Crosswalk

Description

Crosswalks are considered an “actor” in Quanser Interactive Labs Open Worlds. Crosswalks can be spawned anywhere in the Open Worlds.

See the Crosswalk Tutorial to get a better understanding of using road signage in Quanser Interactive Labs.

Library

class qvl.crosswalk.QLabsCrosswalk(qlabs, verbose=False)[source]: This class is for spawning crosswalks.

Constants

QLabsCrosswalk.ID_CROSSWALK = 10010: Class ID

Member Variables

QLabsCrosswalk.actorNumber = None: The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsCrosswalk.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.
actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsCrosswalk.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.
actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsCrosswalk.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsCrosswalk.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsCrosswalk.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsCrosswalk.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsCrosswalk.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsCrosswalk.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsCrosswalk.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

status - True if successful, False otherwise

Return type

boolean

QLabsCrosswalk.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

status - True if successful, False otherwise
location
rotation
scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsCrosswalk.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

status - True if successful, False otherwise
location
rotation
scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsCrosswalk.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsCrosswalk.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
parentClassID (uint32) – (Optional) See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – (Optional) User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – (Optional) 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsCrosswalk.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsCrosswalk.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

Configurations

There are 3 different configurations (0-2) available for crosswalks generated in QLabs.

Connection Points

There are no connection points for this actor class.

Crosswalk Tutorial

Example

Raw to download this tutorial: Road Signage Tutorial.

"""
Road Signage Library Example
----------------------------

.. note::

    Make sure you have Quanser Interactive Labs open before running this
    example.  This example is designed to best be run in QCar Cityscape 
    or Cityscape Lite.

"""

# imports to important libraries
import sys
import math
import time

from qvl.qlabs import QuanserInteractiveLabs
from qvl.free_camera import QLabsFreeCamera
from qvl.crosswalk import QLabsCrosswalk
from qvl.roundabout_sign import QLabsRoundaboutSign
from qvl.yield_sign import QLabsYieldSign
from qvl.stop_sign import QLabsStopSign
from qvl.traffic_cone import QLabsTrafficCone
from qvl.traffic_light import QLabsTrafficLight

# set any of these flags to False if you don't want to see the output
CROSSWALK_FLAG = True
ROUNDABOUT_FLAG = True
YIELDSIGN_FLAG = True
STOPSIGN_FLAG = True
TRAFFICCONE_FLAG = True
TRAFFICLIGHT_FLAG = True

def crosswalk(qlabs):
    """This method demonstrates some basic commands with the crosswalk class"""

    # initialize a camera - See Camera Actor Library Reference for more information
    cameraCrosswalk = QLabsFreeCamera(qlabs)
    cameraCrosswalk.spawn(location=[-19.286, 43, 5.5], rotation=[-0, 0.239, -0.043])
    cameraCrosswalk.possess()

    # create a crosswalk in this qlabs instance
    crosswalk = QLabsCrosswalk(qlabs)

    # spawn crosswalk with radians in config
    crosswalk.spawn_id(actorNumber=0, location=[-10.788, 45, 0.00], rotation=[0,0,math.pi/2], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # waits so we can see the output
    time.sleep(1)
    # spawn crosswalk with degrees in config 1
    crosswalk.spawn_id_degrees(actorNumber=1, location=[-6.788, 45, 0.00], rotation=[0,0,90], scale=[1,1,1], configuration=1, waitForConfirmation=True)
    # waits so we can see the output
    time.sleep(1)
    # spawn crosswalk with degress in config 2
    crosswalk.spawn_id_degrees(actorNumber=2, location=[-2.8, 45, 0.0], rotation=[0,0,90], scale=[1,1,1], configuration=2, waitForConfirmation=True)

    # collecting the world transform coordinates of the crosswalk
    x, loc, rot, scale = crosswalk.get_world_transform()
    print( x, loc, rot, scale)

    # pinging existing sign - this should return True if we printed it
    crosswalk.ping()



def roundabout_sign(qlabs):
    """This method demonstrates some basic commands with the roundabout sign class"""

    # create two roundabouts in this qlabs instance
    roundabout = QLabsRoundaboutSign(qlabs)
    roundabout2 = QLabsRoundaboutSign(qlabs)

    # spawns the sign we just created using radians and specifying the actorNumber
    roundabout.spawn_id(actorNumber=0, location=[-17, 29, 0.0], rotation=[0, 0, math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawns the second sign we just created using degrees and allowing the computer to
    # generate an actorNumber internally
    roundabout2.spawn_id_degrees(actorNumber=2, location=[-15, 29, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)

