Function game_loop

scenario_runner/manual_control.py:133–168

(args)

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

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

    try:
        client = carla.Client(args.host, args.port)
        client.set_timeout(2.0)

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

        hud = HUD(args.width, args.height)
        world = WorldSR(client.get_world(), hud, args)
        controller = KeyboardControl(world, args.autopilot)

        clock = pygame.time.Clock()
        while True:
            clock.tick_busy_loop(60)
            if controller.parse_events(client, world, clock):
                return
            if not world.tick(clock):
                return
            world.render(display)
            pygame.display.flip()

    finally:

        if (world and world.recording_enabled):
            client.stop_recorder()

        if world is not None:
            world.destroy()

        pygame.quit()


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