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Fixed NumLock error automatic_control.py (#2306)
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* Fixed NumLock error aut_cntrl.py

* Updated Chaneglog & reduced unused imports
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@marcgpuig @germanros1987
marcgpuig authored and germanros1987 committed Dec 17, 2019
1 parent b461176 commit 1d71ecb
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Showing 2 changed files with 6 additions and 151 deletions.
1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
* Fixed PointCloudIO `cout` that interfiered with other python modules
* Better steering in manual control
* Added Doxygen documentation online with automatic updates through Jenkins pipeline
* Fixed an error in `automatic_control.py` failing because the `Num Lock` key
* Fixed client_bounding_boxes.py example script
* Fixed materials and semantic segmentation issues regarding importing assets
* Fixed ObstacleSensor to return HitDistance instead of HitRadius
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156 changes: 5 additions & 151 deletions PythonAPI/examples/automatic_control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,34 +27,8 @@
try:
import pygame
from pygame.locals import KMOD_CTRL
from pygame.locals import KMOD_SHIFT
from pygame.locals import K_0
from pygame.locals import K_9
from pygame.locals import K_BACKQUOTE
from pygame.locals import K_BACKSPACE
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_c
from pygame.locals import K_d
from pygame.locals import K_h
from pygame.locals import K_m
from pygame.locals import K_p
from pygame.locals import K_q
from pygame.locals import K_r
from pygame.locals import K_s
from pygame.locals import K_w
from pygame.locals import K_MINUS
from pygame.locals import K_EQUALS
except ImportError:
raise RuntimeError('cannot import pygame, make sure pygame package is installed')

Expand Down Expand Up @@ -189,143 +163,23 @@ def destroy(self):
if actor is not None:
actor.destroy()


# ==============================================================================
# -- KeyboardControl -----------------------------------------------------------
# ==============================================================================


class KeyboardControl(object):
def __init__(self, world, start_in_autopilot):
self._autopilot_enabled = start_in_autopilot
if isinstance(world.player, carla.Vehicle):
self._control = carla.VehicleControl()
world.player.set_autopilot(self._autopilot_enabled)
elif isinstance(world.player, carla.Walker):
self._control = carla.WalkerControl()
self._autopilot_enabled = False
self._rotation = world.player.get_transform().rotation
else:
raise NotImplementedError("Actor type not supported")
self._steer_cache = 0.0
def __init__(self, world):
world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)

