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no_rendering_mode.py
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no_rendering_mode.py
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#!/usr/bin/env python
# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
# Allows visualising a 2D map generated by vehicles.
"""
Welcome to CARLA No-Rendering Mode Visualizer
TAB : toggle hero mode
Mouse Wheel : zoom in / zoom out
Mouse Drag : move map (map mode only)
W : throttle
S : brake
AD : steer
Q : toggle reverse
Space : hand-brake
P : toggle autopilot
M : toggle manual transmission
,/. : gear up/down
F1 : toggle HUD
I : toggle actor ids
H/? : toggle help
ESC : quit
"""
# ==============================================================================
# -- find carla module ---------------------------------------------------------
# ==============================================================================
import glob
import os
import sys
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
# ==============================================================================
# -- imports -------------------------------------------------------------------
# ==============================================================================
import carla
from carla import TrafficLightState as tls
import argparse
import logging
import datetime
import weakref
import math
import random
try:
import pygame
from pygame.locals import KMOD_CTRL
from pygame.locals import KMOD_SHIFT
from pygame.locals import K_COMMA
from pygame.locals import K_DOWN
from pygame.locals import K_ESCAPE
from pygame.locals import K_F1
from pygame.locals import K_LEFT
from pygame.locals import K_PERIOD
from pygame.locals import K_RIGHT
from pygame.locals import K_SLASH
from pygame.locals import K_SPACE
from pygame.locals import K_TAB
from pygame.locals import K_UP
from pygame.locals import K_a
from pygame.locals import K_d
from pygame.locals import K_h
from pygame.locals import K_i
from pygame.locals import K_m
from pygame.locals import K_p
from pygame.locals import K_q
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')
# ==============================================================================
# -- Constants -----------------------------------------------------------------
# ==============================================================================
# Colors
# We will use the color palette used in Tango Desktop Project (Each color is indexed depending on brightness level)
# See: https://en.wikipedia.org/wiki/Tango_Desktop_Project
COLOR_BUTTER_0 = pygame.Color(252, 233, 79)
COLOR_BUTTER_1 = pygame.Color(237, 212, 0)
COLOR_BUTTER_2 = pygame.Color(196, 160, 0)
COLOR_ORANGE_0 = pygame.Color(252, 175, 62)
COLOR_ORANGE_1 = pygame.Color(245, 121, 0)
COLOR_ORANGE_2 = pygame.Color(209, 92, 0)
COLOR_CHOCOLATE_0 = pygame.Color(233, 185, 110)
COLOR_CHOCOLATE_1 = pygame.Color(193, 125, 17)
COLOR_CHOCOLATE_2 = pygame.Color(143, 89, 2)
COLOR_CHAMELEON_0 = pygame.Color(138, 226, 52)
COLOR_CHAMELEON_1 = pygame.Color(115, 210, 22)
COLOR_CHAMELEON_2 = pygame.Color(78, 154, 6)
COLOR_SKY_BLUE_0 = pygame.Color(114, 159, 207)
COLOR_SKY_BLUE_1 = pygame.Color(52, 101, 164)
COLOR_SKY_BLUE_2 = pygame.Color(32, 74, 135)
COLOR_PLUM_0 = pygame.Color(173, 127, 168)
COLOR_PLUM_1 = pygame.Color(117, 80, 123)
COLOR_PLUM_2 = pygame.Color(92, 53, 102)
COLOR_SCARLET_RED_0 = pygame.Color(239, 41, 41)
COLOR_SCARLET_RED_1 = pygame.Color(204, 0, 0)
COLOR_SCARLET_RED_2 = pygame.Color(164, 0, 0)
COLOR_ALUMINIUM_0 = pygame.Color(238, 238, 236)
COLOR_ALUMINIUM_1 = pygame.Color(211, 215, 207)
COLOR_ALUMINIUM_2 = pygame.Color(186, 189, 182)
COLOR_ALUMINIUM_3 = pygame.Color(136, 138, 133)
COLOR_ALUMINIUM_4 = pygame.Color(85, 87, 83)
COLOR_ALUMINIUM_5 = pygame.Color(46, 52, 54)
COLOR_WHITE = pygame.Color(255, 255, 255)
COLOR_BLACK = pygame.Color(0, 0, 0)
# Module Defines
MODULE_WORLD = 'WORLD'
MODULE_HUD = 'HUD'
MODULE_INPUT = 'INPUT'
