def main():
"""
main function
"""
description = (
"CARLA Scenario Runner: Setup, Run and Evaluate scenarios using CARLA\n"
"Current version: " + str(VERSION))
parser = argparse.ArgumentParser(description=description,
formatter_class=RawTextHelpFormatter)
parser.add_argument('--host',
default='127.0.0.1',
help='IP of the host server (default: localhost)')
parser.add_argument('--port',
default='2000',
help='TCP port to listen to (default: 2000)')
parser.add_argument('--debug',
action="store_true",
help='Run with debug output')
parser.add_argument('--output',
action="store_true",
help='Provide results on stdout')
parser.add_argument('--file',
action="store_true",
help='Write results into a txt file')
parser.add_argument('--junit',
action="store_true",
help='Write results into a junit file')
parser.add_argument(
'--outputDir',
default='',
help='Directory for output files (default: this directory)')
parser.add_argument('--waitForEgo',
action="store_true",
help='Connect the scenario to an existing ego vehicle')
parser.add_argument(
'--configFile',
default='',
help='Provide an additional scenario configuration file (*.xml)')
parser.add_argument(
'--additionalScenario',
default='',
help='Provide additional scenario implementations (*.py)')
parser.add_argument(
'--reloadWorld',
action="store_true",
help='Reload the CARLA world before starting a scenario (default=True)'
)
# pylint: disable=line-too-long
parser.add_argument(
'--scenario',
help=
'Name of the scenario to be executed. Use the preposition \'group:\' to run all scenarios of one class, e.g. ControlLoss or FollowLeadingVehicle'
)
parser.add_argument('--randomize',
action="store_true",
help='Scenario parameters are randomized')
parser.add_argument('--repetitions',
default=1,
help='Number of scenario executions')
parser.add_argument('--list',
action="store_true",
help='List all supported scenarios and exit')
parser.add_argument(
'--agent',
help=
"Agent used to execute the scenario (optional). Currently only compatible with route-based scenarios."
)
parser.add_argument('--agentConfig',
type=str,
help="Path to Agent's configuration file",
default="")
parser.add_argument('--openscenario',
help='Provide an OpenSCENARIO definition')
parser.add_argument(
'--route',
help=
'Run a route as a scenario, similar to the CARLA AD challenge (input: (route_file,scenario_file,[number of route]))',
nargs='+',
type=str)
parser.add_argument('--challenge',
action="store_true",
help='Run in challenge mode')
parser.add_argument(
'--record',
action="store_true",
help='Use CARLA recording feature to create a recording of the scenario'
)
parser.add_argument('--timeout',
default="10.0",
help='Set the CARLA client timeout value in seconds')
parser.add_argument('-v',
'--version',
action='version',
version='%(prog)s ' + str(VERSION))
arguments = parser.parse_args()
# pylint: enable=line-too-long
if arguments.list:
print("Currently the following scenarios are supported:")
print(*ScenarioConfigurationParser.get_list_of_scenarios(
arguments.configFile),
sep='\n')
return 1
if not arguments.scenario and not arguments.openscenario and not arguments.route:
print("Please specify either a scenario or use the route mode\n\n")
parser.print_help(sys.stdout)
return 1
if (arguments.route
and arguments.openscenario) or (arguments.route
and arguments.scenario):
print(
"The route mode cannot be used together with a scenario (incl. OpenSCENARIO)'\n\n"
)
parser.print_help(sys.stdout)
return 1
if arguments.agent and (arguments.openscenario or arguments.scenario):
print("Agents are currently only compatible with route scenarios'\n\n")
parser.print_help(sys.stdout)
return 1
if arguments.challenge and (arguments.openscenario or arguments.scenario):
print(
"The challenge mode can only be used with route-based scenarios'\n\n"
)
parser.print_help(sys.stdout)
return 1
if arguments.route:
arguments.reloadWorld = True
scenario_runner = None
result = True
try:
scenario_runner = ScenarioRunner(arguments)
result = scenario_runner.run()
finally:
if arguments.challenge:
ChallengeStatisticsManager.report_challenge_statistics(
'results.json', arguments.debug)
if scenario_runner is not None:
scenario_runner.destroy()
del scenario_runner
return not result
"The route mode cannot be used together with a scenario (incl. OpenSCENARIO)'\n\n"
)
PARSER.print_help(sys.stdout)
sys.exit(0)
if ARGUMENTS.agent and (ARGUMENTS.openscenario or ARGUMENTS.scenario):
print("Agents are currently only compatible with route scenarios'\n\n")
PARSER.print_help(sys.stdout)
sys.exit(0)
if ARGUMENTS.challenge and (ARGUMENTS.openscenario or ARGUMENTS.scenario):
print(
"The challenge mode can only be used with route-based scenarios'\n\n"
)
PARSER.print_help(sys.stdout)
sys.exit(0)
if ARGUMENTS.route:
ARGUMENTS.reloadWorld = True
SCENARIORUNNER = None
try:
SCENARIORUNNER = ScenarioRunner(ARGUMENTS)
SCENARIORUNNER.run(ARGUMENTS)
finally:
if ARGUMENTS.challenge:
ChallengeStatisticsManager.report_challenge_statistics(
'results.json', ARGUMENTS.debug)
if SCENARIORUNNER is not None:
del SCENARIORUNNER