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A2-Pooriya Sanaie(401624033)-Fateme Aghabarari(401622503)-Seyed Javad… #25

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A2-Pooriya Sanaie(401624033)-Fateme Aghabarari(401622503)-Seyed Javad… #25

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44 changes: 31 additions & 13 deletions src/__main__.py
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Original file line number Diff line number Diff line change
@@ -1,30 +1,48 @@
import time

import carla

#A2-Pooriya Sanaie(401624033)-Fateme Aghabarari(401622503)-Seyed Javad Hosseini
from src.simulator_handler import SimulatorHandler
from utils.vehicle_command import VehicleCommand
from path_following_handler import PathFollowingHandler
import warnings

if __name__ == "__main__":
simulator_handler = SimulatorHandler(town_name="Town04")
simulator_handler.spawn_vehicle(spawn_index=13)
simulator_handler.set_weather(weather=carla.WeatherParameters.ClearNoon)
warnings.filterwarnings("ignore")

# potential weather choices are [ClearNoon, ClearSunset, CloudyNoon, CloudySunset,
# WetNoon, WetSunset, MidRainyNoon, MidRainSunset, HardRainNoon, HardRainSunset,
# SoftRainNoon, SoftRainSunset]
if __name__ == "__main__":
simulator_handler = SimulatorHandler(town_name="Town10HD_Opt")

simulator_handler.set_weather(weather=carla.WeatherParameters.ClearNoon)
path_following_handler = PathFollowingHandler(client=simulator_handler.client)
ego_spawn_point = path_following_handler.ego_spawn_point
ego_vehicle = simulator_handler.spawn_ego_vehicles(road_id=ego_spawn_point["road_id"],
filtered_points_index=ego_spawn_point["filtered_points_index"])
# add sensors
rgb_cam = simulator_handler.rgb_cam()
gnss_sensor = simulator_handler.gnss()
imu_sensor = simulator_handler.imu()
lidar_sen_1 = simulator_handler.lidar()
radar_sensor = simulator_handler.radar()
# colision_sensor = simulator_handler.colision()

# listen to sensor data
rgb_cam.listen(lambda image: simulator_handler.rgb_cam_callback(image))
imu_sensor.listen(lambda imu: simulator_handler.imu_callback(imu))
gnss_sensor.listen(lambda gnss: simulator_handler.gnss_callback(gnss))
VehicleCommand(throttle=1.0).send_control(simulator_handler.vehicle)
time.sleep(20.0)



lidar_sen_1.listen(lambda point_cloud: point_cloud.save_to_disk('data/lidar_pooriya/%.6d.ply' % point_cloud.frame))
radar_sensor.listen(lambda radar_data: simulator_handler.rad_callback(radar_data))
# colision_sensor.listen(lambda colision_sensor: simulator_handler.colision_callback(colision_sensor))

if path_following_handler.debug_mode:
path_following_handler.start()
else:
# ego_vehicle = path_following_handler.spawn_ego_vehicles(road_id=ego_spawn_point["road_id"],
# filtered_points_index=ego_spawn_point["filtered_points_index"])
ego_pid_controller = path_following_handler.pid_controller(ego_vehicle,
path_following_handler.pid_values_lateral,
path_following_handler.pid_values_longitudinal)
path_following_handler.vehicle_and_controller_inputs(ego_vehicle, ego_pid_controller)
path_following_handler.start()

# time.sleep(20.0)
# simulator_handler.clearing()