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set_synchronous_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>.
import sys
import os
import settings
sys.path.append(settings.CARLA_EGG_PATH)
import carla
import random
import numpy as np
try:
import queue
except ImportError:
import Queue as queue
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
def __enter__(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)
return self
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 tick_no_data(self):
self.frame = self.world.tick()