Function game_loop

PythonAPI/examples/automatic_control.py:579–624

(args)

# ==============================================================================

def game_loop(args):
    pygame.init()
    pygame.font.init()
    world = None

    try:
        client = carla.Client(args.host, args.port)
        client.set_timeout(4.0)

        display = pygame.display.set_mode(
            (args.width, args.height),
            pygame.HWSURFACE | pygame.DOUBLEBUF)

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

        if args.agent == "Roaming":
            agent = RoamingAgent(world.player)
        else:
            agent = BasicAgent(world.player)
            spawn_point = world.map.get_spawn_points()[0]
            agent.set_destination((spawn_point.location.x,
                                   spawn_point.location.y,
                                   spawn_point.location.z))

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

            # as soon as the server is ready continue!
            world.world.wait_for_tick(10.0)

            world.tick(clock)
            world.render(display)
            pygame.display.flip()
            control = agent.run_step()
            control.manual_gear_shift = False
            world.player.apply_control(control)

    finally:
        if world is not None:
            world.destroy()

        pygame.quit()


# ==============================================================================