mirror of
https://github.com/gryf/coach.git
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230 lines
8.7 KiB
Python
230 lines
8.7 KiB
Python
import logging
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import os
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import signal
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import subprocess
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import sys
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import numpy as np
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import logger
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try:
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if 'CARLA_ROOT' in os.environ:
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sys.path.append(os.path.join(os.environ.get('CARLA_ROOT'),
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'PythonClient'))
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from carla import client as carla_client
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from carla import settings as carla_settings
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from carla import sensor as carla_sensor
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except ImportError:
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logger.failed_imports.append("CARLA")
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from environments import environment_wrapper as ew
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import utils
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# enum of the available levels and their path
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class CarlaLevel(utils.Enum):
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TOWN1 = "/Game/Maps/Town01"
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TOWN2 = "/Game/Maps/Town02"
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key_map = {
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'BRAKE': (274,), # down arrow
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'GAS': (273,), # up arrow
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'TURN_LEFT': (276,), # left arrow
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'TURN_RIGHT': (275,), # right arrow
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'GAS_AND_TURN_LEFT': (273, 276),
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'GAS_AND_TURN_RIGHT': (273, 275),
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'BRAKE_AND_TURN_LEFT': (274, 276),
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'BRAKE_AND_TURN_RIGHT': (274, 275),
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}
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class CarlaEnvironmentWrapper(ew.EnvironmentWrapper):
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def __init__(self, tuning_parameters):
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ew.EnvironmentWrapper.__init__(self, tuning_parameters)
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self.tp = tuning_parameters
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# server configuration
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self.server_height = self.tp.env.server_height
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self.server_width = self.tp.env.server_width
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self.port = utils.get_open_port()
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self.host = 'localhost'
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self.map = CarlaLevel().get(self.tp.env.level)
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# client configuration
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self.verbose = self.tp.env.verbose
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self.depth = self.tp.env.depth
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self.stereo = self.tp.env.stereo
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self.semantic_segmentation = self.tp.env.semantic_segmentation
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self.height = self.server_height * (1 + int(self.depth) + int(self.semantic_segmentation))
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self.width = self.server_width * (1 + int(self.stereo))
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self.size = (self.width, self.height)
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self.config = self.tp.env.config
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if self.config:
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# load settings from file
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with open(self.config, 'r') as fp:
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self.settings = fp.read()
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else:
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# hard coded settings
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self.settings = carla_settings.CarlaSettings()
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self.settings.set(
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SynchronousMode=True,
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SendNonPlayerAgentsInfo=False,
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NumberOfVehicles=15,
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NumberOfPedestrians=30,
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WeatherId=1)
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self.settings.randomize_seeds()
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# add cameras
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camera = carla_sensor.Camera('CameraRGB')
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camera.set_image_size(self.width, self.height)
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camera.set_position(200, 0, 140)
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camera.set_rotation(0, 0, 0)
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self.settings.add_sensor(camera)
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# open the server
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self.server = self._open_server()
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logging.disable(40)
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# open the client
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self.game = carla_client.CarlaClient(self.host, self.port, timeout=99999999)
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self.game.connect()
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scene = self.game.load_settings(self.settings)
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# get available start positions
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positions = scene.player_start_spots
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self.num_pos = len(positions)
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self.iterator_start_positions = 0
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# action space
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self.discrete_controls = False
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self.action_space_size = 2
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self.action_space_high = [1, 1]
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self.action_space_low = [-1, -1]
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self.action_space_abs_range = np.maximum(np.abs(self.action_space_low), np.abs(self.action_space_high))
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self.steering_strength = 0.5
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self.gas_strength = 1.0
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self.brake_strength = 0.5
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self.actions = {0: [0., 0.],
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1: [0., -self.steering_strength],
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2: [0., self.steering_strength],
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3: [self.gas_strength, 0.],
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4: [-self.brake_strength, 0],
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5: [self.gas_strength, -self.steering_strength],
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6: [self.gas_strength, self.steering_strength],
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7: [self.brake_strength, -self.steering_strength],
