text: #!/usr/bin/env python
  
  # Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
  # Barcelona (UAB).
  #
  # This work is licensed under the terms of the MIT license.
  # For a copy, see <https://opensource.org/licenses/MIT>.
  
  # Allows controlling a vehicle with a keyboard. For a simpler and more
  # documented example, please take a look at tutorial.py.
  
  """
  Welcome to CARLA manual control.
  
  Use ARROWS or WASD keys for control.
  
      W            : throttle
      S            : brake
      A/D          : steer left/right
      Q            : toggle reverse
      Space        : hand-brake
      P            : toggle autopilot
      M            : toggle manual transmission
      ,/.          : gear up/down
      CTRL + W     : toggle constant velocity mode at 60 km/h
  
      L            : toggle next light type
      SHIFT + L    : toggle high beam
      Z/X          : toggle right/left blinker
      I            : toggle interior light
  
      TAB          : change sensor position
      ` or N       : next sensor
      [1-9]        : change to sensor [1-9]
      G            : toggle radar visualization
      C            : change weather (Shift+C reverse)
      Backspace    : change vehicle
  
      V            : Select next map layer (Shift+V reverse)
      B            : Load current selected map layer (Shift+B to unload)
  
      R            : toggle recording images to disk
  
      CTRL + R     : toggle recording of simulation (replacing any previous)
      CTRL + P     : start replaying last recorded simulation
      CTRL + +     : increments the start time of the replay by 1 second (+SHIFT = 10 seconds)
      CTRL + -     : decrements the start time of the replay by 1 second (+SHIFT = 10 seconds)
  
      F1           : toggle HUD
      H/?          : toggle help
      ESC          : quit
  """
  
  from __future__ import print_function
  
  
  # ==============================================================================
  # -- find carla module ---------------------------------------------------------
  # ==============================================================================
  
  
  import glob
  import os
  import sys
  
  try:
      sys.path.append(glob.glob(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla/dist/carla-*%d.%d-%s.egg' % (
          sys.version_info.major,
          sys.version_info.minor,
          'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
  except IndexError:
      pass
  
  
  # ==============================================================================
  # -- imports -------------------------------------------------------------------
  # ==============================================================================
  
  
  import carla
  
  from carla import ColorConverter as cc
  
  import argparse
  import collections
  import datetime
  import logging
  import math
  import random
  import re
  import weakref
  
  try:
      import pygame
      from pygame.locals import KMOD_CTRL
      from pygame.locals import KMOD_SHIFT
      from pygame.locals import K_0
      from pygame.locals import K_9
      from pygame.locals import K_BACKQUOTE
      from pygame.locals import K_BACKSPACE
      from pygame.locals import K_COMMA
      from pygame.locals import K_DOWN
      from pygame.locals import K_ESCAPE
      from pygame.locals import K_F1
      from pygame.locals import K_LEFT
      from pygame.locals import K_PERIOD
      from pygame.locals import K_RIGHT
      from pygame.locals import K_SLASH
      from pygame.locals import K_SPACE
      from pygame.locals import K_TAB
      from pygame.locals import K_UP
      from pygame.locals import K_a
      from pygame.locals import K_b
      from pygame.locals import K_c
      from pygame.locals import K_d
      from pygame.locals import K_g
      from pygame.locals import K_h
      from pygame.locals import K_i
      from pygame.locals import K_l
      from pygame.locals import K_m
      from pygame.locals import K_n
      from pygame.locals import K_p
      from pygame.locals import K_k
      from pygame.locals import K_o
      from pygame.locals import K_j
      from pygame.locals import K_q
      from pygame.locals import K_r
      from pygame.locals import K_s
      from pygame.locals import K_v
      from pygame.locals import K_w
      from pygame.locals import K_x
      from pygame.locals import K_z
      from pygame.locals import K_MINUS
      from pygame.locals import K_EQUALS
  except ImportError:
      raise RuntimeError('cannot import pygame, make sure pygame package is installed')
  
  try:
      import numpy as np
  except ImportError:
      raise RuntimeError('cannot import numpy, make sure numpy package is installed')
  
  
  # ==============================================================================
  # -- Global functions ----------------------------------------------------------
  # ==============================================================================
  
  
  def find_weather_presets():
      rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)')
      name = lambda x: ' '.join(m.group(0) for m in rgx.finditer(x))
      presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)]
      return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets]
  
  
  def get_actor_display_name(actor, truncate=250):
      name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:])
      return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name
  
  
  # ==============================================================================
  # -- World ---------------------------------------------------------------------
  # ==============================================================================
  
  
  class World(object):
      def __init__(self, carla_world, hud, args):
          self.world = carla_world
          self.actor_role_name = args.rolename
          try:
              self.map = self.world.get_map()
          except RuntimeError as error:
              print('RuntimeError: {}'.format(error))
              print('  The server could not send the OpenDRIVE (.xodr) file:')
              print('  Make sure it exists, has the same name of your town, and is correct.')
              sys.exit(1)
          self.hud = hud
          self.player = None
          self.collision_sensor = None
          self.lane_invasion_sensor = None
          self.gnss_sensor = None
          self.imu_sensor = None
          self.radar_sensor = None
          self.camera_manager = None
          self._weather_presets = find_weather_presets()
          self._weather_index = 0
          self._actor_filter = args.filter
          self._gamma = args.gamma
          self.restart()
          self.world.on_tick(hud.on_world_tick)
          self.recording_enabled = False
          self.recording_start = 0
          self.constant_velocity_enabled = False
          self.current_map_layer = 0
          self.map_layer_names = [
              carla.MapLayer.NONE,
              carla.MapLayer.Buildings,
              carla.MapLayer.Decals,
              carla.MapLayer.Foliage,
              carla.MapLayer.Ground,
              carla.MapLayer.ParkedVehicles,
              carla.MapLayer.Particles,
              carla.MapLayer.Props,
              carla.MapLayer.StreetLights,
              carla.MapLayer.Walls,
              carla.MapLayer.All
          ]
  
      def restart(self):
          self.player_max_speed = 1.589
          self.player_max_speed_fast = 3.713
          # Keep same camera config if the camera manager exists.
          cam_index = self.camera_manager.index if self.camera_manager is not None else 0
          cam_pos_index = self.camera_manager.transform_index if self.camera_manager is not None else 0
          # Get a random blueprint.
          blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
          blueprint.set_attribute('role_name', self.actor_role_name)
          if blueprint.has_attribute('color'):
              color = random.choice(blueprint.get_attribute('color').recommended_values)
              blueprint.set_attribute('color', color)
          if blueprint.has_attribute('driver_id'):
              driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
              blueprint.set_attribute('driver_id', driver_id)
          if blueprint.has_attribute('is_invincible'):
              blueprint.set_attribute('is_invincible', 'true')
          # set the max speed
          if blueprint.has_attribute('speed'):
              self.player_max_speed = float(blueprint.get_attribute('speed').recommended_values[1])
              self.player_max_speed_fast = float(blueprint.get_attribute('speed').recommended_values[2])
          else:
              print("No recommended values for 'speed' attribute")
          # Spawn the player.
          if self.player is not None:
              spawn_point = self.player.get_transform()
              spawn_point.location.z += 2.0
              spawn_point.rotation.roll = 0.0
              spawn_point.rotation.pitch = 0.0
              self.destroy()
              self.player = self.world.try_spawn_actor(blueprint, spawn_point)
          while self.player is None:
              if not self.map.get_spawn_points():
                  print('There are no spawn points available in your map/town.')
                  print('Please add some Vehicle Spawn Point to your UE4 scene.')
                  sys.exit(1)
              spawn_points = self.map.get_spawn_points()
              spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform()
              self.player = self.world.try_spawn_actor(blueprint, spawn_point)
          # Set up the sensors.
          self.collision_sensor = CollisionSensor(self.player, self.hud)
          self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud)
          self.gnss_sensor = GnssSensor(self.player)
          self.imu_sensor = IMUSensor(self.player)
          self.camera_manager = CameraManager(self.player, self.hud, self._gamma)
          self.camera_manager.transform_index = cam_pos_index
          self.camera_manager.set_sensor(cam_index, notify=False)
          actor_type = get_actor_display_name(self.player)
          self.hud.notification(actor_type)
  
      def next_weather(self, reverse=False):
          self._weather_index += -1 if reverse else 1
          self._weather_index %= len(self._weather_presets)
          preset = self._weather_presets[self._weather_index]
          self.hud.notification('Weather: %s' % preset[1])
          self.player.get_world().set_weather(preset[0])
  
      def next_map_layer(self, reverse=False):
          self.current_map_layer += -1 if reverse else 1
          self.current_map_layer %= len(self.map_layer_names)
          selected = self.map_layer_names[self.current_map_layer]
          self.hud.notification('LayerMap selected: %s' % selected)
  
      def load_map_layer(self, unload=False):
          selected = self.map_layer_names[self.current_map_layer]
          if unload:
              self.hud.notification('Unloading map layer: %s' % selected)
              self.world.unload_map_layer(selected)
          else:
              self.hud.notification('Loading map layer: %s' % selected)
              self.world.load_map_layer(selected)
  
      def toggle_radar(self):
          if self.radar_sensor is None:
              self.radar_sensor = RadarSensor(self.player)
          elif self.radar_sensor.sensor is not None:
              self.radar_sensor.sensor.destroy()
              self.radar_sensor = None
  
      def tick(self, clock):
          self.hud.tick(self, clock)
  
      def render(self, display):
          self.camera_manager.render(display)
          self.hud.render(display)
  
      def destroy_sensors(self):
          self.camera_manager.sensor.destroy()
          self.camera_manager.sensor = None
          self.camera_manager.index = None
  
      def destroy(self):
          if self.radar_sensor is not None:
              self.toggle_radar()
          sensors = [
              self.camera_manager.sensor,
              self.collision_sensor.sensor,
              self.lane_invasion_sensor.sensor,
              self.gnss_sensor.sensor,
              self.imu_sensor.sensor]
          for sensor in sensors:
              if sensor is not None:
                  sensor.stop()
                  sensor.destroy()
          if self.player is not None:
              self.player.destroy()
  
