main.ipynb

{
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  {
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   "source": [
    "```\n",
    "sudo docker run --privileged --user carla --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla-add:0.9.13 /bin/bash ./CarlaUE4.sh -world-port=12321 -RenderOffScreen\n",
    "```"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "c9ecaf27",
   "metadata": {
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     "end_time": "2022-09-30T09:07:10.617759Z",
     "start_time": "2022-09-30T09:07:10.043941Z"
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   },
   "outputs": [],
   "source": [
    "import carla\n",
    "\n",
    "import time\n",
    "import json\n",
    "import random\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "%matplotlib inline\n",
    "%config InlineBackend.figure_format = 'svg'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "c2e7e30d",
   "metadata": {
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     "end_time": "2022-09-30T09:07:10.641004Z",
     "start_time": "2022-09-30T09:07:10.619437Z"
    }
   },
   "outputs": [],
   "source": [
    "from env.CarlaEnv import CarlaEnv\n",
    "from utils.VideoRecorder import VideoRecorder"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "5f824cdc",
   "metadata": {
    "ExecuteTime": {
     "end_time": "2022-09-30T09:07:10.647341Z",
     "start_time": "2022-09-30T09:07:10.644298Z"
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   },
   "outputs": [],
   "source": [
    "with open('./cfg/weather.json', 'r', encoding='utf8') as fff:\n",
    "    weather_params = json.load(fff)\n",
    "with open('./cfg/scenario.json', 'r', encoding='utf8') as fff:\n",
    "    scenario_params = json.load(fff)\n",
    "\n",
    "max_fps = 20\n",
    "min_fps = 20"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "76415ed8",
   "metadata": {
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     "end_time": "2022-09-30T09:07:10.652514Z",
     "start_time": "2022-09-30T09:07:10.650325Z"
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   },
   "outputs": [],
   "source": [
    "selected_weather = \"hard_high_light\"\n",
    "selected_scenario = \"jaywalk\""
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "5728938a",
   "metadata": {
    "ExecuteTime": {
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    "scrolled": false
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   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "carla env reset done.\n"
     ]
    }
   ],
   "source": [
    "carla_env = CarlaEnv(\n",
    "    weather_params=weather_params,\n",
    "    scenario_params=scenario_params,\n",
    "    selected_weather=selected_weather,\n",
    "    selected_scenario=selected_scenario,\n",
    "    carla_rpc_port=12321,\n",
    "    carla_tm_port=18935,\n",
    "    carla_timeout=8,\n",
    "    perception_type=\"dvs+vidar\",\n",
    "    # perception_type=\"rgb\",\n",
    "    num_cameras=5,\n",
    "    rl_image_size=256,\n",
    "    fov=60,\n",
    "    max_fps=max_fps,\n",
    "    min_fps=min_fps,\n",
    "    max_episode_steps=1000,\n",
    "    frame_skip=1,\n",
    "    ego_auto_pilot=True,\n",
    "    is_spectator=True,\n",
    ")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "ad2a54e9",
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     "start_time": "2022-09-30T09:07:18.724174Z"
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   },
   "outputs": [],
   "source": [
    "throttle = []\n",
    "brake = []\n",
    "velocity = []"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "ef43df31",
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   },
   "outputs": [],
   "source": [
    "video = VideoRecorder(\"./video\", min_fps=min_fps, max_fps=max_fps)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "a0414d8e",
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   "source": [
    "def _control_all_walkers(time_step):\n",
    "\n",
    "    walker_behavior_params = scenario_params[selected_scenario][\"walker_behavior\"]\n",
    "    \n",
    "    left = carla.WalkerControl(\n",
    "        direction=carla.Vector3D(y=-1.),\n",
    "        speed=np.random.uniform(walker_behavior_params[\"speed\"][0], walker_behavior_params[\"speed\"][1]))\n",
    "    right = carla.WalkerControl(\n",
    "        direction=carla.Vector3D(y=1.),\n",
    "        speed=np.random.uniform(walker_behavior_params[\"speed\"][0], walker_behavior_params[\"speed\"][1]))\n",
    "\n",
    "    forward = carla.WalkerControl(\n",
    "        direction=carla.Vector3D(x=1.),\n",