PIXELS_PER_METER = 12
MAP_DEFAULT_SCALE = 0.1
HERO_DEFAULT_SCALE = 1.0
PIXELS_AHEAD_VEHICLE = 150
# ==============================================================================
# -- Util -----------------------------------------------------------
# ==============================================================================
def get_actor_display_name(actor, truncate=250):
name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
class Util(object):
@staticmethod
def blits(destination_surface, source_surfaces, rect=None, blend_mode=0):
for surface in source_surfaces:
destination_surface.blit(surface[0], surface[1], rect, blend_mode)
@staticmethod
def length(v):
return math.sqrt(v.x**2 + v.y**2 + v.z**2)
# ==============================================================================
# -- ModuleManager -------------------------------------------------------------
# ==============================================================================
class ModuleManager(object):
def __init__(self):
self.modules = []
def register_module(self, module):
self.modules.append(module)
def clear_modules(self):
del self.modules[:]
def tick(self, clock):
# Update all the modules
for module in self.modules:
module.tick(clock)
def render(self, display):
display.fill(COLOR_ALUMINIUM_4)
for module in self.modules:
module.render(display)
def get_module(self, name):
for module in self.modules:
if module.name == name:
return module
def start_modules(self):
for module in self.modules:
module.start()
# ==============================================================================
# -- FadingText ----------------------------------------------------------------
# ==============================================================================
class FadingText(object):
def __init__(self, font, dim, pos):
self.font = font
self.dim = dim
self.pos = pos
self.seconds_left = 0
self.surface = pygame.Surface(self.dim)
def set_text(self, text, color=COLOR_WHITE, seconds=2.0):
text_texture = self.font.render(text, True, color)
self.surface = pygame.Surface(self.dim)
self.seconds_left = seconds
self.surface.fill(COLOR_BLACK)
self.surface.blit(text_texture, (10, 11))
def tick(self, clock):
delta_seconds = 1e-3 * clock.get_time()
self.seconds_left = max(0.0, self.seconds_left - delta_seconds)
self.surface.set_alpha(500.0 * self.seconds_left)
def render(self, display):
display.blit(self.surface, self.pos)
# ==============================================================================
# -- HelpText ------------------------------------------------------------------
# ==============================================================================
class HelpText(object):
def __init__(self, font, width, height):
lines = __doc__.split('\n')
self.font = font
self.dim = (680, len(lines) * 22 + 12)
self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
self.seconds_left = 0
self.surface = pygame.Surface(self.dim)
self.surface.fill(COLOR_BLACK)
for n, line in enumerate(lines):
text_texture = self.font.render(line, True, COLOR_WHITE)
self.surface.blit(text_texture, (22, n * 22))
self._render = False
self.surface.set_alpha(220)
def toggle(self):
self._render = not self._render
def render(self, display):
if self._render:
display.blit(self.surface, self.pos)
# ==============================================================================
# -- ModuleHUD -----------------------------------------------------------------
# ==============================================================================
class ModuleHUD (object):
def __init__(self, name, width, height):
self.name = name
self.dim = (width, height)
self._init_hud_params()
self._init_data_params()
def start(self):
pass
def _init_hud_params(self):
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._header_font = pygame.font.SysFont('Arial', 14, True)
self.help = HelpText(pygame.font.Font(mono, 24), *self.dim)
self._notifications = FadingText(
