()
| 287 | |
| 288 | |
| 289 | def main(): |
| 290 | client = carla.Client('localhost', 2000) |
| 291 | client.set_timeout(200.0) |
| 292 | world = client.load_world(args.town) |
| 293 | print ('loaded world') |
| 294 | |
| 295 | waypoint_list = world.get_map().generate_waypoints(2.0) |
| 296 | print ('got %d possible waypoint'%len(waypoint_list)) |
| 297 | |
| 298 | actors = world.get_actors() |
| 299 | traffic_lights_list = actors.filter('*traffic_light') |
| 300 | print ('got %d traffic lights'%len(traffic_lights_list)) |
| 301 | |
| 302 | max_dist = 300 |
| 303 | min_dist = 50 |
| 304 | |
| 305 | valid_route_list = [] |
| 306 | number = 0 |
| 307 | |
| 308 | distance_list = [] |
| 309 | is_junction_list = [] |
| 310 | |
| 311 | world_map = world.get_map() |
| 312 | |
| 313 | root = ET.Element('routes') |
| 314 | while number < args.route_num: |
| 315 | start_wp = random.choice(waypoint_list) |
| 316 | end_wp = random.choice(waypoint_list) |
| 317 | start_wp = world_map.get_waypoint(start_wp.transform.location,project_to_road=True, lane_type=carla.LaneType.Driving) |
| 318 | end_wp = world_map.get_waypoint(end_wp.transform.location,project_to_road=True, lane_type=carla.LaneType.Driving) |
| 319 | |
| 320 | if start_wp.transform.location.distance(end_wp.transform.location) < min_dist or start_wp.transform.location.distance(end_wp.transform.location) > max_dist: |
| 321 | continue |
| 322 | |
| 323 | wp_list, distance, is_junction = interpolate_trajectory(world_map, [start_wp.transform.location, end_wp.transform.location]) |
| 324 | if wp_list is None: |
| 325 | continue |
| 326 | if distance <= min_dist or distance >= max_dist: |
| 327 | continue |
| 328 | distance_list.append(distance) |
| 329 | is_junction_list.append(is_junction) |
| 330 | |
| 331 | route = ET.SubElement(root, 'route', id='%d'%number, town=args.town) |
| 332 | |
| 333 | # choose a random weather |
| 334 | weather = random.choice(list(WEATHER_LIST.keys())) |
| 335 | route = ET.SubElement(route, 'weather', id=weather, cloudiness='%f'%WEATHER_LIST[weather]['cloudiness'], precipitation='%f'%WEATHER_LIST[weather]['precipitation'], precipitation_deposits='%f'%WEATHER_LIST[weather]['precipitation_deposits'], wind_intensity='%f'%WEATHER_LIST[weather]['wind_intensity'], sun_azimuth_angle='%f'%WEATHER_LIST[weather]['sun_azimuth_angle'], sun_altitude_angle='%f'%WEATHER_LIST[weather]['sun_altitude_angle'], fog_density='%f'%WEATHER_LIST[weather]['fog_density'], fog_distance='%f'%WEATHER_LIST[weather]['fog_distance'], fog_falloff='%f'%WEATHER_LIST[weather]['fog_falloff'],wetness='%f'%WEATHER_LIST[weather]['wetness']) |
| 336 | |
| 337 | x, y, yaw = start_wp.transform.location.x, start_wp.transform.location.y, start_wp.transform.rotation.yaw |
| 338 | ET.SubElement(route, 'waypoint', x='%f'%x, y='%f'%y, z='0.0', |
| 339 | pitch='0.0', roll='0.0', yaw='%f'%yaw) |
| 340 | x, y, yaw = end_wp.transform.location.x, end_wp.transform.location.y, end_wp.transform.rotation.yaw |
| 341 | ET.SubElement(route, 'waypoint', x='%f'%x, y='%f'%y, z='0.0', |
| 342 | pitch='0.0', roll='0.0', yaw='%f'%yaw) |
| 343 | |
| 344 | number += 1 |
| 345 | print(number) |
| 346 |
no test coverage detected