    "        speed=np.random.uniform(walker_behavior_params[\"speed\"][0], walker_behavior_params[\"speed\"][1]))\n",
    "    backward = carla.WalkerControl(\n",
    "        direction=carla.Vector3D(x=-1.),\n",
    "        speed=np.random.uniform(walker_behavior_params[\"speed\"][0], walker_behavior_params[\"speed\"][1]))\n",
    "\n",
    "    all_veh_locs = [\n",
    "        [one_actor.get_transform().location.x, one_actor.get_transform().location.y] \n",
    "        for one_actor in carla_env.vehicle_actors\n",
    "    ]\n",
    "    all_veh_locs = np.array(all_veh_locs, dtype=np.float32)\n",
    "    \n",
    "    for walker in carla_env.walker_actors:\n",
    "        \n",
    "        if walker.is_alive:\n",
    "            # get location of the walker\n",
    "            loc_x, loc_y = walker.get_location().x, walker.get_location().y\n",
    "            vel_x, vel_y = walker.get_velocity().x, walker.get_velocity().y\n",
    "            ego_loc = np.array([loc_x, loc_y], dtype=np.float32)\n",
    "            \n",
    "            # judge whether the walker can cross the road\n",
    "            dis_gaps = np.linalg.norm(all_veh_locs - ego_loc, axis=1)\n",
    "            is_cross = (dis_gaps >= walker_behavior_params[\"secure_dis\"]).all()\n",
    "            \n",
    "            if loc_y > walker_behavior_params[\"border\"][\"y\"][1]:\n",
    "                if time_step % max_fps != 0 or random.random() > walker_behavior_params[\"cross_prob\"]:\n",
    "                    if loc_x > walker_behavior_params[\"border\"][\"x\"][1]:\n",
    "                        walker.apply_control(backward)\n",
    "\n",
    "                    elif loc_x > walker_behavior_params[\"border\"][\"x\"][0]:\n",
    "                        if vel_x > 0:\n",
    "                            walker.apply_control(forward)\n",
    "                        else:\n",
    "                            walker.apply_control(backward)\n",
    "\n",
    "                    else:\n",
    "                        walker.apply_control(forward)\n",
    "\n",
    "                else:\n",
    "                    walker.apply_control(left) if is_cross else None\n",
    "\n",
    "            elif loc_y > walker_behavior_params[\"border\"][\"y\"][0]:\n",
    "                if vel_y > 0:\n",
    "                    walker.apply_control(right) if is_cross else None\n",
    "                else:\n",
    "                    walker.apply_control(left) if is_cross else None\n",
    "\n",
    "            elif time_step % max_fps != 0 or random.random() > walker_behavior_params[\"cross_prob\"]:\n",
    "                if loc_x > walker_behavior_params[\"border\"][\"x\"][1]:\n",
    "                    walker.apply_control(backward)\n",
    "\n",
    "                elif loc_x > walker_behavior_params[\"border\"][\"x\"][0]:\n",
    "                    if vel_x > 0:\n",
    "                        walker.apply_control(forward)\n",
    "                    else:\n",
    "                        walker.apply_control(backward)\n",
    "\n",
    "                else:\n",
    "                    walker.apply_control(forward)\n",
    "\n",
    "            else:\n",
    "                walker.apply_control(right) if is_cross else None"
   ]
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    {
     "name": "stdout",
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     "text": [
      "carla env reset done.\n",
      "starting init-frame: 316\n",
      " 9999\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t"
     ]
    }
   ],
   "source": [
    "obs = carla_env.reset(seed=19961110)\n",
    "\n",
    "print(\"starting init-frame:\", carla_env.frame)\n",
    "\n",
    "video.init(True) \n",
    "for one_step in range(10000):\n",
    "    print(f\"\\t\\r {one_step}\", end=\"\")\n",
    "    carla_env.world.tick()\n",
    "    \n",
    "    _control_all_walkers(one_step)\n",
    "#     obs, reward, done, info = carla_env.step(action=None)\n",
    "    \n",
    "#     throttle.append(carla_env.vehicle.get_control().throttle)\n",
    "#     brake.append(carla_env.vehicle.get_control().brake)\n",
    "#     velocity.append(carla_env.vehicle.get_velocity().x)\n",
    "    \n",
    "video.save(\"test\") "
   ]
  },
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   "source": [
    "times = list(range(len(velocity)))\n",
    "\n",
    "plt.plot(times, velocity, label=\"velocity\")\n",
    "plt.plot(times, throttle, label=\"throttle\")\n",
    "plt.plot(times, brake, label=\"brake\")\n",
    "plt.legend()"
   ]
  },
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