import queue except ImportError: import Queue as queue from agents.navigation.agent import Agent, AgentState from agents.navigation.local_planner import LocalPlanner class CarlaSyncMode(object): """ Context manager to synchronize output from different sensors. Synchronous mode is enabled as long as we are inside this context with CarlaSyncMode(world, sensors) as sync_mode: while True: data = sync_mode.tick(timeout=1.0) """ def __init__(self, world, *sensors, **kwargs): self.world = world self.sensors = sensors self.frame = None self.delta_seconds = 1.0 / kwargs.get('fps', 20) self._queues = [] self._settings = None self.start() def start(self): self._settings = self.world.get_settings() self.frame = self.world.apply_settings(carla.WorldSettings( no_rendering_mode=False, synchronous_mode=True, fixed_delta_seconds=self.delta_seconds)) def make_queue(register_event): q = queue.Queue() register_event(q.put) self._queues.append(q) make_queue(self.world.on_tick) for sensor in self.sensors: make_queue(sensor.listen) def tick(self, timeout): self.frame = self.world.tick() data = [self._retrieve_data(q, timeout) for q in self._queues] assert all(x.frame == self.frame for x in data) return data def __exit__(self, *args, **kwargs): self.world.apply_settings(self._settings) def _retrieve_data(self, sensor_queue, timeout): while True: data = sensor_queue.get(timeout=timeout) if data.frame == self.frame: return data def draw_image(surface, image, blend=False): 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] image_surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) if blend: image_surface.set_alpha(100) surface.blit(image_surface, (0, 0)) def get_font(): fonts = [x for x in pygame.font.get_fonts()] default_font = 'ubuntumono' font = default_font if default_font in fonts else fonts[0] font = pygame.font.match_font(font) return pygame.font.Font(font, 14) def should_quit(): for event in pygame.event.get(): if event.type == pygame.QUIT: return True elif event.type == pygame.KEYUP: if event.key == pygame.K_ESCAPE: return True return False def clamp(value, minimum=0.0, maximum=100.0): return max(minimum, min(value, maximum)) class Sun(object): def __init__(self, azimuth, altitude): self.azimuth = azimuth self.altitude = altitude self._t = 0.0 def tick(self, delta_seconds): self._t += 0.008 * delta_seconds self._t %= 2.0 * math.pi self.azimuth += 0.25 * delta_seconds self.azimuth %= 360.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - CARLA_0.9.8/PythonAPI/carla/agents/navigation/carla_env.py [19:146]: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - try: sys.path.append(glob.glob('../carla/dist/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 import math from dotmap import DotMap try: import pygame except ImportError: raise RuntimeError('cannot import pygame, make sure pygame package is installed') try: import numpy as np except ImportError: raise RuntimeError('cannot import numpy, make sure numpy package is installed') try: import queue except ImportError: import Queue as queue from agents.navigation.agent import Agent, AgentState from agents.navigation.local_planner import LocalPlanner class CarlaSyncMode(object): """ Context manager to synchronize output from different sensors. Synchronous mode is enabled as long as we are inside this context with CarlaSyncMode(world, sensors) as sync_mode: while True: data = sync_mode.tick(timeout=1.0) """ def __init__(self, world, *sensors, **kwargs): self.world = world self.sensors = sensors self.frame = None self.delta_seconds = 1.0 / kwargs.get('fps', 20) self._queues = [] self._settings = None self.start() def start(self): self._settings = self.world.get_settings() self.frame = self.world.apply_settings(carla.WorldSettings( no_rendering_mode=False, synchronous_mode=True, fixed_delta_seconds=self.delta_seconds)) def make_queue(register_event): q = queue.Queue() register_event(q.put) self._queues.append(q) make_queue(self.world.on_tick) for sensor in self.sensors: make_queue(sensor.listen) def tick(self, timeout): self.frame = self.world.tick() data = [self._retrieve_data(q, timeout) for q in self._queues] assert all(x.frame == self.frame for x in data) return data def __exit__(self, *args, **kwargs): self.world.apply_settings(self._settings) def _retrieve_data(self, sensor_queue, timeout): while True: data = sensor_queue.get(timeout=timeout) if data.frame == self.frame: return data def draw_image(surface, image, blend=False): 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] image_surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) if blend: image_surface.set_alpha(100) surface.blit(image_surface, (0, 0)) def get_font(): fonts = [x for x in pygame.font.get_fonts()] default_font = 'ubuntumono' font = default_font if default_font in fonts else fonts[0] font = pygame.font.match_font(font) return pygame.font.Font(font, 14) def should_quit(): for event in pygame.event.get(): if event.type == pygame.QUIT: return True elif event.type == pygame.KEYUP: if event.key == pygame.K_ESCAPE: return True return False def clamp(value, minimum=0.0, maximum=100.0): return max(minimum, min(value, maximum)) class Sun(object): def __init__(self, azimuth, altitude): self.azimuth = azimuth self.altitude = altitude self._t = 0.0 def tick(self, delta_seconds): self._t += 0.008 * delta_seconds self._t %= 2.0 * math.pi self.azimuth += 0.25 * delta_seconds self.azimuth %= 360.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -