code: def parse_events(self, world, clock):
      if VehicleControl.signal_received:
          print("\nAccepted signal. Stopping loop...")
          return True
      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_h or (
                  event.key == K_SLASH
                  and pygame.key.get_mods() & KMOD_SHIFT
              ):
                  world.hud.help.toggle()
              elif event.key == K_TAB:
                  world.rss_unstructured_scene_visualizer.toggle_camera()
              elif event.key == K_n:
                  world.toggle_pause()
              elif event.key == K_r:
                  world.toggle_recording()
              elif event.key == K_F2:
                  if self._world and self._world.rss_sensor:
                      self._world.rss_sensor.toggle_debug_visualization_mode()
              elif event.key == K_F3:
                  if self._world and self._world.rss_sensor:
                      self._world.rss_sensor.decrease_log_level()
                      self._restrictor.set_log_level(
                          self._world.rss_sensor.log_level
                      )
              elif event.key == K_F4:
                  if self._world and self._world.rss_sensor:
                      self._world.rss_sensor.increase_log_level()
                      self._restrictor.set_log_level(
                          self._world.rss_sensor.log_level
                      )
              elif event.key == K_F5:
                  if self._world and self._world.rss_sensor:
                      self._world.rss_sensor.decrease_map_log_level()
              elif event.key == K_F6:
                  if self._world and self._world.rss_sensor:
                      self._world.rss_sensor.increase_map_log_level()
              elif event.key == K_b:
                  if self._world and self._world.rss_sensor:
                      if (
                          self._world.rss_sensor.sensor.road_boundaries_mode
                          == carla.RssRoadBoundariesMode.Off
                      ):
                          self._world.rss_sensor.sensor.road_boundaries_mode = (
                              carla.RssRoadBoundariesMode.On
                          )
                          print("carla.RssRoadBoundariesMode.On")
                      else:
                          self._world.rss_sensor.sensor.road_boundaries_mode = (
                              carla.RssRoadBoundariesMode.Off
                          )
                          print("carla.RssRoadBoundariesMode.Off")
              elif event.key == K_g:
                  if self._world and self._world.rss_sensor:
                      self._world.rss_sensor.drop_route()
              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_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
                      )
          elif event.type == MOUSEBUTTONDOWN:
              # store current mouse position for mouse-steering
              if event.button == 1:
                  self._mouse_steering_center = event.pos
          elif event.type == MOUSEBUTTONUP:
              if event.button == 1:
                  self._mouse_steering_center = None
      if not self._autopilot_enabled:
          prev_steer_cache = self._steer_cache
          self._parse_vehicle_keys(
              pygame.key.get_pressed(), clock.get_time()
          )
          if pygame.mouse.get_pressed()[0]:
              self._parse_mouse(pygame.mouse.get_pos())
          self._control.reverse = self._control.gear < 0
  
          vehicle_control = self._control
          world.hud.original_vehicle_control = vehicle_control
          world.hud.restricted_vehicle_control = vehicle_control
  
          # limit speed to 30kmh
          v = self._world.player.get_velocity()
          if (3.6 * math.sqrt(v.x**2 + v.y**2 + v.z**2)) > 30.0:
              self._control.throttle = 0
  
          # if self._world.rss_sensor and self._world.rss_sensor.ego_dynamics_on_route and not self._world.rss_sensor.ego_dynamics_on_route.ego_center_within_route:
          #    print ("Not on route!" +  str(self._world.rss_sensor.ego_dynamics_on_route))
          if self._restrictor:
              rss_proper_response = (
                  self._world.rss_sensor.proper_response
                  if self._world.rss_sensor
                  and self._world.rss_sensor.response_valid
                  else None
              )
              if rss_proper_response:
                  if not (pygame.key.get_mods() & KMOD_CTRL):
                      vehicle_control = self._restrictor.restrict_vehicle_control(
                          vehicle_control,
                          rss_proper_response,
                          self._world.rss_sensor.ego_dynamics_on_route,
                          self._vehicle_physics,
                      )
                  world.hud.restricted_vehicle_control = vehicle_control
                  world.hud.allowed_steering_ranges = (
                      self._world.rss_sensor.get_steering_ranges()
                  )
                  if (
                      world.hud.original_vehicle_control.steer
                      != world.hud.restricted_vehicle_control.steer
                  ):
                      self._steer_cache = prev_steer_cache
  
          # Set automatic control-related vehicle lights
          if vehicle_control.brake:
              current_lights |= carla.VehicleLightState.Brake
          else:  # Remove the Brake flag
              current_lights &= (
                  carla.VehicleLightState.All
                  ^ carla.VehicleLightState.Brake
              )
          if vehicle_control.reverse:
              current_lights |= carla.VehicleLightState.Reverse
          else:  # Remove the Reverse flag
              current_lights &= (
                  carla.VehicleLightState.All
                  ^ 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)
              )
  
          world.player.apply_control(vehicle_control)
  
imports: from __future__ import print_function
  import glob
  import os
  import sys
  import signal
  import carla
  from carla import ColorConverter
  import argparse
  import logging
  import math
  import random
  import weakref
  from rss_sensor import RssSensor
  from rss_visualization import RssUnstructuredSceneVisualizer, RssBoundingBoxVisualizer, RssStateVisualizer
label_desc: Use image node_id 4 for calling the VehicleControl obj's underlying member method code with example usage: obj.parse_events(world, clock) and returns: True, True, True