  
  # ==============================================================================
  # -- KeyboardControl -----------------------------------------------------------
  # ==============================================================================
  
  
  class KeyboardControl(object):
      """Class that handles keyboard input."""
      def __init__(self, world, start_in_autopilot):
          self._carsim_enabled = False
          self._carsim_road = False
          self._autopilot_enabled = start_in_autopilot
          if isinstance(world.player, carla.Vehicle):
              self._control = carla.VehicleControl()
              self._lights = carla.VehicleLightState.NONE
              world.player.set_autopilot(self._autopilot_enabled)
              world.player.set_light_state(self._lights)
          elif isinstance(world.player, carla.Walker):
              self._control = carla.WalkerControl()
              self._autopilot_enabled = False
              self._rotation = world.player.get_transform().rotation
          else:
              raise NotImplementedError("Actor type not supported")
          self._steer_cache = 0.0
          world.hud.notification("Press 'H' or '?' for help.", seconds=4.0)
  
      def parse_events(self, client, world, clock):
          if isinstance(self._control, carla.VehicleControl):
              current_lights = self._lights
          for event in pygame.event.get():
              if event.type == pygame.QUIT:
                  return True
              elif event.type == pygame.KEYUP:
                  if self._is_quit_shortcut(event.key):
                      return True
                  elif event.key == K_BACKSPACE:
                      if self._autopilot_enabled:
                          world.player.set_autopilot(False)
                          world.restart()
                          world.player.set_autopilot(True)
                      else:
                          world.restart()
                  elif event.key == K_F1:
                      world.hud.toggle_info()
                  elif event.key == K_v and pygame.key.get_mods() & KMOD_SHIFT:
                      world.next_map_layer(reverse=True)
                  elif event.key == K_v:
                      world.next_map_layer()
                  elif event.key == K_b and pygame.key.get_mods() & KMOD_SHIFT:
                      world.load_map_layer(unload=True)
                  elif event.key == K_b:
                      world.load_map_layer()
                  elif event.key == K_h or (event.key == K_SLASH and pygame.key.get_mods() & KMOD_SHIFT):
                      world.hud.help.toggle()
                  elif event.key == K_TAB:
                      world.camera_manager.toggle_camera()
                  elif event.key == K_c and pygame.key.get_mods() & KMOD_SHIFT:
                      world.next_weather(reverse=True)
                  elif event.key == K_c:
                      world.next_weather()
                  elif event.key == K_g:
                      world.toggle_radar()
                  elif event.key == K_BACKQUOTE:
                      world.camera_manager.next_sensor()
                  elif event.key == K_n:
                      world.camera_manager.next_sensor()
                  elif event.key == K_w and (pygame.key.get_mods() & KMOD_CTRL):
                      if world.constant_velocity_enabled:
                          world.player.disable_constant_velocity()
                          world.constant_velocity_enabled = False
                          world.hud.notification("Disabled Constant Velocity Mode")
                      else:
                          world.player.enable_constant_velocity(carla.Vector3D(17, 0, 0))
                          world.constant_velocity_enabled = True
                          world.hud.notification("Enabled Constant Velocity Mode at 60 km/h")
                  elif event.key > K_0 and event.key <= K_9:
                      world.camera_manager.set_sensor(event.key - 1 - K_0)
                  elif event.key == K_r and not (pygame.key.get_mods() & KMOD_CTRL):
                      world.camera_manager.toggle_recording()
                  elif event.key == K_r and (pygame.key.get_mods() & KMOD_CTRL):
                      if (world.recording_enabled):
                          client.stop_recorder()
                          world.recording_enabled = False
                          world.hud.notification("Recorder is OFF")
                      else:
                          client.start_recorder("manual_recording.rec")
                          world.recording_enabled = True
                          world.hud.notification("Recorder is ON")
                  elif event.key == K_p and (pygame.key.get_mods() & KMOD_CTRL):
                      # stop recorder
                      client.stop_recorder()
                      world.recording_enabled = False
                      # work around to fix camera at start of replaying
                      current_index = world.camera_manager.index
                      world.destroy_sensors()
                      # disable autopilot
                      self._autopilot_enabled = False
                      world.player.set_autopilot(self._autopilot_enabled)
                      world.hud.notification("Replaying file 'manual_recording.rec'")
                      # replayer
                      client.replay_file("manual_recording.rec", world.recording_start, 0, 0)
                      world.camera_manager.set_sensor(current_index)
                  elif event.key == K_k and (pygame.key.get_mods() & KMOD_CTRL):
                      print("k pressed")
                      world.player.enable_carsim()
                  elif event.key == K_o and (pygame.key.get_mods() & KMOD_CTRL):
                      print("o pressed")
                      vehicle_json = "sedan/vehicle/Sedan_Vehicle.json"
                      powertrain_json = "sedan/powertrain/Sedan_SimpleMapPowertrain.json"
                      tire_json = "sedan/tire/Sedan_TMeasyTire.json"
                      base_path = "~/carla/Build/chrono-install/share/chrono/data/vehicle/"
                      world.player.enable_chrono_physics(5000, 0.002, vehicle_json, powertrain_json, tire_json, base_path)
                  elif event.key == K_j and (pygame.key.get_mods() & KMOD_CTRL):
                      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_MINUS and (pygame.key.get_mods() & KMOD_CTRL):
                      if pygame.key.get_mods() & KMOD_SHIFT:
                          world.recording_start -= 10
                      else:
                          world.recording_start -= 1
                      world.hud.notification("Recording start time is %d" % (world.recording_start))
                  elif event.key == K_EQUALS and (pygame.key.get_mods() & KMOD_CTRL):
                      if pygame.key.get_mods() & KMOD_SHIFT:
                          world.recording_start += 10
                      else:
                          world.recording_start += 1
                      world.hud.notification("Recording start time is %d" % (world.recording_start))
                  if isinstance(self._control, carla.VehicleControl):
                      if event.key == K_q:
                          self._control.gear = 1 if self._control.reverse else -1
                      elif event.key == K_m:
                          self._control.manual_gear_shift = not self._control.manual_gear_shift
                          self._control.gear = world.player.get_control().gear
                          world.hud.notification('%s Transmission' %
                                                 ('Manual' if self._control.manual_gear_shift else 'Automatic'))
                      elif self._control.manual_gear_shift and event.key == K_COMMA:
                          self._control.gear = max(-1, self._control.gear - 1)
                      elif self._control.manual_gear_shift and event.key == K_PERIOD:
                          self._control.gear = self._control.gear + 1
                      elif event.key == K_p and not pygame.key.get_mods() & KMOD_CTRL:
                          self._autopilot_enabled = not self._autopilot_enabled
                          world.player.set_autopilot(self._autopilot_enabled)
                          world.hud.notification(
                              'Autopilot %s' % ('On' if self._autopilot_enabled else 'Off'))
                      elif event.key == K_l and pygame.key.get_mods() & KMOD_CTRL:
                          current_lights ^= carla.VehicleLightState.Special1
                      elif event.key == K_l and pygame.key.get_mods() & KMOD_SHIFT:
                          current_lights ^= carla.VehicleLightState.HighBeam
                      elif event.key == K_l:
                          # Use 'L' key to switch between lights:
                          # closed -> position -> low beam -> fog
                          if not self._lights & carla.VehicleLightState.Position:
                              world.hud.notification("Position lights")
                              current_lights |= carla.VehicleLightState.Position
                          else:
                              world.hud.notification("Low beam lights")
                              current_lights |= carla.VehicleLightState.LowBeam
                          if self._lights & carla.VehicleLightState.LowBeam:
                              world.hud.notification("Fog lights")
                              current_lights |= carla.VehicleLightState.Fog
                          if self._lights & carla.VehicleLightState.Fog:
                              world.hud.notification("Lights off")
                              current_lights ^= carla.VehicleLightState.Position
                              current_lights ^= carla.VehicleLightState.LowBeam
                              current_lights ^= carla.VehicleLightState.Fog
                      elif event.key == K_i:
                          current_lights ^= carla.VehicleLightState.Interior
                      elif event.key == K_z:
                          current_lights ^= carla.VehicleLightState.LeftBlinker
                      elif event.key == K_x:
                          current_lights ^= carla.VehicleLightState.RightBlinker
  
