main.py

from carla import Client, Transform, Rotation, Location, Waypoint
from carla import LaneMarking

import carla

import random
import time
import math
import sys

# starting proper work now

print('attempting to connect...') # DEBUG
client = Client('localhost', 2000, worker_threads = 12)
client.set_timeout(10.0)

client.load_world('/Game/Carla/Maps/single_left_bend')
print('connected!') # DEBUG

world = client.get_world()
# ##################################################
# Change weather for data collection
# ClearNoon, ClearSunset, WetSunset, WetNoon
world.set_weather(carla.WeatherParameters.WetSunset)

# ##################################################
# bp of all actors
blueprint_lib = world.get_blueprint_library()

vehicle_bp = blueprint_lib.find('vehicle.audi.tt')
lane_invasion_sensor_bp = blueprint_lib.find('sensor.other.lane_invasion')

# ##################################################
# adding spawn point for car as per coordinates on unreal engine
spawn_points = world.get_map().get_spawn_points() 

print('spawning car') # DEBUG

vehicle_actor = world.spawn_actor(vehicle_bp, spawn_points[0])
vehicle_actor.set_autopilot(True)
time.sleep(2)
print(vehicle_actor.get_location())
print('DONE') # DEBUG

# ##################################################
# FILE HANDLING
f = open('test_labels-2.csv', 'a', encoding= 'utf-8')
# column names = 'image, velocity, steering_angle, outcome

# ###################################################
# collect images, speed, steering angels and write to file.

def image_collector(image):
    rand_num = random.randint(0, 100000000)
    image.save_to_disk('test-2/%d.png' %rand_num)
    print('%d,' %rand_num,\
        '%.8f' % math.sqrt((vehicle_actor.get_velocity().x ** 2) + (vehicle_actor.get_velocity().y **2 ) + (vehicle_actor.get_velocity().z ** 2)), ',',\
        '%.8f' % vehicle_actor.get_control().steer, ',',\
        'good', file = f)

# #################################################
# function for lane invasion 

def on_invasion(event):
    print('-----') # DEBUG
    lane_types = set(x.type for x in event.crossed_lane_markings)
    text = ['%r' % str(x).split()[-1] for x in lane_types]
    print(('Crossed line %s' % ' and '.join(text)))

# #################################################
# Add Camera 
camera_bp = blueprint_lib.find('sensor.camera.rgb')
camera_bp.set_attribute('image_size_x', '940')
camera_bp.set_attribute('image_size_y', '500')
camera_bp.set_attribute('sensor_tick', '0.03')

camera_bp_transform = Transform(Location(x = 1.9, y = 0, z = 0.7))
camera = world.spawn_actor(camera_bp, camera_bp_transform, attach_to = vehicle_actor)

# attaching lane invasion sensor
lane_invasion_sensor = world.spawn_actor(lane_invasion_sensor_bp, Transform(), attach_to = vehicle_actor)
lane_invasion_sensor.listen(lambda event: on_invasion(event))

time.sleep(1)

camera.listen(lambda image: image_collector(image))

# camera.listen(lambda image: image.save_to_disk('output/%06d.png' %image.frame_number))
# #################################################

time.sleep(2)
vehicle_actor.set_simulate_physics(True)

location = vehicle_actor.get_location()
transform = vehicle_actor.get_transform()
print(transform)
print(location)



while True:

    try:
        x_cord, y_cord, z_cord = vehicle_actor.get_velocity().x, vehicle_actor.get_velocity().y, vehicle_actor.get_velocity().z
        # print(carla.VehicleControl().steer)
        print(vehicle_actor.get_control().steer * 70)
        
        # Calculate the magnitude of the vector - 
        # output is in ms-1 
        velocity = math.sqrt((x_cord**2)+(y_cord**2)+(z_cord**2))
        # print('%06d'%image.frame_number,velocity, file = f)
        print(velocity)
        # print('%06d,'%image.frame_number,carla.WheelPhysicsControl().steer_angle, file = f)

        time.sleep(1)


    except KeyboardInterrupt:
        f.close()
        print('Goodbye!')
        sys.exit()


# my_map = world.get_map()

# waypoint_list = my_map.generate_waypoints(2.0)
# print(len(waypoint_list))

# waypoint = my_map.get_waypoint(vehicle_actor.get_location())
# print(waypoint)

# vehicle_actor.set_simulate_physics(False)
# c = 0
# for waypoint in waypoint_list:
#     if c == 20:
#         break
#     vehicle_actor.set_transform(waypoint.transform)
#     time.sleep(3)
#     print(vehicle_actor.get_location())
#     c += 1

# ##############################################################
# ##########this code allows for turning the car ###############
# ##############################################################
# while True:
#     transform = vehicle_actor.get_transform()
#     print(transform)
#     transform.rotation.yaw += 3.0
#     vehicle_actor.set_transform(transform)
#     time.sleep(0.5)
# ###############################################################

# location.y = 3.0
# actor.set_location(location)