pygame.font.Font(pygame.font.get_default_font(), 20),
(self.dim[0], 40), (0, self.dim[1] - 40))
def _init_data_params(self):
self.show_info = True
self.show_actor_ids = False
self._info_text = {}
def notification(self, text, seconds=2.0):
self._notifications.set_text(text, seconds=seconds)
def tick(self, clock):
self._notifications.tick(clock)
def add_info(self, module_name, info):
self._info_text[module_name] = info
def render_vehicles_ids(self, vehicle_id_surface, list_actors, world_to_pixel, hero_actor, hero_transform):
vehicle_id_surface.fill(COLOR_BLACK)
if self.show_actor_ids:
vehicle_id_surface.set_alpha(150)
for actor in list_actors:
x, y = world_to_pixel(actor[1].location)
angle = 0
if hero_actor is not None:
angle = -hero_transform.rotation.yaw - 90
color = COLOR_SKY_BLUE_0
if int(actor[0].attributes['number_of_wheels']) == 2:
color = COLOR_CHOCOLATE_0
if actor[0].attributes['role_name'] == 'hero':
color = COLOR_CHAMELEON_0
font_surface = self._header_font.render(str(actor[0].id), True, color)
rotated_font_surface = pygame.transform.rotate(font_surface, angle)
rect = rotated_font_surface.get_rect(center=(x, y))
vehicle_id_surface.blit(rotated_font_surface, rect)
return vehicle_id_surface
def render(self, display):
if self.show_info:
info_surface = pygame.Surface((240, self.dim[1]))
info_surface.set_alpha(100)
display.blit(info_surface, (0, 0))
v_offset = 4
bar_h_offset = 100
bar_width = 106
i = 0
for module_name, module_info in self._info_text.items():
if not module_info:
continue
surface = self._header_font.render(module_name, True, COLOR_ALUMINIUM_0).convert_alpha()
display.blit(surface, (8 + bar_width / 2, 18 * i + v_offset))
v_offset += 12
i += 1
for item in module_info:
if v_offset + 18 > self.dim[1]:
break
if isinstance(item, list):
if len(item) > 1:
points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
pygame.draw.lines(display, (255, 136, 0), False, points, 2)
item = None
elif isinstance(item, tuple):
if isinstance(item[1], bool):
rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
pygame.draw.rect(display, COLOR_ALUMINIUM_0, rect, 0 if item[1] else 1)
else:
rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
pygame.draw.rect(display, COLOR_ALUMINIUM_0, rect_border, 1)
f = (item[1] - item[2]) / (item[3] - item[2])
if item[2] < 0.0:
rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
else:
rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
pygame.draw.rect(display, COLOR_ALUMINIUM_0, rect)
item = item[0]
if item: # At this point has to be a str.
surface = self._font_mono.render(item, True, COLOR_ALUMINIUM_0).convert_alpha()
display.blit(surface, (8, 18 * i + v_offset))
v_offset += 18
v_offset += 24
self._notifications.render(display)
self.help.render(display)
# ==============================================================================
# -- TrafficLightSurfaces ------------------------------------------------------
# ==============================================================================
class TrafficLightSurfaces(object):
"""Holds the surfaces (scaled and rotated) for painting traffic lights"""
def __init__(self):
def make_surface(tl):
w = 40
surface = pygame.Surface((w, 3 * w), pygame.SRCALPHA)
surface.fill(COLOR_ALUMINIUM_5 if tl != 'h' else COLOR_ORANGE_2)
if tl != 'h':
hw = int(w / 2)
off = COLOR_ALUMINIUM_4
red = COLOR_SCARLET_RED_0
yellow = COLOR_BUTTER_0
green = COLOR_CHAMELEON_0
pygame.draw.circle(surface, red if tl == tls.Red else off, (hw, hw), int(0.4 * w))
pygame.draw.circle(surface, yellow if tl == tls.Yellow else off, (hw, w + hw), int(0.4 * w))
pygame.draw.circle(surface, green if tl == tls.Green else off, (hw, 2 * w + hw), int(0.4 * w))
return pygame.transform.smoothscale(surface, (15, 45) if tl != 'h' else (19, 49))
self._original_surfaces = {
'h': make_surface('h'),
tls.Red: make_surface(tls.Red),
tls.Yellow: make_surface(tls.Yellow),
tls.Green: make_surface(tls.Green),
tls.Off: make_surface(tls.Off),