          if not self._autopilot_enabled:
              if isinstance(self._control, carla.VehicleControl):
                  self._parse_vehicle_keys(pygame.key.get_pressed(), clock.get_time())
                  self._control.reverse = self._control.gear < 0
                  # Set automatic control-related vehicle lights
                  if self._control.brake:
                      current_lights |= carla.VehicleLightState.Brake
                  else: # Remove the Brake flag
                      current_lights &= ~carla.VehicleLightState.Brake
                  if self._control.reverse:
                      current_lights |= carla.VehicleLightState.Reverse
                  else: # Remove the Reverse flag
                      current_lights &= ~carla.VehicleLightState.Reverse
                  if current_lights != self._lights: # Change the light state only if necessary
                      self._lights = current_lights
                      world.player.set_light_state(carla.VehicleLightState(self._lights))
              elif isinstance(self._control, carla.WalkerControl):
                  self._parse_walker_keys(pygame.key.get_pressed(), clock.get_time(), world)
              world.player.apply_control(self._control)
  
      def _parse_vehicle_keys(self, keys, milliseconds):
          if keys[K_UP] or keys[K_w]:
              self._control.throttle = min(self._control.throttle + 0.01, 1)
          else:
              self._control.throttle = 0.0
  
          if keys[K_DOWN] or keys[K_s]:
              self._control.brake = min(self._control.brake + 0.2, 1)
          else:
              self._control.brake = 0
  
          steer_increment = 5e-4 * milliseconds
          if keys[K_LEFT] or keys[K_a]:
              if self._steer_cache > 0:
                  self._steer_cache = 0
              else:
                  self._steer_cache -= steer_increment
          elif keys[K_RIGHT] or keys[K_d]:
              if self._steer_cache < 0:
                  self._steer_cache = 0
              else:
                  self._steer_cache += steer_increment
          else:
              self._steer_cache = 0.0
          self._steer_cache = min(0.7, max(-0.7, self._steer_cache))
          self._control.steer = round(self._steer_cache, 1)
          self._control.hand_brake = keys[K_SPACE]
  
      def _parse_walker_keys(self, keys, milliseconds, world):
          self._control.speed = 0.0
          if keys[K_DOWN] or keys[K_s]:
              self._control.speed = 0.0
          if keys[K_LEFT] or keys[K_a]:
              self._control.speed = .01
              self._rotation.yaw -= 0.08 * milliseconds
          if keys[K_RIGHT] or keys[K_d]:
              self._control.speed = .01
              self._rotation.yaw += 0.08 * milliseconds
          if keys[K_UP] or keys[K_w]:
              self._control.speed = world.player_max_speed_fast if pygame.key.get_mods() & KMOD_SHIFT else world.player_max_speed
          self._control.jump = keys[K_SPACE]
          self._rotation.yaw = round(self._rotation.yaw, 1)
          self._control.direction = self._rotation.get_forward_vector()
  
      @staticmethod
      def _is_quit_shortcut(key):
          return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL)
  
