#!/usr/bin/env python
# Copyright (c) 2021 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>.
"""Example script to generate traffic in the simulation"""
import glob
import os
import sys
import time
try:
sys.path.append(glob.glob('../carla/dist/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
import carla
import argparse
import logging
from numpy import random
def get_actor_blueprints(world, filter, generation):
bps = world.get_blueprint_library().filter(filter)
if generation.lower() == "all":
return bps
# If the filter returns only one bp, we assume that this one needed
# and therefore, we ignore the generation
if len(bps) == 1:
return bps
try:
int_generation = int(generation)
# Check if generation is in available generations
if int_generation in [1, 2, 3]:
bps = [x for x in bps if int(x.get_attribute('generation')) == int_generation]
return bps
else:
print(" Warning! Actor Generation is not valid. No actor will be spawned.")
return []
except:
print(" Warning! Actor Generation is not valid. No actor will be spawned.")
return []
def main():
argparser = argparse.ArgumentParser(
description=__doc__)
argparser.add_argument(
'--host',
metavar='H',
default='127.0.0.1',
help='IP of the host server (default: 127.0.0.1)')
argparser.add_argument(
'-p', '--port',
metavar='P',
default=2000,
type=int,
help='TCP port to listen to (default: 2000)')
argparser.add_argument(
'-n', '--number-of-vehicles',
metavar='N',
default=100,
type=int,
help='Number of vehicles (default: 30)')
argparser.add_argument(
'-w', '--number-of-walkers',
metavar='W',
default=0,
type=int,
help='Number of walkers (default: 10)')
argparser.add_argument(
'--safe',
action='store_true',
help='Avoid spawning vehicles prone to accidents')
argparser.add_argument(
'--filterv',
metavar='PATTERN',
default='vehicle.*',
help='Filter vehicle model (default: "vehicle.*")')
argparser.add_argument(
'--generationv',
metavar='G',
default='All',
help='restrict to certain vehicle generation (values: "1","2","All" - default: "All")')
argparser.add_argument(
'--filterw',
metavar='PATTERN',
default='walker.pedestrian.*',
help='Filter pedestrian type (default: "walker.pedestrian.*")')
argparser.add_argument(
'--generationw',
metavar='G',
default='2',
help='restrict to certain pedestrian generation (values: "1","2","All" - default: "2")')
argparser.add_argument(
'--tm-port',
metavar='P',
default=8000,
type=int,
help='Port to communicate with TM (default: 8000)')
argparser.add_argument(
'--asynch',
action='store_true',
help='Activate asynchronous mode execution')
argparser.add_argument(
'--hybrid',
action='store_true',
help='Activate hybrid mode for Traffic Manager')
argparser.add_argument(
'-s', '--seed',
metavar='S',
type=int,
help='Set random device seed and deterministic mode for Traffic Manager')
argparser.add_argument(
'--seedw',
metavar='S',
default=0,
type=int,
help='Set the seed for pedestrians module')
argparser.add_argument(
'--car-lights-on',
action='store_true',
default=False,
help='Enable automatic car light management')
argparser.add_argument(
'--hero',
action='store_true',
default=False,
help='Set one of the vehicles as hero')
argparser.add_argument(
'--respawn',
action='store_true',
default=False,
help='Automatically respawn dormant vehicles (only in large maps)')
argparser.add_argument(
'--no-rendering',
action='store_true',
default=False,
help='Activate no rendering mode')
args = argparser.parse_args()
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
vehicles_list = []
walkers_list = []
all_id = []
client = carla.Client(args.host, args.port)
client.set_timeout(10.0)
synchronous_master = False
random.seed(args.seed if args.seed is not None else int(time.time()))
try:
world = client.get_world()
traffic_manager = client.get_trafficmanager(args.tm_port)
traffic_manager.set_global_distance_to_leading_vehicle(2.5)
if args.respawn:
traffic_manager.set_respawn_dormant_vehicles(True)
if args.hybrid:
traffic_manager.set_hybrid_physics_mode(True)
traffic_manager.set_hybrid_physics_radius(70.0)
if args.seed is not None:
traffic_manager.set_random_device_seed(args.seed)
settings = world.get_settings()
if not args.asynch:
traffic_manager.set_synchronous_mode(True)
if not settings.synchronous_mode:
synchronous_master = True
settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.05
else:
synchronous_master = False
else:
print("You are currently in asynchronous mode. If this is a traffic simulation, \
you could experience some issues. If it's not working correctly, switch to synchronous \
mode by using traffic_manager.set_synchronous_mode(True)")
if args.no_rendering:
settings.no_rendering_mode = True
world.apply_settings(settings)
blueprints = get_actor_blueprints(world, args.filterv, args.generationv)
if not blueprints:
raise ValueError("Couldn't find any vehicles with the specified filters")
blueprintsWalkers = get_actor_blueprints(world, args.filterw, args.generationw)
if not blueprintsWalkers:
raise ValueError("Couldn't find any walkers with the specified filters")
if args.safe:
blueprints = [x for x in blueprints if x.get_attribute('base_type') == 'car']
blueprints = sorted(blueprints, key=lambda bp: bp.id)
spawn_points = world.get_map().get_spawn_points()
number_of_spawn_points = len(spawn_points)
if args.number_of_vehicles < number_of_spawn_points:
random.shuffle(spawn_points)
elif args.number_of_vehicles > number_of_spawn_points:
msg = 'requested %d vehicles, but could only find %d spawn points'
logging.warning(msg, args.number_of_vehicles, number_of_spawn_points)