tls.Unknown: make_surface(tls.Unknown)
}
self.surfaces = dict(self._original_surfaces)
def rotozoom(self, angle, scale):
for key, surface in self._original_surfaces.items():
self.surfaces[key] = pygame.transform.rotozoom(surface, angle, scale)
# ==============================================================================
# -- World ---------------------------------------------------------------------
# ==============================================================================
class MapImage(object):
def __init__(self, carla_world, carla_map, pixels_per_meter=10):
self._pixels_per_meter = pixels_per_meter
self.scale = 1.0
waypoints = carla_map.generate_waypoints(2)
margin = 50
max_x = max(waypoints, key=lambda x: x.transform.location.x).transform.location.x + margin
max_y = max(waypoints, key=lambda x: x.transform.location.y).transform.location.y + margin
min_x = min(waypoints, key=lambda x: x.transform.location.x).transform.location.x - margin
min_y = min(waypoints, key=lambda x: x.transform.location.y).transform.location.y - margin
self.width = max(max_x - min_x, max_y - min_y)
self._world_offset = (min_x, min_y)
width_in_pixels = int(self._pixels_per_meter * self.width)
self.big_map_surface = pygame.Surface((width_in_pixels, width_in_pixels)).convert()
self.draw_road_map(self.big_map_surface, carla_world, carla_map, self.world_to_pixel, self.world_to_pixel_width)
self.surface = self.big_map_surface
def draw_road_map(self, map_surface, carla_world, carla_map, world_to_pixel, world_to_pixel_width):
map_surface.fill(COLOR_ALUMINIUM_4)
precision = 0.05
def road_mark_color_to_tango(road_mark_color):
tango_color = COLOR_BLACK
if road_mark_color == carla.RoadMarkColor.White:
tango_color = COLOR_ALUMINIUM_2
elif road_mark_color == carla.RoadMarkColor.Blue:
tango_color = COLOR_SKY_BLUE_0
elif road_mark_color == carla.RoadMarkColor.Green:
tango_color = COLOR_CHAMELEON_0
elif road_mark_color == carla.RoadMarkColor.Red:
tango_color = COLOR_SCARLET_RED_0
elif road_mark_color == carla.RoadMarkColor.Yellow:
tango_color = COLOR_ORANGE_0
return tango_color
def draw_solid_line (surface, color, closed, points, width):
if len(points) >= 2:
pygame.draw.lines(surface, color, closed, points, width)
def draw_broken_line (surface, color, closed, points, width):
broken_lines = [x for n, x in enumerate(zip(*(iter(points),) * 20)) if n % 3 == 0]
for line in broken_lines:
pygame.draw.lines(surface, color, closed, line, width)
def draw_lane_marking(surface, waypoints, is_left, sample):
sign = 0.0
marking_type = carla.LaneMarking.NONE
marking_color = carla.RoadMarkColor.Other
road_mark = None
if is_left:
sign = -1
road_mark = sample.get_left_road_mark()
else:
sign = 1
road_mark = sample.get_right_road_mark()
if road_mark is not None:
marking_type = road_mark.type
marking_color = road_mark.color
margin = 0.20
w = carla_map.get_waypoint(lateral_shift(sample.transform, sign * sample.lane_width), project_to_road=False)
tango_color = road_mark_color_to_tango(marking_color)
if marking_type == carla.LaneMarking.SolidSolid:
marking = [world_to_pixel(lateral_shift(w.transform, sign * ( (w.lane_width * 0.5) - margin))) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.BrokenBroken:
marking = [world_to_pixel(lateral_shift(w.transform, sign *(w.lane_width * 0.5 - margin))) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.SolidBroken or marking_type == carla.LaneMarking.BrokenSolid:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2)
marking = [world_to_pixel(lateral_shift(w.transform, sign * (w.lane_width * 0.5 + margin))) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2)
elif marking_type == carla.LaneMarking.Broken:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_broken_line(surface, tango_color, False, marking, 2)
elif (marking_type == carla.LaneMarking.Solid or w is None) and marking_type != carla.LaneMarking.NONE:
marking = [world_to_pixel(lateral_shift(w.transform, sign * w.lane_width * 0.5)) for w in waypoints]