  
  # ==============================================================================
  # -- HUD -----------------------------------------------------------------------
  # ==============================================================================
  
  
  class HUD(object):
      def __init__(self, width, height):
          self.dim = (width, height)
          font = pygame.font.Font(pygame.font.get_default_font(), 20)
          font_name = 'courier' if os.name == 'nt' else 'mono'
          fonts = [x for x in pygame.font.get_fonts() if font_name in x]
          default_font = 'ubuntumono'
          mono = default_font if default_font in fonts else fonts[0]
          mono = pygame.font.match_font(mono)
          self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14)
          self._notifications = FadingText(font, (width, 40), (0, height - 40))
          self.help = HelpText(pygame.font.Font(mono, 16), width, height)
          self.server_fps = 0
          self.frame = 0
          self.simulation_time = 0
          self._show_info = True
          self._info_text = []
          self._server_clock = pygame.time.Clock()
  
      def on_world_tick(self, timestamp):
          self._server_clock.tick()
          self.server_fps = self._server_clock.get_fps()
          self.frame = timestamp.frame
          self.simulation_time = timestamp.elapsed_seconds
  
      def tick(self, world, clock):
          self._notifications.tick(world, clock)
          if not self._show_info:
              return
          t = world.player.get_transform()
          v = world.player.get_velocity()
          c = world.player.get_control()
          compass = world.imu_sensor.compass
          heading = 'N' if compass > 270.5 or compass < 89.5 else ''
          heading += 'S' if 90.5 < compass < 269.5 else ''
          heading += 'E' if 0.5 < compass < 179.5 else ''
          heading += 'W' if 180.5 < compass < 359.5 else ''
          colhist = world.collision_sensor.get_collision_history()
          collision = [colhist[x + self.frame - 200] for x in range(0, 200)]
          max_col = max(1.0, max(collision))
          collision = [x / max_col for x in collision]
          vehicles = world.world.get_actors().filter('vehicle.*')
          self._info_text = [
              'Server:  % 16.0f FPS' % self.server_fps,
              'Client:  % 16.0f FPS' % clock.get_fps(),
              '',
              'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20),
              'Map:     % 20s' % world.map.name.split('/')[-1],
              'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)),
              '',
              'Speed:   % 15.0f km/h' % (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)),
              u'Compass:% 17.0f\N{DEGREE SIGN} % 2s' % (compass, heading),
              'Accelero: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.accelerometer),
              'Gyroscop: (%5.1f,%5.1f,%5.1f)' % (world.imu_sensor.gyroscope),
              'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (t.location.x, t.location.y)),
              'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)),
              'Height:  % 18.0f m' % t.location.z,
              '']
          if isinstance(c, carla.VehicleControl):
              self._info_text += [
                  ('Throttle:', c.throttle, 0.0, 1.0),
                  ('Steer:', c.steer, -1.0, 1.0),
                  ('Brake:', c.brake, 0.0, 1.0),
                  ('Reverse:', c.reverse),
                  ('Hand brake:', c.hand_brake),
                  ('Manual:', c.manual_gear_shift),
                  'Gear:        %s' % {-1: 'R', 0: 'N'}.get(c.gear, c.gear)]
          elif isinstance(c, carla.WalkerControl):
              self._info_text += [
                  ('Speed:', c.speed, 0.0, 5.556),
                  ('Jump:', c.jump)]
          self._info_text += [
              '',
              'Collision:',
              collision,
              '',
              'Number of vehicles: % 8d' % len(vehicles)]
          if len(vehicles) > 1:
              self._info_text += ['Nearby vehicles:']
              distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
              vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
              for d, vehicle in sorted(vehicles, key=lambda vehicles: vehicles[0]):
                  if d > 200.0:
                      break
                  vehicle_type = get_actor_display_name(vehicle, truncate=22)
                  self._info_text.append('% 4dm %s' % (d, vehicle_type))
  
      def toggle_info(self):
          self._show_info = not self._show_info
  
      def notification(self, text, seconds=2.0):
          self._notifications.set_text(text, seconds=seconds)
  
      def error(self, text):
          self._notifications.set_text('Error: %s' % text, (255, 0, 0))
  
      def render(self, display):
          if self._show_info:
              info_surface = pygame.Surface((220, self.dim[1]))
              info_surface.set_alpha(100)
              display.blit(info_surface, (0, 0))
              v_offset = 4
              bar_h_offset = 100
              bar_width = 106
              for item in self._info_text:
                  if v_offset + 18 > self.dim[1]:
                      break
                  if isinstance(item, list):
                      if len(item) > 1:
                          points = [(x + 8, v_offset + 8 + (1.0 - y) * 30) for x, y in enumerate(item)]
                          pygame.draw.lines(display, (255, 136, 0), False, points, 2)
                      item = None
                      v_offset += 18
                  elif isinstance(item, tuple):
                      if isinstance(item[1], bool):
                          rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6))
                          pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1)
                      else:
                          rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6))
                          pygame.draw.rect(display, (255, 255, 255), rect_border, 1)
                          f = (item[1] - item[2]) / (item[3] - item[2])
                          if item[2] < 0.0:
                              rect = pygame.Rect((bar_h_offset + f * (bar_width - 6), v_offset + 8), (6, 6))
                          else:
                              rect = pygame.Rect((bar_h_offset, v_offset + 8), (f * bar_width, 6))
                          pygame.draw.rect(display, (255, 255, 255), rect)
                      item = item[0]
                  if item:  # At this point has to be a str.
                      surface = self._font_mono.render(item, True, (255, 255, 255))
                      display.blit(surface, (8, v_offset))
                  v_offset += 18
          self._notifications.render(display)
          self.help.render(display)
  
