A1_Mousavi_403611252

A1-Mousavi-403611252/A1-Mousavi-403611252.py

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+import carla
+import random
+import time
+import os
+
+output_folder = "A1_sensor_data"
+os.makedirs(output_folder, exist_ok=True)
+
+client = carla.Client('localhost', 2000)
+client.set_timeout(5.0) 
+world = client.get_world()
+blueprint_library = world.get_blueprint_library() 
+
+vehicle_bp = random.choice(blueprint_library.filter('vehicle.*'))
+spawn_points = world.get_map().get_spawn_points()
+spawn_point = random.choice(spawn_points)
+vehicle = world.spawn_actor(vehicle_bp, spawn_point)
+print("Spawned Vehicle ID:", vehicle.id)
+print("Vehicle spawned:", vehicle.type_id)
+
+obstacle_bp = blueprint_library.find('static.prop.streetbarrier')  # Example prop
+obstacle_transform = carla.Transform(
+    spawn_point.location + carla.Location(x=5),
+    spawn_point.rotation
+)
+obstacle = world.spawn_actor(obstacle_bp, obstacle_transform)
+print("Obstacle spawned in front of the vehicle.")
+
+
+
+lidar_bp = blueprint_library.find('sensor.lidar.ray_cast')
+lidar_bp.set_attribute('channels', '32')
+lidar_bp.set_attribute('range', '50')
+lidar_sensor = world.spawn_actor(lidar_bp, carla.Transform(), attach_to=vehicle)
+
+def process_lidar_data(point_cloud):
+    lidar_file = os.path.join(output_folder, "lidar_output.txt") 
+    with open(lidar_file, "a") as file:
+        file.write(str(point_cloud) + "\n")
+
+lidar_sensor.listen(lambda data: process_lidar_data(data))
+
+radar_bp = blueprint_library.find('sensor.other.radar')
+radar_bp.set_attribute('horizontal_fov', '35')
+radar_bp.set_attribute('vertical_fov', '20')
+
+radar_sensor = world.spawn_actor(radar_bp, carla.Transform(), attach_to=vehicle)
+
+def process_radar_data(data):
+    radar_file = os.path.join(output_folder, "radar_output.txt")
+    with open(radar_file, "a") as file:
+        file.write(str(data) + "\n")
+
+radar_sensor.listen(lambda data: process_radar_data(data))
+
+collision_bp = blueprint_library.find('sensor.other.collision')
+
+collision_sensor = world.spawn_actor(collision_bp, carla.Transform(), attach_to=vehicle)
+
+def on_collision(event):
+    collision_file = os.path.join(output_folder, "collision_log.txt")
+    with open(collision_file, "a") as file:
+        file.write("Collision detected: " + str(event) + "\n")
+
+collision_sensor.listen(lambda event: on_collision(event))
+
+
+vehicle.apply_control(carla.VehicleControl(throttle=0.5))
+time.sleep(10)
+vehicle.apply_control(carla.VehicleControl(throttle=0.0, brake=1.0))
+