draw_solid_line(surface, tango_color, False, marking, 2)
def draw_arrow(surface, transform, color=COLOR_ALUMINIUM_2):
transform.rotation.yaw += 180
forward = transform.get_forward_vector()
transform.rotation.yaw += 90
right_dir = transform.get_forward_vector()
start = transform.location
end = start + 2.0 * forward
right = start + 0.8 * forward + 0.4 * right_dir
left = start + 0.8 * forward - 0.4 * right_dir
pygame.draw.lines(
surface, color, False, [
world_to_pixel(x) for x in [
start, end]], 4)
pygame.draw.lines(
surface, color, False, [
world_to_pixel(x) for x in [
left, start, right]], 4)
def draw_stop(surface, font_surface, transform, color=COLOR_ALUMINIUM_2):
waypoint = carla_map.get_waypoint(transform.location)
angle = -waypoint.transform.rotation.yaw - 90.0
font_surface = pygame.transform.rotate(font_surface, angle)
pixel_pos = world_to_pixel(waypoint.transform.location)
offset = font_surface.get_rect(center=(pixel_pos[0], pixel_pos[1]))
surface.blit(font_surface, offset)
# Draw line in front of stop
forward_vector = carla.Location(waypoint.transform.get_forward_vector())
left_vector = carla.Location(-forward_vector.y, forward_vector.x,
forward_vector.z) * waypoint.lane_width / 2 * 0.7
line = [(waypoint.transform.location + (forward_vector * 1.5) + (left_vector)),
(waypoint.transform.location + (forward_vector * 1.5) - (left_vector))]
line_pixel = [world_to_pixel(p) for p in line]
pygame.draw.lines(surface, color, True, line_pixel, 2)
def lateral_shift(transform, shift):
transform.rotation.yaw += 90
return transform.location + shift * transform.get_forward_vector()
def draw_topology (carla_topology, index):
topology = [x[index] for x in carla_topology]
topology = sorted(topology, key=lambda w: w.transform.location.z)
for waypoint in topology:
waypoints = [waypoint]
nxt = waypoint.next(precision)
if len(nxt) > 0:
nxt = nxt[0]
while nxt.road_id == waypoint.road_id:
waypoints.append(nxt)
nxt = nxt.next(precision)
if len(nxt) > 0:
nxt = nxt[0]
else:
break
# Draw Road
road_left_side = [lateral_shift(w.transform, -w.lane_width * 0.5) for w in waypoints]
road_right_side= [lateral_shift(w.transform, w.lane_width * 0.5) for w in waypoints]
polygon = road_left_side + [x for x in reversed(road_right_side)]
polygon = [world_to_pixel(x) for x in polygon]
if len(polygon) > 2:
pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon, 2)
pygame.draw.polygon(map_surface, COLOR_ALUMINIUM_5, polygon)
# Draw Lane Markings and Arrows
if not waypoint.is_intersection:
sample = waypoints[int(len(waypoints) / 2)]
draw_lane_marking(
map_surface,
waypoints,
True,
sample)
draw_lane_marking(
map_surface,
waypoints,
False,
sample)
for n, wp in enumerate(waypoints):
if ((n+1) % 400) == 0:
draw_arrow(map_surface, wp.transform)
topology = carla_map.get_topology()
draw_topology(topology, 0)
draw_topology(topology, 1)
actors = carla_world.get_actors()
stops_transform = [actor.get_transform() for actor in actors if 'stop' in actor.type_id]
font_size = world_to_pixel_width(1)
font = pygame.font.SysFont('Arial', font_size, True)
font_surface = font.render("STOP", False, COLOR_ALUMINIUM_2)
font_surface = pygame.transform.scale(font_surface, (font_surface.get_width(), font_surface.get_height() * 2))
for stop in stops_transform:
draw_stop(map_surface, font_surface, stop)
def world_to_pixel(self, location, offset=(0, 0)):
x = self.scale * self._pixels_per_meter * (location.x - self._world_offset[0])
y = self.scale * self._pixels_per_meter * (location.y - self._world_offset[1])
return [int(x - offset[0]), int(y - offset[1])]
def world_to_pixel_width(self, width):
return int(self.scale * self._pixels_per_meter * width)
def scale_map(self, scale):
if scale != self.scale:
self.scale = scale
width = int(self.big_map_surface.get_width() * self.scale)
self.surface = pygame.transform.smoothscale(self.big_map_surface, (width, width))
class ModuleWorld(object):