  
  # ==============================================================================
  # -- FadingText ----------------------------------------------------------------
  # ==============================================================================
  
  
  class FadingText(object):
      def __init__(self, font, dim, pos):
          self.font = font
          self.dim = dim
          self.pos = pos
          self.seconds_left = 0
          self.surface = pygame.Surface(self.dim)
  
      def set_text(self, text, color=(255, 255, 255), seconds=2.0):
          text_texture = self.font.render(text, True, color)
          self.surface = pygame.Surface(self.dim)
          self.seconds_left = seconds
          self.surface.fill((0, 0, 0, 0))
          self.surface.blit(text_texture, (10, 11))
  
      def tick(self, _, clock):
          delta_seconds = 1e-3 * clock.get_time()
          self.seconds_left = max(0.0, self.seconds_left - delta_seconds)
          self.surface.set_alpha(500.0 * self.seconds_left)
  
      def render(self, display):
          display.blit(self.surface, self.pos)
  
  
  # ==============================================================================
  # -- HelpText ------------------------------------------------------------------
  # ==============================================================================
  
  
  class HelpText(object):
      """Helper class to handle text output using pygame"""
      def __init__(self, font, width, height):
          lines = __doc__.split('\n')
          self.font = font
          self.line_space = 18
          self.dim = (780, len(lines) * self.line_space + 12)
          self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1])
          self.seconds_left = 0
          self.surface = pygame.Surface(self.dim)
          self.surface.fill((0, 0, 0, 0))
          for n, line in enumerate(lines):
              text_texture = self.font.render(line, True, (255, 255, 255))
              self.surface.blit(text_texture, (22, n * self.line_space))
              self._render = False
          self.surface.set_alpha(220)
  
      def toggle(self):
          self._render = not self._render
  
      def render(self, display):
          if self._render:
              display.blit(self.surface, self.pos)
  
  
  # ==============================================================================
  # -- CollisionSensor -----------------------------------------------------------
  # ==============================================================================
  
  
  class CollisionSensor(object):
      def __init__(self, parent_actor, hud):
          self.sensor = None
          self.history = []
          self._parent = parent_actor
          self.hud = hud
          world = self._parent.get_world()
          bp = world.get_blueprint_library().find('sensor.other.collision')
          self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
          # We need to pass the lambda a weak reference to self to avoid circular
          # reference.
          weak_self = weakref.ref(self)
          self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event))
  
      def get_collision_history(self):
          history = collections.defaultdict(int)
          for frame, intensity in self.history:
              history[frame] += intensity
          return history
  
      @staticmethod
      def _on_collision(weak_self, event):
          self = weak_self()
          if not self:
              return
          actor_type = get_actor_display_name(event.other_actor)
          self.hud.notification('Collision with %r' % actor_type)
          impulse = event.normal_impulse
          intensity = math.sqrt(impulse.x**2 + impulse.y**2 + impulse.z**2)
          self.history.append((event.frame, intensity))
          if len(self.history) > 4000:
              self.history.pop(0)
  
  
  # ==============================================================================
  # -- LaneInvasionSensor --------------------------------------------------------
  # ==============================================================================
  
  
  class LaneInvasionSensor(object):
      def __init__(self, parent_actor, hud):
          self.sensor = None
          self._parent = parent_actor
          self.hud = hud
          world = self._parent.get_world()
          bp = world.get_blueprint_library().find('sensor.other.lane_invasion')
          self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent)
          # We need to pass the lambda a weak reference to self to avoid circular
          # reference.
          weak_self = weakref.ref(self)
          self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event))
  
      @staticmethod
      def _on_invasion(weak_self, event):
          self = weak_self()
          if not self:
              return
          lane_types = set(x.type for x in event.crossed_lane_markings)
          text = ['%r' % str(x).split()[-1] for x in lane_types]
          self.hud.notification('Crossed line %s' % ' and '.join(text))
  
  
  # ==============================================================================
  # -- GnssSensor ----------------------------------------------------------------
  # ==============================================================================
  
  
  class GnssSensor(object):
      def __init__(self, parent_actor):
          self.sensor = None
          self._parent = parent_actor
          self.lat = 0.0
          self.lon = 0.0
          world = self._parent.get_world()
          bp = world.get_blueprint_library().find('sensor.other.gnss')
          self.sensor = world.spawn_actor(bp, carla.Transform(carla.Location(x=1.0, z=2.8)), attach_to=self._parent)
          # We need to pass the lambda a weak reference to self to avoid circular
          # reference.
          weak_self = weakref.ref(self)
          self.sensor.listen(lambda event: GnssSensor._on_gnss_event(weak_self, event))
  
      @staticmethod
      def _on_gnss_event(weak_self, event):
          self = weak_self()
          if not self:
              return
          self.lat = event.latitude
          self.lon = event.longitude
  
  
  # ==============================================================================
  # -- IMUSensor -----------------------------------------------------------------
  # ==============================================================================
  
  
  class IMUSensor(object):
      def __init__(self, parent_actor):
          self.sensor = None
          self._parent = parent_actor
          self.accelerometer = (0.0, 0.0, 0.0)
          self.gyroscope = (0.0, 0.0, 0.0)
          self.compass = 0.0
          world = self._parent.get_world()
          bp = world.get_blueprint_library().find('sensor.other.imu')
          self.sensor = world.spawn_actor(
              bp, carla.Transform(), attach_to=self._parent)
          # We need to pass the lambda a weak reference to self to avoid circular
          # reference.
          weak_self = weakref.ref(self)
          self.sensor.listen(
              lambda sensor_data: IMUSensor._IMU_callback(weak_self, sensor_data))
  