    # collecting the world transform coordinates of the roundabout sign
    x, loc, rot, scale = roundabout2.get_world_transform()
    print( x, loc, rot, scale)

    # pinging existing sign - this should return True if we printed it
    roundabout2.ping()
    # waits so we can see the output
    time.sleep(1)

    # destroying the sign we just created
    roundabout.destroy()


def yield_sign(qlabs):
    """This method demonstrates some basic commands with the yield sign class"""

    # create two yieldsigns in this qlabs instance
    yieldsign = QLabsYieldSign(qlabs)
    yieldsign2 = QLabsYieldSign(qlabs)

    # spawns the sign we just created using radians and specifying the actorNumber
    yieldsign.spawn_id(actorNumber=0, location=[-17, 31, 0.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawns the second sign we just created using degrees and allowing the computer to
    # generate an actorNumber internally
    yieldsign2.spawn_degrees(location=[-15, 31, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)

    # collecting the world transform coordinates of the yield sign
    x, loc, rot, scale = yieldsign2.get_world_transform()
    print( x, loc, rot, scale)

    # pinging existing sign - this should return "True" if we printed it
    yieldsign2.ping()
    # waits so we can see the output
    time.sleep(1)

    # destroying the sign we just created
    yieldsign.destroy()


def stop_sign(qlabs):
    """This method demonstrates some basic commands with the stop sign class"""

    # create two stop signs in this qlabs instance
    stop = QLabsStopSign(qlabs)
    stop2 = QLabsStopSign(qlabs)
    # spawns the sign we just created using radians
    stop.spawn_id(actorNumber=1, location=[-16, 30, 0.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawns the second sign we just created using degrees and generating the actorNumber internally
    stop2.spawn_degrees(location=[-15, 30, 0.0], rotation=[0,0,180], scale=[1,1,1], configuration=0, waitForConfirmation=True)

    # collecting the world transform coordinates of the stop sign
    x, loc, rot, scale = stop2.get_world_transform()
    print(x, loc, rot, scale)

    # pinging existing sign - this should return True if we printed it
    stop2.ping()
    # waits so we can see the output
    time.sleep(1)

    # destroying the sign we just created
    stop.destroy()


def traffic_cone(qlabs):
    """This method demonstrates some basic commands with the traffic cone class"""

    # creates 3 cones in this qlabs instance
    cone = QLabsTrafficCone(qlabs)
    cone1 = QLabsTrafficCone(qlabs)
    cone2 = QLabsTrafficCone(qlabs)
    cone3 = QLabsTrafficCone(qlabs)
    cone4 = QLabsTrafficCone(qlabs)
    
    # spawns a small traffic cone we just initialized using radians
    cone.spawn(location=[-17, 28, 1.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # waits so we can see the output
    time.sleep (1)
    # destroy the cone we just made
    cone.destroy()
    # waits so we can see the output
    time.sleep(1)
    # spawns another small traffic cone we just initialized using radians in the same place
    cone1.spawn_id(actorNumber=1, location=[-17, 28, 1.0], rotation=[0,0,math.pi], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawns a construction pylon using the cone we just initialized using degrees and generating
    # the actorNumber internally
    cone2.spawn_degrees(location=[-15, 28, 1.0], rotation=[0,0,180], scale=[1,1,1], configuration=1, waitForConfirmation=True)
    # spawns a small cone with one color stripe initialized using actor number and a position in degrees
    cone3.spawn_id_degrees(actorNumber=3, location=[-15, 26.5, 1.0], rotation=[0,0,90], scale=[1,1,1], configuration=2, waitForConfirmation=True)
    # spawns a bigger cone with two color stripes using radians and generating the actorNumber internally
    cone4.spawn(location=[-17, 26.5, 1.0], rotation=[0,0,math.pi/4], scale=[1,1,1], configuration=3, waitForConfirmation=True)
    
    # waits so we can see the output
    time.sleep(1.5)
        
    # change the color of the cones (materialSlot 0 is the base color, and 1 is the stripes)
    cone1.set_material_properties(materialSlot=0, color=[0,0,1],metallic=True)
    # waits so we can see the output
    time.sleep(.5)

    cone2.set_material_properties(materialSlot=0, color=[1,0,0],roughness=1,metallic=False)
    cone2.set_material_properties(materialSlot=1, color=[1,.5,0])
    time.sleep(.5)

    cone3.set_material_properties(materialSlot=0, color=[0,1,1])
    cone3.set_material_properties(materialSlot=1, color=[0,.3,1],roughness=1,metallic=True)
    time.sleep(.5)

    cone4.set_material_properties(materialSlot=0, color=[1,0,1],roughness=0,metallic=False)
    cone4.set_material_properties(materialSlot=1, color=[.3,0,1])