def __init__(self, name, host, port, timeout, actor_filter, no_rendering=True):
self.client = None
self.name = name
self.host = host
self.port = port
self.timeout = timeout
self.actor_filter = actor_filter
self.no_rendering = no_rendering
self.server_fps = 0.0
self.simulation_time = 0
self.server_clock = pygame.time.Clock()
# World data
self.world = None
self.town_map = None
self.actors_with_transforms = []
# Store necessary modules
self.module_hud = None
self.module_input = None
self.surface_size = [0, 0]
self.prev_scaled_size = 0
self.scaled_size = 0
# Hero actor
self.hero_actor = None
self.hero_transform = None
self.scale_offset = [0, 0]
self.vehicle_id_surface = None
self.result_surface = None
self.traffic_light_surfaces = TrafficLightSurfaces()
self.affected_traffic_light = None
# Map info
self.map_image = None
self.border_round_surface = None
self.original_surface_size = None
self.hero_surface = None
self.actors_surface = None
def _get_data_from_carla(self, host, port, timeout):
try:
self.client = carla.Client(host, port)
self.client.set_timeout(timeout)
world = self.client.get_world()
town_map = world.get_map()
return (world, town_map)
except RuntimeError as ex:
logging.error(ex)
exit_game()
def start(self):
self.world, self.town_map = self._get_data_from_carla(self.host, self.port, self.timeout)
settings = self.world.get_settings()
settings.no_rendering_mode = self.no_rendering
self.world.apply_settings(settings)
# Create Surfaces
self.map_image = MapImage(self.world, self.town_map, PIXELS_PER_METER)
# Store necessary modules
self.module_hud = module_manager.get_module(MODULE_HUD)
self.module_input = module_manager.get_module(MODULE_INPUT)
self.original_surface_size = min(self.module_hud.dim[0], self.module_hud.dim[1])
self.surface_size = self.map_image.big_map_surface.get_width()
self.scaled_size = int(self.surface_size)
self.prev_scaled_size = int(self.surface_size)
# Render Actors
self.actors_surface = pygame.Surface((self.map_image.surface.get_width(), self.map_image.surface.get_height()))
self.actors_surface.set_colorkey(COLOR_BLACK)
self.vehicle_id_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.vehicle_id_surface.set_colorkey(COLOR_BLACK)
self.border_round_surface = pygame.Surface(self.module_hud.dim, pygame.SRCALPHA).convert()
self.border_round_surface.set_colorkey(COLOR_WHITE)
self.border_round_surface.fill(COLOR_BLACK)
center_offset = (int(self.module_hud.dim[0] / 2), int(self.module_hud.dim[1] / 2))
pygame.draw.circle(self.border_round_surface, COLOR_ALUMINIUM_1, center_offset, int(self.module_hud.dim[1] / 2))
pygame.draw.circle(self.border_round_surface, COLOR_WHITE, center_offset, int((self.module_hud.dim[1] - 8) / 2))
scaled_original_size = self.original_surface_size * (1.0 / 0.9)
self.hero_surface = pygame.Surface((scaled_original_size, scaled_original_size)).convert()
self.result_surface = pygame.Surface((self.surface_size, self.surface_size)).convert()
self.result_surface.set_colorkey(COLOR_BLACK)
# Start hero mode by default
self.select_hero_actor()
self.hero_actor.set_autopilot(False)
self.module_input.wheel_offset = HERO_DEFAULT_SCALE
self.module_input.control = carla.VehicleControl()
weak_self = weakref.ref(self)
self.world.on_tick(lambda timestamp: ModuleWorld.on_world_tick(weak_self, timestamp))
def select_hero_actor(self):
hero_vehicles = [
actor for actor in self.world.get_actors() if 'vehicle' in actor.type_id and actor.attributes['role_name'] == 'hero']
if len(hero_vehicles) > 0:
self.hero_actor = random.choice(hero_vehicles)
self.hero_transform = self.hero_actor.get_transform()
else:
self._spawn_hero()
def _spawn_hero(self):
# Get a random blueprint.
blueprint = random.choice(self.world.get_blueprint_library().filter(self.actor_filter))
blueprint.set_attribute('role_name', 'hero')
if blueprint.has_attribute('color'):
color = random.choice(blueprint.get_attribute('color').recommended_values)
blueprint.set_attribute('color', color)
