def _load_and_run_scenario(self, args, config):
"""
Load and run the scenario given by config.
Depending on what code fails, the simulation will either stop the route and
continue from the next one, or report a crash and stop.
"""
crash_message = ""
entry_status = "Started"
print("\n\033[1m========= Preparing {} (repetition {}) =========".format(config.name, config.repetition_index))
print("> Setting up the agent\033[0m")
# Prepare the statistics of the route
self.statistics_manager.set_route(config.name, config.index)
# Set up the user's agent, and the timer to avoid freezing the simulation
try:
self._agent_watchdog.start()
agent_class_name = getattr(self.module_agent, 'get_entry_point')()
self.agent_instance = getattr(self.module_agent, agent_class_name)(args.agent_config)
config.agent = self.agent_instance
# Check and store the sensors
if not self.sensors:
self.sensors = self.agent_instance.sensors()
track = self.agent_instance.track
AgentWrapper.validate_sensor_configuration(self.sensors, track, args.track)
self.sensor_icons = [sensors_to_icons[sensor['type']] for sensor in self.sensors]
self.statistics_manager.save_sensors(self.sensor_icons, args.checkpoint)
self._agent_watchdog.stop()
except SensorConfigurationInvalid as e:
# The sensors are invalid -> set the ejecution to rejected and stop
print("\n\033[91mThe sensor's configuration used is invalid:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Agent's sensors were invalid"
entry_status = "Rejected"
self._register_statistics(config, args.checkpoint, entry_status, crash_message)
self._cleanup()
sys.exit(-1)
except Exception as e:
# The agent setup has failed -> start the next route
print("\n\033[91mCould not set up the required agent:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Agent couldn't be set up"
self._register_statistics(config, args.checkpoint, entry_status, crash_message)
self._cleanup()
return
print("\033[1m> Loading the world\033[0m")
# Load the world and the scenario
try:
self._load_and_wait_for_world(args, config.town, config.ego_vehicles)
self._prepare_ego_vehicles(config.ego_vehicles, False)
scenario = RouteScenario(world=self.world, config=config, debug_mode=args.debug)
self.statistics_manager.set_scenario(scenario.scenario)
# Night mode
if config.weather.sun_altitude_angle < 0.0:
for vehicle in scenario.ego_vehicles:
vehicle.set_light_state(carla.VehicleLightState(self._vehicle_lights))
# Load scenario and run it
if args.record:
self.client.start_recorder("{}/{}_rep{}.log".format(args.record, config.name, config.repetition_index))
self.manager.load_scenario(scenario, self.agent_instance, config.repetition_index)
except Exception as e:
# The scenario is wrong -> set the ejecution to crashed and stop
print("\n\033[91mThe scenario could not be loaded:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Simulation crashed"
entry_status = "Crashed"
self._register_statistics(config, args.checkpoint, entry_status, crash_message)
if args.record:
self.client.stop_recorder()
self._cleanup()
sys.exit(-1)
print("\033[1m> Running the route\033[0m")
# Run the scenario
try:
self.manager.run_scenario()
except AgentError as e:
# The agent has failed -> stop the route
print("\n\033[91mStopping the route, the agent has crashed:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Agent crashed"
except Exception as e:
print("\n\033[91mError during the simulation:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Simulation crashed"
entry_status = "Crashed"
# Stop the scenario
try:
print("\033[1m> Stopping the route\033[0m")
self.manager.stop_scenario()
self._register_statistics(config, args.checkpoint, entry_status, crash_message)
if args.record:
self.client.stop_recorder()
# Remove all actors
scenario.remove_all_actors()
self._cleanup()
except Exception as e:
print("\n\033[91mFailed to stop the scenario, the statistics might be empty:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Simulation crashed"
if crash_message == "Simulation crashed":
sys.exit(-1)
def _load_and_run_scenario(self, args, route, weather_idx, traffic_idx):
"""
Load and run the scenario given by config.
Depending on what code fails, the simulation will either stop the route and
continue from the next one, or report a crash and stop.
"""
crash_message = ""
entry_status = "Started"
start_idx, target_idx = route
traffic_lvl = ['Empty', 'Regular', 'Dense'][traffic_idx]
print(
"\n\033[1m========= Preparing {} {}: {} to {}, weather {} ========="
.format(args.town, traffic_lvl, start_idx, target_idx,
weather_idx))
print("> Setting up the agent\033[0m")
# Set up the user's agent, and the timer to avoid freezing the simulation
try:
self._agent_watchdog.start()
agent_class_name = getattr(self.module_agent, 'get_entry_point')()
self.agent_instance = getattr(self.module_agent,
agent_class_name)(args.agent_config)
# Check and store the sensors
if not self.sensors:
self.sensors = self.agent_instance.sensors()
track = self.agent_instance.track
AgentWrapper.validate_sensor_configuration(
self.sensors, track, args.track)
self._agent_watchdog.stop()
except SensorConfigurationInvalid as e:
# The sensors are invalid -> set the ejecution to rejected and stop
print("\n\033[91mThe sensor's configuration used is invalid:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Agent's sensors were invalid"
entry_status = "Rejected"
self._cleanup()
sys.exit(-1)
except Exception as e:
# The agent setup has failed -> start the next route
print("\n\033[91mCould not set up the required agent:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Agent couldn't be set up"
self._cleanup()
return
print("\033[1m> Loading the world\033[0m")
# Load the world and the scenario
try:
self._load_and_wait_for_world(args)
scenario = NoCrashEvalScenario(world=self.world,
agent=self.agent_instance,
start_idx=start_idx,
target_idx=target_idx,
weather_idx=weather_idx,
traffic_idx=traffic_idx,
debug_mode=args.debug)
self.manager.load_scenario(scenario, self.agent_instance, 0)
except Exception as e:
# The scenario is wrong -> set the ejecution to crashed and stop
print("\n\033[91mThe scenario could not be loaded:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Simulation crashed"
entry_status = "Crashed"
if args.record:
self.client.stop_recorder()
self._cleanup()
sys.exit(-1)
print("\033[1m> Running the route\033[0m")
# Run the scenario
try:
self.manager.run_scenario()
except AgentError as e:
# The agent has failed -> stop the route
print("\n\033[91mStopping the route, the agent has crashed:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Agent crashed"
except Exception as e:
print("\n\033[91mError during the simulation:")
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Simulation crashed"
entry_status = "Crashed"
# Stop the scenario
try:
print("\033[1m> Stopping the route\033[0m")
self.manager.stop_scenario()
route_completion, lights_ran, duration = self.manager.get_nocrash_diagnostics(
)
self.statistics_manager.log(self.town, traffic_idx, weather_idx,
start_idx, target_idx,
route_completion, lights_ran, duration)
if args.record:
self.client.stop_recorder()
# Remove all actors
scenario.remove_all_actors()
self._cleanup()
except Exception as e:
print(
"\n\033[91mFailed to stop the scenario, the statistics might be empty:"
)
print("> {}\033[0m\n".format(e))
traceback.print_exc()
crash_message = "Simulation crashed"
if crash_message == "Simulation crashed":
sys.exit(-1)