def reset_other_vehicles()

in CARLA_0.9.8/PythonAPI/carla/agents/navigation/carla_env.py [0:0]

• 40 lines of code
• 12 McCabe index (conditional complexity)

    def reset_other_vehicles(self):
        if not self.is_other_cars:
            return

        # clear out old vehicles
        self.client.apply_batch([carla.command.DestroyActor(x) for x in self.vehicles_list])
        self.world.tick()
        self.vehicles_list = []

        traffic_manager = self.client.get_trafficmanager()  # 8000? which port?
        traffic_manager.set_global_distance_to_leading_vehicle(2.0)
        traffic_manager.set_synchronous_mode(True)
        blueprints = self.world.get_blueprint_library().filter('vehicle.*')
        blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]

        road_id = 45
        num_vehicles = 20
        other_car_waypoints = []
        for _ in range(num_vehicles):
            lane_id = random.choice([-1, -2, -3, -4])
            vehicle_s = np.random.uniform(100., 300.)
            other_car_waypoints.append(self.map.get_waypoint_xodr(road_id, lane_id, vehicle_s))

        # Spawn vehicles
        batch = []
        for n, waypoint in enumerate(other_car_waypoints):
            transform = waypoint.transform
            transform.location.z += 0.1
            blueprint = random.choice(blueprints)
            if blueprint.has_attribute('color'):
                color = random.choice(blueprint.get_attribute('color').recommended_values)
                blueprint.set_attribute('color', color)
            if blueprint.has_attribute('driver_id'):
                driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
                blueprint.set_attribute('driver_id', driver_id)
            blueprint.set_attribute('role_name', 'autopilot')
            batch.append(carla.command.SpawnActor(blueprint, transform).then(
                carla.command.SetAutopilot(carla.command.FutureActor, True)))
        for response in self.client.apply_batch_sync(batch, False):
            self.vehicles_list.append(response.actor_id)

        for response in self.client.apply_batch_sync(batch):
            if response.error:
                pass
                # print(response.error)
            else:
                self.vehicles_list.append(response.actor_id)

        traffic_manager.global_percentage_speed_difference(30.0)