# Spawn the player.
while self.hero_actor is None:
spawn_points = self.world.get_map().get_spawn_points()
spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
self.hero_actor = self.world.try_spawn_actor(blueprint, spawn_point)
self.hero_transform = self.hero_actor.get_transform()
def tick(self, clock):
actors = self.world.get_actors()
self.actors_with_transforms = [(actor, actor.get_transform()) for actor in actors]
if self.hero_actor is not None:
self.hero_transform = self.hero_actor.get_transform()
self.update_hud_info(clock)
def update_hud_info(self, clock):
hero_mode_text = []
if self.hero_actor is not None:
hero_speed = self.hero_actor.get_velocity()
hero_speed_text = 3.6 * math.sqrt(hero_speed.x ** 2 + hero_speed.y ** 2 + hero_speed.z ** 2)
affected_traffic_light_text = 'None'
if self.affected_traffic_light is not None:
state = self.affected_traffic_light.state
if state == carla.libcarla.TrafficLightState.Green:
affected_traffic_light_text = 'GREEN'
elif state == carla.libcarla.TrafficLightState.Yellow:
affected_traffic_light_text = 'YELLOW'
else:
affected_traffic_light_text = 'RED'
affected_speed_limit_text = self.hero_actor.get_speed_limit()
hero_mode_text = [
'Hero Mode: ON',
'Hero ID: %7d' % self.hero_actor.id,
'Hero Vehicle: %14s' % get_actor_display_name(self.hero_actor, truncate=14),
'Hero Speed: %3d km/h' % hero_speed_text,
'Hero Affected by:',
' Traffic Light: %12s' % affected_traffic_light_text,
' Speed Limit: %3d km/h' % affected_speed_limit_text
]
else:
hero_mode_text = ['Hero Mode: OFF']
self.server_fps = self.server_clock.get_fps()
self.server_fps = 'inf' if self.server_fps == float('inf') else round(self.server_fps)
module_info_text = [
'Server: % 16s FPS' % self.server_fps,
'Client: % 16s FPS' % round(clock.get_fps()),
'Simulation Time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
'Map Name: %10s' % self.town_map.name,
]
module_info_text = module_info_text
module_hud = module_manager.get_module(MODULE_HUD)
module_hud.add_info(self.name, module_info_text)
module_hud.add_info('HERO', hero_mode_text)
@staticmethod
def on_world_tick(weak_self, timestamp):
self = weak_self()
if not self:
return
self.server_clock.tick()
self.server_fps = self.server_clock.get_fps()
self.simulation_time = timestamp.elapsed_seconds
def _split_actors(self):
vehicles = []
traffic_lights = []
speed_limits = []
walkers = []
for actor_with_transform in self.actors_with_transforms:
actor = actor_with_transform[0]
if 'vehicle' in actor.type_id:
vehicles.append(actor_with_transform)
elif 'traffic_light' in actor.type_id:
traffic_lights.append(actor_with_transform)
elif 'speed_limit' in actor.type_id:
speed_limits.append(actor_with_transform)
elif 'walker' in actor.type_id:
walkers.append(actor_with_transform)
info_text = []
if self.hero_actor is not None and len(vehicles) > 1:
location = self.hero_transform.location
vehicle_list = [x[0] for x in vehicles if x[0].id != self.hero_actor.id]
def distance(v): return location.distance(v.get_location())
for n, vehicle in enumerate(sorted(vehicle_list, key=distance)):
if n > 15:
break
vehicle_type = get_actor_display_name(vehicle, truncate=22)
info_text.append('% 5d %s' % (vehicle.id, vehicle_type))
module_manager.get_module(MODULE_HUD).add_info(
'NEARBY VEHICLES',
info_text)
return (vehicles, traffic_lights, speed_limits, walkers)
def get_bounding_box(self, actor):
bb = actor.trigger_volume.extent
corners = [carla.Location(x=-bb.x, y=-bb.y),
carla.Location(x=bb.x, y=-bb.y),
carla.Location(x=bb.x, y=bb.y),
carla.Location(x=-bb.x, y=bb.y),
carla.Location(x=-bb.x, y=-bb.y)]
corners = [x + actor.trigger_volume.location for x in corners]
t = actor.get_transform()
t.transform(corners)
return corners
def _render_traffic_lights(self, surface, list_tl, world_to_pixel):
self.affected_traffic_light = None
for tl in list_tl:
world_pos = tl.get_location()
pos = world_to_pixel(world_pos)
if self.hero_actor is not None and hasattr(tl, 'trigger_volume'):
corners = self.get_bounding_box(tl)
corners = [world_to_pixel(p) for p in corners]
tl_t = tl.get_transform()