    # waits so we can see the output
    time.sleep(3)

    # collecting the world transform coordinates of the traffic cone
    x, loc, rot, scale = cone2.get_world_transform()
    print(x, loc, rot, scale)

    # pinging existing cone - this should return True if we printed it
    cone2.ping()


def traffic_light(qlabs):
    """This method demonstrates some basic commands with the traffic light class"""

    # initialize a camera - See Camera Actor Library Reference for more information
    cameraTraffic = QLabsFreeCamera(qlabs)
    cameraTraffic.spawn(location=[0.131, 2.05, 2.047], rotation=[-0, -0.068, 1.201])
    cameraTraffic.possess()

    # initialize three traffic light instances in qlabs
    trafficLight = QLabsTrafficLight(qlabs)
    trafficLight2 = QLabsTrafficLight(qlabs)
    trafficLight3 = QLabsTrafficLight(qlabs)

    # spawn a traffic light in config 1 - vertical using radians and specifying a specific actorNumber
    trafficLight.spawn_id(actorNumber=0, location=[5.616, 14.131, 0.215], rotation=[0,0,0], scale=[1,1,1], configuration=0, waitForConfirmation=True)
    # spawn a second traffic light using degrees in config 1 - vertical and specifying a specific actorNumber
    trafficLight2.spawn_id_degrees(actorNumber=2, location=[-3.078, 14.136, 0.215], rotation=[0,0,180], scale=[1,1,1], configuration=1, waitForConfirmation=True)
    # spawn traffic light using degrees in config 2 - horizontal and generating the actorNumber internally
    trafficLight3.spawn_degrees(location=[6.703, 5.6, 0.215], rotation=[0,0,-90], scale=[1,1,1], configuration=2, waitForConfirmation=True)

    # collecting the world transform coordinates of the traffic light
    x, loc, rot, scale = trafficLight2.get_world_transform()
    print(x, loc, rot, scale)

    # pinging existing traffic light - this should return True if we printed it
    trafficLight2.ping()

    # changing the state of the traffic lights from green to red
    
    time.sleep(2)

    trafficLight.set_state(state=trafficLight.STATE_YELLOW, waitForConfirmation=True)
    trafficLight2.set_state(state=trafficLight2.STATE_YELLOW, waitForConfirmation=True)

    time.sleep(1)

    trafficLight.set_state(state=trafficLight.STATE_RED, waitForConfirmation=True)
    trafficLight2.set_state(state=trafficLight2.STATE_RED, waitForConfirmation=True)

    time.sleep(1)

    trafficLight3.set_state(state=trafficLight3.STATE_GREEN, waitForConfirmation=True)

    # destroying a traffic light
    trafficLight.destroy()


def main():

    # creates a server connection with Quanser Interactive Labs and manages the communications
    qlabs = QuanserInteractiveLabs()

    print("Connecting to QLabs...")
    # trying to connect to QLabs and open the instance we have created - program will end if this fails
    try:
        qlabs.open("localhost")
    except:
        print("Unable to connect to QLabs")
        return

    # destroying any spawned actors in our QLabs that currently exist
    qlabs.destroy_all_spawned_actors()

    if CROSSWALK_FLAG == True:
        crosswalk(qlabs)
        time.sleep(2)

    # switch the camera angle from whatever it was previous to be able to see where we will be
    # spawning the rest of the objects - see Camera Actor Library Reference for more information
    if ROUNDABOUT_FLAG or YIELDSIGN_FLAG or STOPSIGN_FLAG or TRAFFICCONE_FLAG:
        camera0 = QLabsFreeCamera(qlabs)
        camera0.spawn(location=[-20.14, 29.472, 2.071], rotation=[0, 0.203, -0.024])
        camera0.possess()

        if ROUNDABOUT_FLAG:
            roundabout_sign(qlabs)
            time.sleep(1)

        if YIELDSIGN_FLAG:
            yield_sign(qlabs)
            time.sleep(1)

        if STOPSIGN_FLAG:
            stop_sign(qlabs)
            time.sleep(1)

        if TRAFFICCONE_FLAG:
            traffic_cone(qlabs)
            time.sleep(1)

    if TRAFFICLIGHT_FLAG:
        traffic_light(qlabs)


if __name__ == "__main__":
    main()