def parse_events(self, client, world, clock):
def parse_events(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
return True
elif event.type == pygame.KEYUP:
if self._is_quit_shortcut(event.key):
return True
elif event.key == K_BACKSPACE:
world.restart()
elif event.key == K_F1:
world.hud.toggle_info()
elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
world.hud.help.toggle()
elif event.key == K_TAB:
world.camera_manager.toggle_camera()
elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT:
world.next_weather(reverse=True)
elif event.key == K_c:
world.next_weather()
elif event.key == K_BACKQUOTE:
world.camera_manager.next_sensor()
elif event.key > K_0 and event.key <= K_9:
world.camera_manager.set_sensor(event.key - 1 - K_0)
elif event.key == K_r and not (pygame.key.get_mods() & KMOD_CTRL):
world.camera_manager.toggle_recording()
elif event.key == K_r and (pygame.key.get_mods() & KMOD_CTRL):
if (world.recording_enabled):
client.stop_recorder()
world.recording_enabled = False
world.hud.notification("Recorder is OFF")
else:
client.start_recorder("manual_recording.rec")
world.recording_enabled = True
world.hud.notification("Recorder is ON")
elif event.key == K_p and (pygame.key.get_mods() & KMOD_CTRL):
# stop recorder
client.stop_recorder()
world.recording_enabled = False
# work around to fix camera at start of replaying
currentIndex = world.camera_manager.index
world.destroy_sensors()
# disable autopilot
self._autopilot_enabled = False
world.player.set_autopilot(self._autopilot_enabled)
world.hud.notification("Replaying file 'manual_recording.rec'")
# replayer
client.replay_file("manual_recording.rec", world.recording_start, 0, 0)
world.camera_manager.set_sensor(currentIndex)
elif event.key == K_MINUS and (pygame.key.get_mods() & KMOD_CTRL):
if pygame.key.get_mods() & KMOD_SHIFT:
world.recording_start -= 10
else:
world.recording_start -= 1
world.hud.notification("Recording start time is %d" % (world.recording_start))
elif event.key == K_EQUALS and (pygame.key.get_mods() & KMOD_CTRL):
if pygame.key.get_mods() & KMOD_SHIFT:
world.recording_start += 10
else:
world.recording_start += 1
world.hud.notification("Recording start time is %d" % (world.recording_start))
if isinstance(self._control, carla.VehicleControl):
if event.key == K_q:
self._control.gear = 1 if self._control.reverse else -1
elif event.key == K_m:
self._control.manual_gear_shift = not self._control.manual_gear_shift
self._control.gear = world.player.get_control().gear
world.hud.notification('%s Transmission' % (
'Manual' if self._control.manual_gear_shift else 'Automatic'))
elif self._control.manual_gear_shift and event.key == K_COMMA:
self._control.gear = max(-1, self._control.gear - 1)
elif self._control.manual_gear_shift and event.key == K_PERIOD:
self._control.gear = self._control.gear + 1
elif event.key == K_p and not (pygame.key.get_mods() & KMOD_CTRL):
self._autopilot_enabled = not self._autopilot_enabled
world.player.set_autopilot(self._autopilot_enabled)
world.hud.notification(
'Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
if not self._autopilot_enabled:
if isinstance(self._control, carla.VehicleControl):
keys = pygame.key.get_pressed()
if sum(keys) > 0:
self._parse_vehicle_keys(keys, clock.get_time())
self._control.reverse = self._control.gear < 0
world.player.apply_control(self._control)
elif isinstance(self._control, carla.WalkerControl):
self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time())
world.player.apply_control(self._control)

def _parse_vehicle_keys(self, keys, milliseconds):
self._control.throttle = 1.0 if keys[K_UP] or keys[K_w] else 0.0
steer_increment = 5e-4 * milliseconds
if keys[K_LEFT] or keys[K_a]:
self._steer_cache -= steer_increment
elif keys[K_RIGHT] or keys[K_d]:
self._steer_cache += steer_increment
else:
self._steer_cache = 0.0
self._steer_cache = min(0.7, max(-0.7, self._steer_cache))
self._control.steer = round(self._steer_cache, 1)
self._control.brake = 1.0 if keys[K_DOWN] or keys[K_s] else 0.0
self._control.hand_brake = keys[K_SPACE]

def _parse_walker_keys(self, keys, milliseconds):
self._control.speed = 0.0
if keys[K_DOWN] or keys[K_s]:
self._control.speed = 0.0
if keys[K_LEFT] or keys[K_a]:
self._control.speed = .01
self._rotation.yaw -= 0.08 * milliseconds
if keys[K_RIGHT] or keys[K_d]:
self._control.speed = .01
self._rotation.yaw += 0.08 * milliseconds
if keys[K_UP] or keys[K_w]:
self._control.speed = 5.556 if pygame.key.get_mods() & KMOD_SHIFT else 2.778
self._control.jump = keys[K_SPACE]
self._rotation.yaw = round(self._rotation.yaw, 1)
self._control.direction = self._rotation.get_forward_vector()

@staticmethod
def _is_quit_shortcut(key):
Expand Down Expand Up @@ -737,7 +591,7 @@ def game_loop(args):

hud = HUD(args.width, args.height)
world = World(client.get_world(), hud, args.filter)
controller = KeyboardControl(world, False)
controller = KeyboardControl(world)

if args.agent == "Roaming":
agent = RoamingAgent(world.player)
Expand All @@ -750,7 +604,7 @@ def game_loop(args):

clock = pygame.time.Clock()
while True:
if controller.parse_events(client, world, clock):
if controller.parse_events():
return

# as soon as the server is ready continue!
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