Added sync mode flag. Improved debug.

carla_env.py

@@ -160,10 +160,11 @@ def __del__(self):
 
 
 class CarlaEnv(object):
-    def __init__(self, town="Town03", port=2000, **kwargs):
+    def __init__(self, town="Town03", port=2000, sync=True, num_players=1, **kwargs):
         self._client = carla.Client("localhost", port)
         self._client.set_timeout(30.0)
-
+        self.sync = sync
+        self.num_players = num_players
         set_sync_mode(self._client, False)
 
         # self._town_name = town
@@ -189,7 +190,9 @@ def _set_weather(self, weather_string):
         self.weather = weather
         self._world.set_weather(weather)
 
-    def reset(self, weather="random", n_vehicles=0, n_pedestrians=0, seed=0):
+    def reset(
+        self, weather="random", n_vehicles=0, n_pedestrians=0, seed=0, set_weather=False
+    ):
         is_ready = False
 
         while not is_ready:
@@ -198,12 +201,11 @@ def reset(self, weather="random", n_vehicles=0, n_pedestrians=0, seed=0):
             self._clean_up()
             ### make this a multi agent thing(take num_agents as args)
             ### Initialize the ActorClass object inside this and add to a list called self._players
-            num_agents = NUM_AGENTS
-            self._spawn_players(self._map.get_spawn_points(), num_agents)
-            # self._spawn_player(np.random.choice(self._map.get_spawn_points()))
-            # self._setup_sensors()
+            self._spawn_players(self._map.get_spawn_points(), self.num_players)
+
+            if set_weather:
+                self._set_weather(weather)
 
-            self._set_weather(weather)
             self._pedestrian_pool = PedestrianPool(self._client, n_pedestrians)
             self._vehicle_pool = VehiclePool(self._client, n_vehicles)
 
@@ -238,8 +240,8 @@ def ready(self, ticks=10):
     def step(self, control=None):
         # if control is not None:
         #     self._player.apply_control(control)
-
-        # self._world.tick()
+        if self.sync:
+            self._world.tick()
         self._tick += 1
         self._pedestrian_pool.tick()
         for player in self._players:

run.py

@@ -2,12 +2,23 @@
 
 from carla_env import CarlaEnv
 
+SYNCMODE = True
+NUM_PLAYERS = 2
+
 if __name__ == "__main__":
     print("Run.py")
-    env = CarlaEnv()
-    print("Env activated")
-    env.reset()
-    for i in tqdm(range(10000)):
-        # print("IN Step ", i)
-        env.step()
-        # time.sleep(0.2)
+    if not SYNCMODE:
+        env = CarlaEnv(sync=SYNCMODE, num_players=NUM_PLAYERS)
+        print("Env activated")
+        env.reset()
+        for i in tqdm(range(10000)):
+            # print("IN Step ", i)
+            env.step()
+            # time.sleep(0.2)
+    else:
+        with CarlaEnv(sync=SYNCMODE, num_players=NUM_PLAYERS) as env:
+            print("Env activated")
+            env.reset()
+            for i in tqdm(range(10000)):
+                # print("IN Step ", i)
+                env.step()

stars_agent.py

@@ -18,7 +18,7 @@
 
 
 PIXELS_PER_WORLD = 5.5
-DEBUG_MAP_VIEW = False
+DEBUG_MAP_VIEW = True
 
 
 class StarsAgent:
@@ -241,7 +241,7 @@ def run_step(self):
             velocity = self.player.get_velocity()
             speed = np.linalg.norm([velocity.x, velocity.y, velocity.z])
 
-            DT = 2.5  # speed-time window for rerouting
+            DT = 3.5  # speed-time window for rerouting
 
             if self.player.get_location().distance(
                 self.cur_target.transform.location
@@ -255,6 +255,16 @@ def run_step(self):
             target = self.transform_target_waypoint(self.cur_target)
 
             if DEBUG_MAP_VIEW:
+
+                self.world.debug.draw_point(
+                    self.cur_target.transform.location, life_time=2
+                )
+                self.world.debug.draw_point(
+                    self.player.get_location(),
+                    color=carla.Color(0, 0, 255),
+                    life_time=1,
+                )
+
                 out_points, heatmap = self.model(
                     topdown.cuda()[None], target.unsqueeze(0), debug=True
                 )