分布式Carla Server代码整理

multicarlaservers/Mult-carla/carlaSimulation.py

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+# ==================================================================================================
+# -- imports ---------------------------------------------------------------------------------------
+# ==================================================================================================
+
+import logging
+
+import carla  # pylint: disable=import-error
+
+# from .constants import INVALID_ACTOR_ID
+
+# ==================================================================================================
+# -- carla simulation ------------------------------------------------------------------------------
+# ==================================================================================================
+
+
+class CarlaSimulation(object):
+    """
+    CarlaSimulation is responsible for the management of the carla simulation.
+    """
+    def __init__(self, host, port, step_length,server_id):
+        self.id = server_id
+        try:
+            self.client = carla.Client(host, port)
+        except Exception as error:
+            raise error
+        self.client.set_timeout(2.0)
+
+        self.world = self.client.get_world()
+        self.blueprint_library = self.world.get_blueprint_library()
+        self.step_length = step_length
+        self.isSumo = False
+
+        # 记录，是本机生成的actor还是外机同步的actor
+        self.ontology = set()
+        self.avatars = {} # { carla_id : set( (id_inworld,id_onworld) )}
+
+        self.actors = None
+
+        # Set traffic lights.
+        self._tls = {}  # {landmark_id: traffic_ligth_actor}
+
+        tmp_map = self.world.get_map()
+        self.map_hash = hash(tmp_map.to_opendrive())
+        for landmark in tmp_map.get_all_landmarks_of_type('1000001'):
+            if landmark.id != '':
+                traffic_light = self.world.get_traffic_light(landmark)
+                if traffic_light is not None:
+                    self._tls[landmark.id] = traffic_light
+                else:
+                    logging.warning('Landmark %s is not linked to any traffic light', landmark.id)
+
+    def update_info(self):
+        """
+        For getting new information. 
+        """
+        self.actors = None
+
+    def get_actor(self, actor_id):
+        """
+        Accessor for carla actor.
+        """
+        if not self.actors:
+            self.actors =self.get_actors()
+
+        return self.actors.find(actor_id)
+
+    def get_actors(self,actor_ids=None):
+        """
+        Accessor for carla actors.
+        """
+        if actor_ids:
+            self.actors = self.world.get_actors(actor_ids)
+        else:
+            self.actors = self.world.get_actors()
+        return self.actors
+
+    # This is a workaround to fix synchronization issues when other carla clients remove an actor in
+    # carla without waiting for tick (e.g., running sumo co-simulation and manual control at the
+    # same time)
+    def get_actor_light_state(self, actor_id):
+        """
+        Accessor for carla actor light state.
+
+        If the actor is not alive, returns None.
+        """
+        try:
+            actor = self.get_actor(actor_id)
+            return actor.get_light_state()
+        except RuntimeError:
+            return None
+
+    @property
+    def traffic_light_ids(self):
+        return set(self._tls.keys())
+
+    def get_traffic_light_state(self, landmark_id):
+        """
+        Accessor for traffic light state.
+
+        If the traffic ligth does not exist, returns None.
+        """
+        if landmark_id not in self._tls:
+            return None
+        return self._tls[landmark_id].state
+
+    def switch_off_traffic_lights(self):
+        """
+        Switch off all traffic lights.
+        """
+        for actor in self.world.get_actors():
+            if actor.type_id == 'traffic.traffic_light':
+                actor.freeze(True)
+                # We set the traffic light to 'green' because 'off' state sets the traffic light to
+                # 'red'.
+                actor.set_state(carla.TrafficLightState.Green)
+
+    def spawn_actor(self, blueprint, transform):
+        """
+        Spawns a new actor.
+            :param blueprint: blueprint of the actor to be spawned.
+            :param transform: transform where the actor will be spawned.
+            :return: actor id if the actor is successfully spawned. Otherwise, INVALID_ACTOR_ID.
+        """
+
+        batch = [
+            carla.command.SpawnActor(blueprint, transform).then(
+                carla.command.SetSimulatePhysics(carla.command.FutureActor, False))
+        ]
+        response = self.client.apply_batch_sync(batch, False)[0]
+        if response.error:
+            logging.error('Spawn carla actor failed. %s', response.error)
+            return -1
+            # return INVALID_ACTOR_ID
+
+        return response.actor_id
+
+    def destroy_actor(self, actor_id):
+        """
+        Destroys the given actor.
+        """
+        actor = self.world.get_actor(actor_id)
+        if actor is not None:
+            return actor.destroy()
+        return False
+
+    def synchronize_vehicle(self, vehicle_id, transform, lights=None):
+        """
+        Updates vehicle state.
+
+            :param vehicle_id: id of the actor to be updated.
+            :param transform: new vehicle transform (i.e., position and rotation).
+            :param lights: new vehicle light state.
+            :return: True if successfully updated. Otherwise, False.
+        """
+        vehicle = self.world.get_actor(vehicle_id)
+        if vehicle is None:
+            return False
+
+        vehicle.set_transform(transform)
+        if lights is not None:
+            vehicle.set_light_state(carla.VehicleLightState(lights))
+        return True
+
+    def synchronize_traffic_light(self, landmark_id, state):
+        """
+        Updates traffic light state.
+
+            :param landmark_id: id of the landmark to be updated.
+            :param state: new traffic light state.
+            :return: True if successfully updated. Otherwise, False.
+        """
+        if not landmark_id in self._tls:
+            logging.warning('Landmark %s not found in carla', landmark_id)
+            return False
+
+        traffic_light = self._tls[landmark_id]
+        traffic_light.set_state(state)
+        return True
+
+    def tick(self):
+        """
+        Tick to carla simulation.
+        """
+        self.world.tick()
+
+        """
+        # Update data structures for the current frame.
+        current_actors = set(
+            [vehicle.id for vehicle in self.world.get_actors().filter('vehicle.*')])
+        self.spawned_actors = current_actors.difference(self._active_actors)
+        self.destroyed_actors = self._active_actors.difference(current_actors)
+        self._active_actors = current_actors
+
+        """
+    def close(self):
+        """
+        Closes carla client.
+        """
+        for actor in self.world.get_actors():
+            if actor.type_id == 'traffic.traffic_light':
+                actor.freeze(False)

multicarlaservers/Mult-carla/carlaservers.yaml

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+servers:
+  - host: 192.168.3.34
+    port: 2000
+  - host: 192.168.3.43
+    port: 2000
+  - host: 192.168.3.32
+    port: 2000
+
+# sumo:
+#  - host: 192.168.3.34
+#    port: 2000
+
+actorlights: false
+actorcolor: false
+trafficlights: false
+weather: null
+steplength: 0.05