| 126 | |
| 127 | |
| 128 | class World(object): |
| 129 | def __init__(self, carla_world, hud, actor_filter): |
| 130 | self.world = carla_world |
| 131 | self.hud = hud |
| 132 | self.player = None |
| 133 | self.collision_sensor = None |
| 134 | self.lane_invasion_sensor = None |
| 135 | self.gnss_sensor = None |
| 136 | self.camera_manager = None |
| 137 | self._weather_presets = find_weather_presets() |
| 138 | self._weather_index = 0 |
| 139 | self._actor_filter = actor_filter |
| 140 | self.restart() |
| 141 | self.world.on_tick(hud.on_world_tick) |
| 142 | |
| 143 | def restart(self): |
| 144 | # Keep same camera config if the camera manager exists. |
| 145 | cam_index = self.camera_manager.index if self.camera_manager is not None else 0 |
| 146 | cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0 |
| 147 | # Get a random blueprint. |
| 148 | blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter)) |
| 149 | blueprint.set_attribute('role_name', 'hero') |
| 150 | if blueprint.has_attribute('color'): |
| 151 | color = random.choice(blueprint.get_attribute('color').recommended_values) |
| 152 | blueprint.set_attribute('color', color) |
| 153 | # Spawn the player. |
| 154 | if self.player is not None: |
| 155 | spawn_point = self.player.get_transform() |
| 156 | spawn_point.location.z += 2.0 |
| 157 | spawn_point.rotation.roll = 0.0 |
| 158 | spawn_point.rotation.pitch = 0.0 |
| 159 | self.destroy() |
| 160 | self.player = self.world.try_spawn_actor(blueprint, spawn_point) |
| 161 | while self.player is None: |
| 162 | spawn_points = self.world.get_map().get_spawn_points() |
| 163 | spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform() |
| 164 | self.player = self.world.try_spawn_actor(blueprint, spawn_point) |
| 165 | # Set up the sensors. |
| 166 | self.collision_sensor = CollisionSensor(self.player, self.hud) |
| 167 | self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud) |
| 168 | self.gnss_sensor = GnssSensor(self.player) |
| 169 | self.camera_manager = CameraManager(self.player, self.hud) |
| 170 | self.camera_manager.transform_index = cam_pos_index |
| 171 | self.camera_manager.set_sensor(cam_index, notify=False) |
| 172 | actor_type = get_actor_display_name(self.player) |
| 173 | self.hud.notification(actor_type) |
| 174 | |
| 175 | def next_weather(self, reverse=False): |
| 176 | self._weather_index += -1 if reverse else 1 |
| 177 | self._weather_index %= len(self._weather_presets) |
| 178 | preset = self._weather_presets[self._weather_index] |
| 179 | self.hud.notification('Weather: %s' % preset[1]) |
| 180 | self.player.get_world().set_weather(preset[0]) |
| 181 | |
| 182 | def tick(self, clock): |
| 183 | self.hud.tick(self, clock) |
| 184 | |
| 185 | def render(self, display): |