(self, world, clock)
| 435 | self.simulation_time = timestamp.elapsed_seconds |
| 436 | |
| 437 | def tick(self, world, clock): |
| 438 | self._notifications.tick(world, clock) |
| 439 | if not self._show_info: |
| 440 | return |
| 441 | t = world.player.get_transform() |
| 442 | v = world.player.get_velocity() |
| 443 | c = world.player.get_control() |
| 444 | heading = 'N' if abs(t.rotation.yaw) < 89.5 else '' |
| 445 | heading += 'S' if abs(t.rotation.yaw) > 90.5 else '' |
| 446 | heading += 'E' if 179.5 > t.rotation.yaw > 0.5 else '' |
| 447 | heading += 'W' if -0.5 > t.rotation.yaw > -179.5 else '' |
| 448 | colhist = world.collision_sensor.get_collision_history() |
| 449 | collision = [colhist[x + self.frame - 200] for x in range(0, 200)] |
| 450 | max_col = max(1.0, max(collision)) |
| 451 | collision = [x / max_col for x in collision] |
| 452 | vehicles = world.world.get_actors().filter('vehicle.*') |
| 453 | self._info_text = [ |
| 454 | 'Server: % 16.0f FPS' % self.server_fps, |
| 455 | 'Client: % 16.0f FPS' % clock.get_fps(), |
| 456 | '', |
| 457 | 'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20), |
| 458 | 'Map: % 20s' % world.map.name, |
| 459 | 'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)), |
| 460 | '', |
| 461 | 'Speed: % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)), |
| 462 | u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (t.rotation.yaw, heading), |
| 463 | 'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)), |
| 464 | 'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)), |
| 465 | 'Height: % 18.0f m' % t.location.z, |
| 466 | ''] |
| 467 | if isinstance(c, carla.VehicleControl): |
| 468 | if isinstance(self.original_vehicle_control, carla.VehicleControl): |
| 469 | orig_control = self.original_vehicle_control |
| 470 | restricted_control = self.restricted_vehicle_control |
| 471 | self._info_text += [ |
| 472 | ('Throttle:', orig_control.throttle, 0.0, 1.0, restricted_control.throttle), |
| 473 | ('Steer:', orig_control.steer, -1.0, 1.0, restricted_control.steer), |
| 474 | ('Brake:', orig_control.brake, 0.0, 1.0, restricted_control.brake)] |
| 475 | else: |
| 476 | self._info_text += [ |
| 477 | ('Throttle:', c.throttle, 0.0, 1.0), |
| 478 | ('Steer:', c.steer, -1.0, 1.0), |
| 479 | ('Brake:', c.brake, 0.0, 1.0)] |
| 480 | self._info_text += [ |
| 481 | ('Reverse:', c.reverse), |
| 482 | ('Hand brake:', c.hand_brake), |
| 483 | ('Manual:', c.manual_gear_shift), |
| 484 | 'Gear: %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)] |
| 485 | elif isinstance(c, carla.WalkerControl): |
| 486 | self._info_text += [ |
| 487 | ('Speed:', c.speed, 0.0, 5.556), |
| 488 | ('Jump:', c.jump)] |
| 489 | self._info_text += [ |
| 490 | '', |
| 491 | 'Collision:', |
| 492 | collision, |
| 493 | '', |
| 494 | 'Number of vehicles: % 8d' % len(vehicles)] |
no test coverage detected