args.number_of_vehicles = number_of_spawn_points
# @todo cannot import these directly.
SpawnActor = carla.command.SpawnActor
SetAutopilot = carla.command.SetAutopilot
FutureActor = carla.command.FutureActor
# --------------
# Spawn vehicles
# --------------
batch = []
hero = args.hero
for n, transform in enumerate(spawn_points):
if n >= args.number_of_vehicles:
break
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)
if hero:
blueprint.set_attribute('role_name', 'hero')
hero = False
else:
blueprint.set_attribute('role_name', 'autopilot')
# spawn the cars and set their autopilot and light state all together
batch.append(SpawnActor(blueprint, transform)
.then(SetAutopilot(FutureActor, True, traffic_manager.get_port())))
for response in client.apply_batch_sync(batch, synchronous_master):
if response.error:
logging.error(response.error)
else:
vehicles_list.append(response.actor_id)
# Set automatic vehicle lights update if specified
if args.car_lights_on:
all_vehicle_actors = world.get_actors(vehicles_list)
for actor in all_vehicle_actors:
traffic_manager.update_vehicle_lights(actor, True)
# -------------
# Spawn Walkers
# -------------
# some settings
percentagePedestriansRunning = 0.0 # how many pedestrians will run
percentagePedestriansCrossing = 0.0 # how many pedestrians will walk through the road
if args.seedw:
world.set_pedestrians_seed(args.seedw)
random.seed(args.seedw)
# 1. take all the random locations to spawn
spawn_points = []
for i in range(args.number_of_walkers):
spawn_point = carla.Transform()
loc = world.get_random_location_from_navigation()
if (loc != None):
spawn_point.location = loc
spawn_points.append(spawn_point)
# 2. we spawn the walker object
batch = []
walker_speed = []
for spawn_point in spawn_points:
walker_bp = random.choice(blueprintsWalkers)
# set as not invincible
probability = random.randint(0,100 + 1);
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
if walker_bp.has_attribute('can_use_wheelchair') and probability < 11:
walker_bp.set_attribute('use_wheelchair', 'true')
# set the max speed
if walker_bp.has_attribute('speed'):
if (random.random() > percentagePedestriansRunning):
# walking
walker_speed.append(walker_bp.get_attribute('speed').recommended_values[1])
else:
# running
walker_speed.append(walker_bp.get_attribute('speed').recommended_values[2])
else:
print("Walker has no speed")
walker_speed.append(0.0)
batch.append(SpawnActor(walker_bp, spawn_point))
results = client.apply_batch_sync(batch, True)
walker_speed2 = []
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list.append({"id": results[i].actor_id})
walker_speed2.append(walker_speed[i])
walker_speed = walker_speed2
# 3. we spawn the walker controller
batch = []
walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
for i in range(len(walkers_list)):
batch.append(SpawnActor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"]))
results = client.apply_batch_sync(batch, True)
for i in range(len(results)):
if results[i].error:
logging.error(results[i].error)
else:
walkers_list[i]["con"] = results[i].actor_id
# 4. we put together the walkers and controllers id to get the objects from their id
for i in range(len(walkers_list)):
all_id.append(walkers_list[i]["con"])
all_id.append(walkers_list[i]["id"])
all_actors = world.get_actors(all_id)
# wait for a tick to ensure client receives the last transform of the walkers we have just created
if args.asynch or not synchronous_master:
world.wait_for_tick()
else:
world.tick()
# 5. initialize each controller and set target to walk to (list is [controler, actor, controller, actor ...])
# set how many pedestrians can cross the road
world.set_pedestrians_cross_factor(percentagePedestriansCrossing)
for i in range(0, len(all_id), 2):
# start walker
all_actors[i].start()
# set walk to random point
all_actors[i].go_to_location(world.get_random_location_from_navigation())
# max speed
all_actors[i].set_max_speed(float(walker_speed[int(i/2)]))
print('spawned %d vehicles and %d walkers, press Ctrl+C to exit.' % (len(vehicles_list), len(walkers_list)))
# Example of how to use Traffic Manager parameters
traffic_manager.global_percentage_speed_difference(30.0)
while True:
if not args.asynch and synchronous_master:
world.tick()
else:
world.wait_for_tick()
finally:
if not args.asynch and synchronous_master:
settings = world.get_settings()
settings.synchronous_mode = False
settings.no_rendering_mode = False
settings.fixed_delta_seconds = None
world.apply_settings(settings)
print('\ndestroying %d vehicles' % len(vehicles_list))
client.apply_batch([carla.command.DestroyActor(x) for x in vehicles_list])
# stop walker controllers (list is [controller, actor, controller, actor ...])
for i in range(0, len(all_id), 2):
all_actors[i].stop()
print('\ndestroying %d walkers' % len(walkers_list))
client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
time.sleep(0.5)
if __name__ == '__main__':
try:
main()
except KeyboardInterrupt:
pass
finally:
print('\ndone.')
本文探讨了光速互联网的概念，即利用快速脉冲光线无线传输信息的Li-Fi技术。介绍了一种商业化的Li-Fi版本的开发情况，并阐述了其潜在的竞争优势，与传统无线互联网进行对比。
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