transformed_tv = tl_t.transform(tl.trigger_volume.location)
hero_location = self.hero_actor.get_location()
d = hero_location.distance(transformed_tv)
s = Util.length(tl.trigger_volume.extent) + Util.length(self.hero_actor.bounding_box.extent)
if (d <= s):
# Highlight traffic light
self.affected_traffic_light = tl
srf = self.traffic_light_surfaces.surfaces['h']
surface.blit(srf, srf.get_rect(center=pos))
srf = self.traffic_light_surfaces.surfaces[tl.state]
surface.blit(srf, srf.get_rect(center=pos))
def _render_speed_limits(self, surface, list_sl, world_to_pixel, world_to_pixel_width):
font_size = world_to_pixel_width(2)
radius = world_to_pixel_width(2)
font = pygame.font.SysFont('Arial', font_size)
for sl in list_sl:
x, y = world_to_pixel(sl.get_location())
# Render speed limit
white_circle_radius = int(radius * 0.75)
pygame.draw.circle(surface, COLOR_SCARLET_RED_1, (x, y), radius)
pygame.draw.circle(surface, COLOR_ALUMINIUM_0, (x, y), white_circle_radius)
limit = sl.type_id.split('.')[2]
font_surface = font.render(limit, True, COLOR_ALUMINIUM_5)
# Blit
if self.hero_actor is not None:
# Rotate font surface with respect to hero vehicle front
angle = -self.hero_transform.rotation.yaw - 90.0
font_surface = pygame.transform.rotate(font_surface, angle)
offset = font_surface.get_rect(center=(x, y))
surface.blit(font_surface, offset)
else:
surface.blit(font_surface, (x - radius / 2, y - radius / 2))
def _render_walkers(self, surface, list_w, world_to_pixel):
for w in list_w:
color = COLOR_PLUM_0
# Compute bounding box points
bb = w[0].bounding_box.extent
corners = [
carla.Location(x=-bb.x, y=-bb.y),
carla.Location(x=bb.x, y=-bb.y),
carla.Location(x=bb.x, y=bb.y),
carla.Location(x=-bb.x, y=bb.y)]
w[1].transform(corners)
corners = [world_to_pixel(p) for p in corners]
pygame.draw.polygon(surface, color, corners)
def _render_vehicles(self, surface, list_v, world_to_pixel):
for v in list_v:
color = COLOR_SKY_BLUE_0
if int(v[0].attributes['number_of_wheels']) == 2:
color = COLOR_CHOCOLATE_1
if v[0].attributes['role_name'] == 'hero':
color = COLOR_CHAMELEON_0
# Compute bounding box points
bb = v[0].bounding_box.extent
corners = [carla.Location(x=-bb.x, y=-bb.y),
carla.Location(x=bb.x - 0.8, y=-bb.y),
carla.Location(x=bb.x, y=0),
carla.Location(x=bb.x - 0.8, y=bb.y),
carla.Location(x=-bb.x, y=bb.y),
carla.Location(x=-bb.x, y=-bb.y)
]
v[1].transform(corners)
corners = [world_to_pixel(p) for p in corners]
pygame.draw.lines(surface, color, False, corners, int(math.ceil(4.0 * self.map_image.scale)))
def render_actors(self, surface, vehicles, traffic_lights, speed_limits, walkers):
# Static actors
self._render_traffic_lights(surface, [tl[0] for tl in traffic_lights], self.map_image.world_to_pixel)
self._render_speed_limits(surface, [sl[0] for sl in speed_limits], self.map_image.world_to_pixel,
self.map_image.world_to_pixel_width)
# Dynamic actors
self._render_vehicles(surface, vehicles, self.map_image.world_to_pixel)
self._render_walkers(surface, walkers, self.map_image.world_to_pixel)
def clip_surfaces(self, clipping_rect):
self.actors_surface.set_clip(clipping_rect)
self.vehicle_id_surface.set_clip(clipping_rect)
self.result_surface.set_clip(clipping_rect)
def _compute_scale(self, scale_factor):
m = self.module_input.mouse_pos
# Percentage of surface where mouse position is actually
px = (m[0] - self.scale_offset[0]) / float(self.prev_scaled_size)
py = (m[1] - self.scale_offset[1]) / float(self.prev_scaled_size)
# Offset will be the previously accumulated offset added with the
# difference of mouse positions in the old and new scales
diff_between_scales = ((float(self.prev_scaled_size) * px) - (float(self.scaled_size) * px),
(float(self.prev_scaled_size) * py) - (float(self.scaled_size) * py))
self.scale_offset = (self.scale_offset[0] + diff_between_scales[0],
self.scale_offset[1] + diff_between_scales[1])
# Update previous scale
self.prev_scaled_size = self.scaled_size
# Scale performed
self.map_image.scale_map(scale_factor)
def render(self, display):
if self.actors_with_transforms is None: