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Update __main__.py #3

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34 changes: 34 additions & 0 deletions src/__main__.py
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Original file line number Diff line number Diff line change
@@ -1,10 +1,16 @@
import time

import carla
import glob
import os
import sys

from src.simulator_handler import SimulatorHandler
from utils.vehicle_command import VehicleCommand
from utils.carla_utils import draw_waypoints, filter_waypoints, TrajectoryToFollow, InfiniteLoopThread
import warnings

warnings.filterwarnings("ignore")
if __name__ == "__main__":
simulator_handler = SimulatorHandler(town_name="Town03")
simulator_handler.spawn_vehicle(spawn_index=30)
Expand All @@ -13,24 +19,52 @@
# potential weather choices are [ClearNoon, ClearSunset, CloudyNoon, CloudySunset,
# WetNoon, WetSunset, MidRainyNoon, MidRainSunset, HardRainNoon, HardRainSunset,
# SoftRainNoon, SoftRainSunset]

ego_spawn_point = path_following_handler.ego_spawn_point
filtered_waypoints = filter_waypoints(path_following_handler.waypoints, road_id=ego_spawn_point["road_id"])
spawn_point = filtered_waypoints[ego_spawn_point["filtered_points_index"]].transform
spawn_point.location.z += 2
vehicle = client.get_world().spawn_actor(vehicle_blueprint, spawn_point)
actor_list.append(vehicle)

# add sensors

LIDAR_sensor = simulator_handler.LIDAR()
radar_sensor = simulator_handler.radar()
collision_sensor = simulator_handler.collision()
rgb_cam = simulator_handler.rgb_cam()
gnss_sensor = simulator_handler.gnss()
imu_sensor = simulator_handler.imu()
rgb_cam = simulator_handler.rgb_cam(vehicle)
gnss_sensor = simulator_handler.gnss(vehicle)
imu_sensor = simulator_handler.imu(vehicle)
lidar = simulator_handler.lidar(vehicle)
radar = simulator_handler.radar(vehicle)
collision = simulator_handler.collision(vehicle)

# listen to sensor data

LIDAR_sensor.listen(lambda LIDAR: simulator_handler.LIDAR_callback(LIDAR))
lidar.listen(lambda data: simulator_handler.lidar_callback(data))
radar.listen(lambda data: simulator_handler.radar_callback(data))
collision.listen(lambda event: simulator_handler.collision_callback(event))
radar_sensor.listen(lambda radar: simulator_handler.radar_callback(radar))
collision_sensor.listen(lambda collision: simulator_handler.collision_callback(collision))
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)

if path_following_handler.debug_mode:
path_following_handler.start()
else:
ego_pid_controller = path_following_handler.pid_controller(vehicle,
path_following_handler.pid_values_lateral,
path_following_handler.pid_values_longitudinal)

path_following_handler.vehicle_and_controller_inputs(vehicle, ego_pid_controller)
path_following_handler.start()

time.sleep(1000.0)


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