      @staticmethod
      def _IMU_callback(weak_self, sensor_data):
          self = weak_self()
          if not self:
              return
          limits = (-99.9, 99.9)
          self.accelerometer = (
              max(limits[0], min(limits[1], sensor_data.accelerometer.x)),
              max(limits[0], min(limits[1], sensor_data.accelerometer.y)),
              max(limits[0], min(limits[1], sensor_data.accelerometer.z)))
          self.gyroscope = (
              max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.x))),
              max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.y))),
              max(limits[0], min(limits[1], math.degrees(sensor_data.gyroscope.z))))
          self.compass = math.degrees(sensor_data.compass)
  
  
  # ==============================================================================
  # -- RadarSensor ---------------------------------------------------------------
  # ==============================================================================
  
  
  class RadarSensor(object):
      def __init__(self, parent_actor):
          self.sensor = None
          self._parent = parent_actor
          self.velocity_range = 7.5 # m/s
          world = self._parent.get_world()
          self.debug = world.debug
          bp = world.get_blueprint_library().find('sensor.other.radar')
          bp.set_attribute('horizontal_fov', str(35))
          bp.set_attribute('vertical_fov', str(20))
          self.sensor = world.spawn_actor(
              bp,
              carla.Transform(
                  carla.Location(x=2.8, z=1.0),
                  carla.Rotation(pitch=5)),
              attach_to=self._parent)
          # We need a weak reference to self to avoid circular reference.
          weak_self = weakref.ref(self)
          self.sensor.listen(
              lambda radar_data: RadarSensor._Radar_callback(weak_self, radar_data))
  
      @staticmethod
      def _Radar_callback(weak_self, radar_data):
          self = weak_self()
          if not self:
              return
          # To get a numpy [[vel, altitude, azimuth, depth],...[,,,]]:
          # points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4'))
          # points = np.reshape(points, (len(radar_data), 4))
  
          current_rot = radar_data.transform.rotation
          for detect in radar_data:
              azi = math.degrees(detect.azimuth)
              alt = math.degrees(detect.altitude)
              # The 0.25 adjusts a bit the distance so the dots can
              # be properly seen
              fw_vec = carla.Vector3D(x=detect.depth - 0.25)
              carla.Transform(
                  carla.Location(),
                  carla.Rotation(
                      pitch=current_rot.pitch + alt,
                      yaw=current_rot.yaw + azi,
                      roll=current_rot.roll)).transform(fw_vec)
  
              def clamp(min_v, max_v, value):
                  return max(min_v, min(value, max_v))
  
              norm_velocity = detect.velocity / self.velocity_range # range [-1, 1]
              r = int(clamp(0.0, 1.0, 1.0 - norm_velocity) * 255.0)
              g = int(clamp(0.0, 1.0, 1.0 - abs(norm_velocity)) * 255.0)
              b = int(abs(clamp(- 1.0, 0.0, - 1.0 - norm_velocity)) * 255.0)
              self.debug.draw_point(
                  radar_data.transform.location + fw_vec,
                  size=0.075,
                  life_time=0.06,
                  persistent_lines=False,
                  color=carla.Color(r, g, b))
  
  # ==============================================================================
  # -- CameraManager -------------------------------------------------------------
  # ==============================================================================
  
  
  class CameraManager(object):
      def __init__(self, parent_actor, hud, gamma_correction):
          self.sensor = None
          self.surface = None
          self._parent = parent_actor
          self.hud = hud
          self.recording = False
          bound_y = 0.5 + self._parent.bounding_box.extent.y
          Attachment = carla.AttachmentType
          self._camera_transforms = [
              (carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
              (carla.Transform(carla.Location(x=1.6, z=1.7)), Attachment.Rigid),
              (carla.Transform(carla.Location(x=5.5, y=1.5, z=1.5)), Attachment.SpringArm),
              (carla.Transform(carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
              (carla.Transform(carla.Location(x=-1, y=-bound_y, z=0.5)), Attachment.Rigid)]
          self.transform_index = 1
          self.sensors = [
              ['sensor.camera.rgb', cc.Raw, 'Camera RGB', {}],
              ['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)', {}],
              ['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)', {}],
              ['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)', {}],
              ['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)', {}],
              ['sensor.camera.semantic_segmentation', cc.CityScapesPalette,
                  'Camera Semantic Segmentation (CityScapes Palette)', {}],
              ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {'range': '50'}],
              ['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
              ['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted',
                  {'lens_circle_multiplier': '3.0',
                  'lens_circle_falloff': '3.0',
                  'chromatic_aberration_intensity': '0.5',
                  'chromatic_aberration_offset': '0'}]]
          world = self._parent.get_world()
          bp_library = world.get_blueprint_library()
          for item in self.sensors:
              bp = bp_library.find(item[0])
              if item[0].startswith('sensor.camera'):
                  bp.set_attribute('image_size_x', str(hud.dim[0]))
                  bp.set_attribute('image_size_y', str(hud.dim[1]))
                  if bp.has_attribute('gamma'):
                      bp.set_attribute('gamma', str(gamma_correction))
                  for attr_name, attr_value in item[3].items():
                      bp.set_attribute(attr_name, attr_value)
              elif item[0].startswith('sensor.lidar'):
                  self.lidar_range = 50
  
                  for attr_name, attr_value in item[3].items():
                      bp.set_attribute(attr_name, attr_value)
                      if attr_name == 'range':
                          self.lidar_range = float(attr_value)
  
              item.append(bp)
          self.index = None
  
      def toggle_camera(self):
          self.transform_index = (self.transform_index + 1) % len(self._camera_transforms)
          self.set_sensor(self.index, notify=False, force_respawn=True)
  
