8000 add multi vehicle control API by sina-sixwheel · Pull Request #3 · sixwheel-inc/carla · GitHub
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add multi vehicle control API #3

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add multi vehicle control API #3

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1b1116a
updates
sina-sixwheel Oct 23, 2024
114fa3e
updates for API
sina-sixwheel Oct 23, 2024
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4 changes: 4 additions & 0 deletions LibCarla/source/carla/client/World.cpp
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8000
Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,10 @@ namespace client {
return _episode.Lock()->GetWeatherParameters();
}

void World::EnableMultiVehicleChrono(const std::vector<ActorId>& vehicle_ids) const {
log_warning("World::EnableMultiVehicleChrono is not implemented yet.");
}

void World::SetWeather(const rpc::WeatherParameters &weather) {
_episode.Lock()->SetWeatherParameters(weather);
}
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2 changes: 2 additions & 0 deletions LibCarla/source/carla/client/World.h
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Expand Up @@ -67,6 +67,8 @@ namespace client {

void UnloadLevelLayer(rpc::MapLayer map_layers) const;

void EnableMultiVehicleChrono(const std::vector<ActorId>& vehicle_ids) const;

/// Return the list of blueprints available in this world. This blueprints
/// can be used to spawning actor into the world.
SharedPtr<BlueprintLibrary> GetBlueprintLibrary() const;
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1 change: 1 addition & 0 deletions PythonAPI/carla/source/libcarla/World.cpp
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Expand Up @@ -320,6 +320,7 @@ void export_world() {
.def("get_snapshot", &cc::World::GetSnapshot)
.def("get_actor", CONST_CALL_WITHOUT_GIL_1(cc::World, GetActor, carla::ActorId), (arg("actor_id")))
.def("get_actors", CONST_CALL_WITHOUT_GIL(cc::World, GetActors))
.def("enable_multi_vehicle_chrono", &cc::World::EnableMultiVehicleChrono, (arg("vehicle_ids")))
.def("get_actors", &GetActorsById, (arg("actor_ids")))
.def("spawn_actor", SPAWN_ACTOR_WITHOUT_GIL(SpawnActor))
.def("try_spawn_actor", SPAWN_ACTOR_WITHOUT_GIL(TrySpawnActor))
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8 changes: 4 additions & 4 deletions PythonAPI/examples/manual_control_chrono.py
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Expand Up @@ -323,6 +323,7 @@ class KeyboardControl(object):
"""Class that handles keyboard input."""
def __init__(self, world, start_in_autopilot):
self._carsim_enabled = False
self._chrono_enabled = False
self._carsim_road = False
self._autopilot_enabled = start_in_autopilot
if isinstance(world.player, carla.Vehicle):
Expand Down Expand Up @@ -434,10 +435,9 @@ def parse_events(self, client, world, clock):
self._carsim_road = not self._carsim_road
world.player.use_carsim_road(self._carsim_road)
print("j pressed, using carsim road =", self._carsim_road)
# elif event.key == K_i and (pygame.key.get_mods() & KMOD_CTRL):
# print("i pressed")
# imp = carla.Location(z=50000)
# world.player.add_impulse(imp)
elif event.key == K_i and (pygame.key.get_mods() & KMOD_CTRL):
print("i pressed")
world.enable_multi_vehicle_chrono([world.player.id])
elif event.key == K_MINUS and (pygame.key.get_mods() & KMOD_CTRL):
if pygame.key.get_mods() & KMOD_SHIFT:
world.recording_start -= 10
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