BeamNGpy Reference
BeamNGpy
API
Vehicle
Sensors
API
Scenario
Procedural Objects
Roads
Sensors
Automated Sensors
Camera
Lidar
Ultrasonic Sensor
Powertrain Sensor
Advanced IMU
Classical Sensors
Sensor
State
Electrics
IMU
Timer
Damage
GForces
Logging
- exception beamngpy.logging.BNGDisconnectedError
Exception class for BeamNGpy being disconnected when it shouldn’t.
- exception beamngpy.logging.BNGError
Generic BeamNG error.
- exception beamngpy.logging.BNGValueError
Value error specific to BeamNGpy.
- beamngpy.logging.config_logging(handlers: List[Handler], replace: bool = True, level: int = 10, redirect_warnings: bool = True, log_communication: bool = False) None
Function to configure logging.
- Parameters
handlers (List[Handler]) – list of already configured logging.Handler objects
replace (bool) – whether to replace existing list of handlers with new ones or whether to add them, optional
level (int) – log level of the beamngpy logger object, optional. Defaults to
logging.DEBUG.redirect_warnings (bool) – whether to redirect warnings to the logger. Beware that this modifies the warnings settings.
log_communication (bool) – whether to log the BeamNGpy protocol messages between BeamNGpy and BeamNG.tech, optional
- Return type
None
- beamngpy.logging.create_warning(msg: str, category: Any = None) None
Helper function for BeamNGpy modules to create warnings.
- Parameters
msg (str) – message to be displayed
category (Any) – Category of warning to be issued. See warnings documentation for more details. Defaults to None.
- Return type
None
- beamngpy.logging.set_up_simple_logging(log_file: str | None = None, redirect_warnings: bool = True, level: int = 20, log_communication: bool = False) None
Helper function that provides high-level control over beamng logging. For low-level control over the logging system use
config_logging(). Sets up logging tosys.stderrand optionally to a given file. Existing log files are moved to<log_file>.1. By default beamngpy logs warnings and errors tosys.stderr, so this function is only of use, if the log output should additionaly be written to a file, or if the log level needs to be adjusted.- Parameters
log_file (str | None) – log filename, optional
redirect_warnings (bool) – Whether to redirect warnings to the logger. Beware that this modifies the warnings settings.
level (int) – log level of handler that is created for the log file. Defaults to
logging.INFO.log_communication (bool) – whether to log the BeamNGpy protocol messages between BeamNGpy and BeamNG.tech, optional
- Return type
None
Miscellaneous
Quaternions
Types
- beamngpy.types.Color
Vehicle color. Can be either:
(R, G, B)tuple of floats,(R, G, B, A)tuple of floats,string of format
'R G B',string of format
'R G B A',a common color name (parsable by
matplotlib.colors).
alias of
Union[Tuple[float,float,float],Tuple[float,float,float,float],str]
- beamngpy.types.Float2
alias of
Tuple[float,float]
- beamngpy.types.Float3
alias of
Tuple[float,float,float]
- beamngpy.types.Float4
alias of
Tuple[float,float,float,float]
- beamngpy.types.Float5
alias of
Tuple[float,float,float,float,float]
- beamngpy.types.Int2
alias of
Tuple[int,int]
- beamngpy.types.Int3
alias of
Tuple[int,int,int]
- beamngpy.types.Quat
alias of
Tuple[float,float,float,float]
- beamngpy.types.StrDict
alias of
Dict[str,Any]
Connection
- class beamngpy.connection.Connection(host: str, port: int | None = None)
The class for handling socket communication between BeamNGpy and the simulator, including establishing connections to both the simulator and to its vehicles individually, and for sending and recieving data across these sockets.
Instantiates an instance of the Connection class, creating an unconnected socket ready to be connected when required.
- Parameters
host (str) – The host to connect to.
port (int | None) – The port to connect to.
- PROTOCOL_VERSION = 'v1.20'
- connect_to_beamng(tries: int = 25, log_tries: bool = True) bool
Sets the socket of this connection instance and attempts to connect to the simulator over the host and port configuration set in this class. Upon failure, connections are re-attempted a limited amount of times.
- Parameters
tries (int) – The number of connection attempts.
log_tries (bool) – True if the connection logs should be propagated to the caller. Defaults to True.
- Returns
True if the connection was successful, False otherwise.
- Return type
bool
- connect_to_vehicle(vehicle: Vehicle, tries: int = 25) None
Sets the socket of this Connection instance, and attempts to connect it to the given vehicle. Upon failure, connections are re-attempted a limited amount of times.
- Parameters
vehicle (Vehicle) – The vehicle instance to be connected.
tries (int) – The number of connection attempts.
- Return type
None
- disconnect() None
Closes socket communication for this Connection instance.
- Return type
None
- hello() None
First function called after connections. Exchanges the protocol version with the connected simulator and raises an error upon mismatch.
- Return type
None
- message(req: str, **kwargs: Any) Any
Generic message function which is parameterized with the type of message to send and all parameters that are to be embedded in the request. Responses are expected to have the same type as the request. If this is not the case, an error is raised.
- Parameters
req (str) – The request type.
kwargs (Any) –
- Returns
The response received from the simulator as a dictionary.
- Return type
Any
- recv(req_id: int) StrDict | BNGError | BNGValueError
- Parameters
req_id (int) –
- Return type
StrDict | BNGError | BNGValueError
- class beamngpy.connection.Response(connection: Connection, req_id: int)
- Parameters
connection (Connection) –
req_id (int) –
- ack(ack_type: str) None
- Parameters
ack_type (str) –
- Return type
None
- recv(type: str | None = None) StrDict
- Parameters
type (str | None) –
- Return type
StrDict