(self)
| 834 | exit_game() |
| 835 | |
| 836 | def start(self): |
| 837 | self.world, self.town_map = self._get_data_from_carla() |
| 838 | |
| 839 | # Create Surfaces |
| 840 | self.map_image = MapImage( |
| 841 | carla_world=self.world, |
| 842 | carla_map=self.town_map, |
| 843 | pixels_per_meter=PIXELS_PER_METER, |
| 844 | show_triggers=self.args.show_triggers, |
| 845 | show_connections=self.args.show_connections, |
| 846 | show_spawn_points=self.args.show_spawn_points) |
| 847 | |
| 848 | # Store necessary modules |
| 849 | self.module_hud = module_manager.get_module(MODULE_HUD) |
| 850 | self.module_input = module_manager.get_module(MODULE_INPUT) |
| 851 | |
| 852 | self.original_surface_size = min(self.module_hud.dim[0], self.module_hud.dim[1]) |
| 853 | self.surface_size = self.map_image.big_map_surface.get_width() |
| 854 | |
| 855 | self.scaled_size = int(self.surface_size) |
| 856 | self.prev_scaled_size = int(self.surface_size) |
| 857 | |
| 858 | # Render Actors |
| 859 | self.actors_surface = pygame.Surface((self.map_image.surface.get_width(), self.map_image.surface.get_height())) |
| 860 | self.actors_surface.set_colorkey(COLOR_BLACK) |
| 861 | |
| 862 | self.vehicle_id_surface = pygame.Surface((self.surface_size, self.surface_size)).convert() |
| 863 | self.vehicle_id_surface.set_colorkey(COLOR_BLACK) |
| 864 | |
| 865 | self.border_round_surface = pygame.Surface(self.module_hud.dim, pygame.SRCALPHA).convert() |
| 866 | self.border_round_surface.set_colorkey(COLOR_WHITE) |
| 867 | self.border_round_surface.fill(COLOR_BLACK) |
| 868 | |
| 869 | center_offset = (int(self.module_hud.dim[0] / 2), int(self.module_hud.dim[1] / 2)) |
| 870 | pygame.draw.circle(self.border_round_surface, COLOR_ALUMINIUM_1, center_offset, int(self.module_hud.dim[1] / 2)) |
| 871 | pygame.draw.circle(self.border_round_surface, COLOR_WHITE, center_offset, int((self.module_hud.dim[1] - 8) / 2)) |
| 872 | |
| 873 | scaled_original_size = self.original_surface_size * (1.0 / 0.9) |
| 874 | self.hero_surface = pygame.Surface((scaled_original_size, scaled_original_size)).convert() |
| 875 | |
| 876 | self.result_surface = pygame.Surface((self.surface_size, self.surface_size)).convert() |
| 877 | self.result_surface.set_colorkey(COLOR_BLACK) |
| 878 | |
| 879 | # Start hero mode by default |
| 880 | self.select_hero_actor() |
| 881 | self.hero_actor.set_autopilot(False) |
| 882 | self.module_input.wheel_offset = HERO_DEFAULT_SCALE |
| 883 | self.module_input.control = carla.VehicleControl() |
| 884 | |
| 885 | weak_self = weakref.ref(self) |
| 886 | self.world.on_tick(lambda timestamp: ModuleWorld.on_world_tick(weak_self, timestamp)) |
| 887 | |
| 888 | def select_hero_actor(self): |
| 889 | hero_vehicles = [actor for actor in self.world.get_actors( |
nothing calls this directly
no test coverage detected