#!/usr/bin/env python
#
# Copyright (c) 2018-2019 Intel Corporation
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
#
"""
Classes to handle Carla vehicles
"""
from std_msgs.msg import ColorRGBA
from derived_object_msgs.msg import Object
from carla_ros_bridge.traffic_participant import TrafficParticipant
class Vehicle(TrafficParticipant):
"""
Actor implementation details for vehicles
"""
def __init__(self, carla_actor, parent, communication, prefix=None):
"""
Constructor
:param carla_actor: carla vehicle actor object
:type carla_actor: carla.Vehicle
:param parent: the parent of this
:type parent: carla_ros_bridge.Parent
:param communication: communication-handle
:type communication: carla_ros_bridge.communication
:param prefix: the topic prefix to be used for this actor
:type prefix: string
"""
if not prefix:
prefix = "vehicle/{:03}".format(carla_actor.id)
self.classification = Object.CLASSIFICATION_CAR
if 'object_type' in carla_actor.attributes:
if carla_actor.attributes['object_type'] == 'car':
self.classification = Object.CLASSIFICATION_CAR
elif carla_actor.attributes['object_type'] == 'bike':
self.classification = Object.CLASSIFICATION_BIKE
elif carla_actor.attributes['object_type'] == 'motorcycle':
self.classification = Object.CLASSIFICATION_MOTORCYCLE
elif carla_actor.attributes['object_type'] == 'truck':
self.classification = Object.CLASSIFICATION_TRUCK
elif carla_actor.attributes['object_type'] == 'other':
self.classification = Object.CLASSIFICATION_OTHER_VEHICLE
super(Vehicle, self).__init__(carla_actor=carla_actor,
parent=parent,
communication=communication,
prefix=prefix)
def get_marker_color(self): # pylint: disable=no-self-use
"""
Function (override) to return the color for marker messages.
:return: the color used by a vehicle marker
:rtpye : std_msgs.msg.ColorRGBA
"""
color = ColorRGBA()
color.r = 255
color.g = 0
color.b = 0
return color
def get_classification(self):
"""
Function (override) to get classification
:return:
"""
return self.classification
