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Scenario runner improvements #112

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merged 4 commits into from
May 25, 2023
Merged

Scenario runner improvements #112

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e56b8a4
add scenario runner patches and automatic sign placement based on rou…
GustavoSilvera May 7, 2023
8b5fb30
incorporate pylint suggestions for code quality
GustavoSilvera May 8, 2023
0dc5973
fix minor typos and improve PYTHONPATH recognition
GustavoSilvera May 8, 2023
fd593dc
disabling shoulder as a valid sign placement lane
GustavoSilvera May 24, 2023
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16 changes: 12 additions & 4 deletions ScenarioRunner/carla_data_provider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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():
"""
Expand All @@ -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]

Expand All @@ -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(
Expand Down Expand Up @@ -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)))
Expand Down Expand Up @@ -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:
Expand Down
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