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8: [self.brake_strength, self.steering_strength]}
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self.actions_description = ['NO-OP', 'TURN_LEFT', 'TURN_RIGHT', 'GAS', 'BRAKE',
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'GAS_AND_TURN_LEFT', 'GAS_AND_TURN_RIGHT',
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'BRAKE_AND_TURN_LEFT', 'BRAKE_AND_TURN_RIGHT']
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for idx, action in enumerate(self.actions_description):
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for key in key_map.keys():
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if action == key:
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self.key_to_action[key_map[key]] = idx
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self.num_speedup_steps = 30
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# measurements
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self.measurements_size = (1,)
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self.autopilot = None
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# env initialization
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self.reset(True)
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# render
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if self.is_rendered:
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image = self.get_rendered_image()
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self.renderer.create_screen(image.shape[1], image.shape[0])
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def _open_server(self):
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log_path = os.path.join(logger.logger.experiments_path, "CARLA_LOG_{}.txt".format(self.port))
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with open(log_path, "wb") as out:
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cmd = [os.path.join(os.environ.get('CARLA_ROOT'), 'CarlaUE4.sh'), self.map,
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"-benchmark", "-carla-server", "-fps=10", "-world-port={}".format(self.port),
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"-windowed -ResX={} -ResY={}".format(self.server_width, self.server_height),
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"-carla-no-hud"]
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if self.config:
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cmd.append("-carla-settings={}".format(self.config))
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p = subprocess.Popen(cmd, stdout=out, stderr=out)
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return p
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def _close_server(self):
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os.killpg(os.getpgid(self.server.pid), signal.SIGKILL)
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def _update_state(self):
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# get measurements and observations
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measurements = []
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while type(measurements) == list:
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measurements, sensor_data = self.game.read_data()
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self.location = (measurements.player_measurements.transform.location.x,
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measurements.player_measurements.transform.location.y,
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measurements.player_measurements.transform.location.z)
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is_collision = measurements.player_measurements.collision_vehicles != 0 \
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or measurements.player_measurements.collision_pedestrians != 0 \
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or measurements.player_measurements.collision_other != 0
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speed_reward = measurements.player_measurements.forward_speed - 1
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if speed_reward > 30.:
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speed_reward = 30.
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self.reward = speed_reward \
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- (measurements.player_measurements.intersection_otherlane * 5) \
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- (measurements.player_measurements.intersection_offroad * 5) \
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- is_collision * 100 \
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- np.abs(self.control.steer) * 10
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# update measurements
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self.state = {
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'observation': sensor_data['CameraRGB'].data,
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'measurements': [measurements.player_measurements.forward_speed],
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}
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self.autopilot = measurements.player_measurements.autopilot_control
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# action_p = ['%.2f' % member for member in [self.control.throttle, self.control.steer]]
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# screen.success('REWARD: %.2f, ACTIONS: %s' % (self.reward, action_p))
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if (measurements.game_timestamp >= self.tp.env.episode_max_time) or is_collision:
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# screen.success('EPISODE IS DONE. GameTime: {}, Collision: {}'.format(str(measurements.game_timestamp),
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# str(is_collision)))
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self.done = True
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def _take_action(self, action_idx):
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if type(action_idx) == int:
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action = self.actions[action_idx]
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else:
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action = action_idx
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self.last_action_idx = action
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self.control = carla_client.VehicleControl()
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self.control.throttle = np.clip(action[0], 0, 1)
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self.control.steer = np.clip(action[1], -1, 1)
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self.control.brake = np.abs(np.clip(action[0], -1, 0))
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if not self.tp.env.allow_braking:
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self.control.brake = 0
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self.control.hand_brake = False
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self.control.reverse = False
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self.game.send_control(self.control)
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def _restart_environment_episode(self, force_environment_reset=False):
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self.iterator_start_positions += 1
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if self.iterator_start_positions >= self.num_pos:
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self.iterator_start_positions = 0
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try:
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self.game.start_episode(self.iterator_start_positions)
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except:
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self.game.connect()
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self.game.start_episode(self.iterator_start_positions)
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# start the game with some initial speed
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state = None
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for i in range(self.num_speedup_steps):
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state = self.step([1.0, 0])['state']
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self.state = state
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return state
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