Execute one step of navigation. :return: carla.VehicleControl
(self, debug=False)
| 79 | return route |
| 80 | |
| 81 | def run_step(self, debug=False): |
| 82 | """ |
| 83 | Execute one step of navigation. |
| 84 | :return: carla.VehicleControl |
| 85 | """ |
| 86 | |
| 87 | # is there an obstacle in front of us? |
| 88 | hazard_detected = False |
| 89 | |
| 90 | # retrieve relevant elements for safe navigation, i.e.: traffic lights |
| 91 | # and other vehicles |
| 92 | actor_list = self._world.get_actors() |
| 93 | vehicle_list = actor_list.filter("*vehicle*") |
| 94 | lights_list = actor_list.filter("*traffic_light*") |
| 95 | |
| 96 | # check possible obstacles |
| 97 | vehicle_state, vehicle = self._is_vehicle_hazard(vehicle_list) |
| 98 | if vehicle_state: |
| 99 | if debug: |
| 100 | print('!!! VEHICLE BLOCKING AHEAD [{}])'.format(vehicle.id)) |
| 101 | |
| 102 | self._state = AgentState.BLOCKED_BY_VEHICLE |
| 103 | hazard_detected = True |
| 104 | |
| 105 | # check for the state of the traffic lights |
| 106 | light_state, traffic_light = self._is_light_red(lights_list) |
| 107 | if light_state: |
| 108 | if debug: |
| 109 | print('=== RED LIGHT AHEAD [{}])'.format(traffic_light.id)) |
| 110 | |
| 111 | self._state = AgentState.BLOCKED_RED_LIGHT |
| 112 | hazard_detected = True |
| 113 | |
| 114 | if hazard_detected: |
| 115 | control = self.emergency_stop() |
| 116 | else: |
| 117 | self._state = AgentState.NAVIGATING |
| 118 | # standard local planner behavior |
| 119 | control = self._local_planner.run_step(debug=debug) |
| 120 | |
| 121 | return control |
| 122 | |
| 123 | def done(self): |
| 124 | """ |
nothing calls this directly
no test coverage detected