Merge pull request #112 from HARPLab/auto-nav-sign

Scenario runner improvements
HARPLab · May 25, 2023 · 76da276 · 76da276
2 parents 95d1b26 + fd593dc
commit 76da276
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Showing 7 changed files with 1,381 additions and 60 deletions.
diff --git a/ScenarioRunner/carla_data_provider.py b/ScenarioRunner/carla_data_provider.py
@@ -222,6 +222,13 @@ def get_map(world=None):
 
         return CarlaDataProvider._map
 
+    @staticmethod
+    def get_random_seed():
+        """
+        @return true if syncronuous mode is used
+        """
+        return CarlaDataProvider._rng
+
     @staticmethod
     def is_sync_mode():
         """
@@ -235,7 +242,8 @@ def find_weather_presets():
         Get weather presets from CARLA
         """
         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))
+        def name(x:str) -> str: 
+            return ' '.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]
 
@@ -251,7 +259,7 @@ def prepare_map():
         # Parse all traffic lights
         CarlaDataProvider._traffic_light_map.clear()
         for traffic_light in CarlaDataProvider._world.get_actors().filter('*traffic_light*'):
-            if traffic_light not in CarlaDataProvider._traffic_light_map.keys():
+            if traffic_light not in list(CarlaDataProvider._traffic_light_map):
                 CarlaDataProvider._traffic_light_map[traffic_light] = traffic_light.get_transform()
             else:
                 raise KeyError(
@@ -691,7 +699,7 @@ def request_new_batch_actors(model, amount, spawn_points, autopilot=False,
                     print("The amount of spawn points is lower than the amount of vehicles spawned")
                     break
 
-            if spawn_point and "dreyevr" not in blueprint.id:
+            if spawn_point:
                 batch.append(SpawnActor(blueprint, spawn_point).then(
                     SetAutopilot(FutureActor, autopilot,
                                  CarlaDataProvider._traffic_manager_port)))
@@ -797,7 +805,7 @@ def cleanup():
         for actor_id in CarlaDataProvider._carla_actor_pool.copy():
             actor = CarlaDataProvider._carla_actor_pool[actor_id]
             # don't delete the DReyeVR ego vehicle bc it becomes awkward to continue playing
-            if actor is not None and actor.is_alive and actor.type_id != CarlaDataProvider.ego_DReyeVR:
+            if actor is not None and actor.is_alive and "dreyevr" not in actor.type_id:
                 batch.append(DestroyActor(actor))
 
         if CarlaDataProvider._client: