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ALC fix #2

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merged 3 commits into from
May 7, 2020
Merged

ALC fix #2

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ed78335
Extend ALC route to make space for respawning vehicles
pziecina May 7, 2020
fd3f319
Fix for spawning env vehicles on ALC
pziecina May 7, 2020
1d87afe
Version bump
pziecina May 7, 2020
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13 changes: 11 additions & 2 deletions carla_real_traffic_scenarios/artificial_lane_change/lane_change_scenario.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ def __init__(self, *, client: carla.Client, cmd_for_changing_lane=ChauffeurComma
self._env_vehicle_column_ahead_range_m = (5, 30)

route_length_m = max(MAX_MANEUVER_LENGTH_M + BIRD_VIEW_HEIGHT_M,
max_env_vehicles_number * (MAX_VEHICLE_RANDOM_SPACE_M + VEHICLE_SLOT_LENGTH_M)) * 2
max_env_vehicles_number * (MAX_VEHICLE_RANDOM_SPACE_M + VEHICLE_SLOT_LENGTH_M)) * 3
self._topology = Topology(self._world_map)
self._routes: List[List[carla.Transform]] = self._obtain_routes(self._target_lane_waypoint, route_length_m)

Expand Down Expand Up @@ -115,13 +115,22 @@ def _spawn_env_vehicles(self, n: int):
blueprints = self._world.get_blueprint_library().filter('vehicle.*')
blueprints = [b for b in blueprints if int(b.get_attribute('number_of_wheels')) == 4]
spawn_points = self._world_map.get_spawn_points()
max_ticks = 4

def _get_env_vehicles():
return [
v for v in self._world.get_actors().filter('vehicle.*')
if v.attributes.get('role_name') != 'hero' and v.is_alive
]

def _wait_for_env_vehicles(total_number, max_ticks):
env_vehicles = _get_env_vehicles()
while len(env_vehicles) < total_number and max_ticks > 0:
self._world.tick()
max_ticks -= 1
env_vehicles = _get_env_vehicles()
return env_vehicles

env_vehicles = _get_env_vehicles()
missing_vehicles = n - len(env_vehicles)
while missing_vehicles:
Expand All @@ -131,7 +140,7 @@ def _get_env_vehicles():
random.sample(spawn_points, k=missing_vehicles))
]
self._client.apply_batch_sync(cmds, do_tick=True)
env_vehicles = _get_env_vehicles()
env_vehicles = _wait_for_env_vehicles(n, max_ticks)
missing_vehicles = n - len(env_vehicles)
return env_vehicles

Expand Down
2 changes: 1 addition & 1 deletion setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@

setup(
name='carla_real_traffic_scenarios',
version='0.2.0',
version='0.2.1',
long_description=readme,
author='TODO',
author_email='TODO',
Expand Down