      def set_sensor(self, index, notify=True, force_respawn=False):
          index = index % len(self.sensors)
          needs_respawn = True if self.index is None else \
              (force_respawn or (self.sensors[index][2] != self.sensors[self.index][2]))
          if needs_respawn:
              if self.sensor is not None:
                  self.sensor.destroy()
                  self.surface = None
              self.sensor = self._parent.get_world().spawn_actor(
                  self.sensors[index][-1],
                  self._camera_transforms[self.transform_index][0],
                  attach_to=self._parent,
                  attachment_type=self._camera_transforms[self.transform_index][1])
              # We need to pass the lambda a weak reference to self to avoid
              # circular reference.
              weak_self = weakref.ref(self)
              self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image))
          if notify:
              self.hud.notification(self.sensors[index][2])
          self.index = index
  
      def next_sensor(self):
          self.set_sensor(self.index + 1)
  
      def toggle_recording(self):
          self.recording = not self.recording
          self.hud.notification('Recording %s' % ('On' if self.recording else 'Off'))
  
      def render(self, display):
          if self.surface is not None:
              display.blit(self.surface, (0, 0))
  
      @staticmethod
      def _parse_image(weak_self, image):
          self = weak_self()
          if not self:
              return
          if self.sensors[self.index][0].startswith('sensor.lidar'):
              points = np.frombuffer(image.raw_data, dtype=np.dtype('f4'))
              points = np.reshape(points, (int(points.shape[0] / 4), 4))
              lidar_data = np.array(points[:, :2])
              lidar_data *= min(self.hud.dim) / (2.0 * self.lidar_range)
              lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1])
              lidar_data = np.fabs(lidar_data)  # pylint: disable=E1111
              lidar_data = lidar_data.astype(np.int32)
              lidar_data = np.reshape(lidar_data, (-1, 2))
              lidar_img_size = (self.hud.dim[0], self.hud.dim[1], 3)
              lidar_img = np.zeros((lidar_img_size), dtype=np.uint8)
              lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
              self.surface = pygame.surfarray.make_surface(lidar_img)
          elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
              # Example of converting the raw_data from a carla.DVSEventArray
              # sensor into a NumPy array and using it as an image
              dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
                  ('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool)]))
              dvs_img = np.zeros((image.height, image.width, 3), dtype=np.uint8)
              # Blue is positive, red is negative
              dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
              self.surface = pygame.surfarray.make_surface(dvs_img.swapaxes(0, 1))
          else:
              image.convert(self.sensors[self.index][1])
              array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
              array = np.reshape(array, (image.height, image.width, 4))
              array = array[:, :, :3]
              array = array[:, :, ::-1]
              self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
          if self.recording:
              image.save_to_disk('_out/%08d' % image.frame)
  
  
  # ==============================================================================
  # -- game_loop() ---------------------------------------------------------------
  # ==============================================================================
  
  
  def game_loop(args):
      pygame.init()
      pygame.font.init()
      world = None
  
      try:
          client = carla.Client(args.host, args.port)
          client.set_timeout(200.0)
  
          display = pygame.display.set_mode(
              (args.width, args.height),
              pygame.HWSURFACE | pygame.DOUBLEBUF)
  
          hud = HUD(args.width, args.height)
          world = World(client.get_world(), hud, args)
          controller = KeyboardControl(world, args.autopilot)
  
          clock = pygame.time.Clock()
          while True:
              clock.tick_busy_loop(60)
              if controller.parse_events(client, world, clock):
                  return
              world.tick(clock)
              world.render(display)
              pygame.display.flip()
  
      finally:
  
          if (world and world.recording_enabled):
              client.stop_recorder()
  
          if world is not None:
              world.destroy()
  
          pygame.quit()
  
  
  # ==============================================================================
  # -- main() --------------------------------------------------------------------
  # ==============================================================================
  
  
  def main():
      argparser = argparse.ArgumentParser(
          description='CARLA Manual Control Client')
      argparser.add_argument(
          '-v', '--verbose',
          action='store_true',
          dest='debug',
          help='print debug information')
      argparser.add_argument(
          '--host',
          metavar='H',
          default='127.0.0.1',
          help='IP of the host server (default: 127.0.0.1)')
      argparser.add_argument(
          '-p', '--port',
          metavar='P',
          default=2000,
          type=int,
          help='TCP port to listen to (default: 2000)')
      argparser.add_argument(
          '-a', '--autopilot',
          action='store_true',
          help='enable autopilot')
      argparser.add_argument(
          '--res',
          metavar='WIDTHxHEIGHT',
          default='1280x720',
          help='window resolution (default: 1280x720)')
      argparser.add_argument(
          '--filter',
          metavar='PATTERN',
          default='vehicle.*',
          help='actor filter (default: "vehicle.*")')
      argparser.add_argument(
          '--rolename',
          metavar='NAME',
          default='hero',
          help='actor role name (default: "hero")')
      argparser.add_argument(
          '--gamma',
          default=2.2,
          type=float,
          help='Gamma correction of the camera (default: 2.2)')
      args = argparser.parse_args()
  
      args.width, args.height = [int(x) for x in args.res.split('x')]
  
      log_level = logging.DEBUG if args.debug else logging.INFO
      logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
  
      logging.info('listening to server %s:%s', args.host, args.port)
  
      print(__doc__)
  
      try:
  
          game_loop(args)
  
      except KeyboardInterrupt:
          print('\nCancelled by user. Bye!')
  
  
  if __name__ == '__main__':
  
      main()
  