def start(self, no_server=False, agent_name=None):
"""
:param no_server:
:param agent_name: the name of an agent to check for previous executions.
:return:
"""
# TODO: this setup is hardcoded for Batch_size == 1
# TODO add here several server starts into a for
# TODO for i in range(self._batch_size)
logging.debug("Starting the CEXP System !")
if agent_name is not None and not self.ignore_previous_execution:
Environment.check_for_executions(agent_name,
self._json['package_name'])
if no_server:
self._client_vec = []
else:
if self._port is None:
# Starting the carla simulators
for env in self._environment_batch:
free_port = find_free_port()
env.reset(port=free_port)
else:
# We convert it to integers
self._port = int(self._port)
if not check_test_server(self._port):
logging.debug("No Server online starting one !")
self._environment_batch[0].reset(port=self._port)
free_port = self._port # This is just a test mode where CARLA is already up.
# setup world and client assuming that the CARLA server is up and running
logging.debug(" Connecting to the free port client")
self._client_vec = [carla.Client('localhost', free_port)]
self._client_vec[0].set_timeout(self.client_timeout)
# Create the configuration dictionary of the exp batch to pass to all environments
env_params = {
'batch_size':
self._batch_size,
'make_videos':
self._params['make_videos'],
'resize_images':
self._params['resize_images'],
'save_dataset':
self._params['save_dataset'],
'save_sensors':
self._params['save_dataset'] and self._params['save_sensors'],
'save_opponents':
self._params['save_opponents'],
'package_name':
self._json['package_name'],
'save_walkers':
self._params['save_walkers'],
'save_trajectories':
self._params['save_trajectories'],
'remove_wrong_data':
self._params['remove_wrong_data'],
'non_rendering_mode':
self._params['non_rendering_mode'],
'carla_recording':
self._params['carla_recording'],
'direct_read':
self._params['direct_read'],
'agent_name':
agent_name,
'trajectories_directory':
self._params['trajectories_directory'],
'debug':
False # DEBUG SHOULD BE SET
}
# We instantiate environments here using the recently connected client
self._environments = {}
parserd_exp_dict = parser.parse_exp_vec(
self._jsonfile_path,
collections.OrderedDict(
sort_nicely_dict(self._json['envs'].items())))
# For all the environments on the file.
for env_name in self._json['envs'].keys():
# We have the options to eliminate some events from execution.
if env_name in self._eliminated_environments:
continue
# Instance an _environments.
env = Environment(env_name, self._client_vec,
parserd_exp_dict[env_name], env_params)
# add the additional sensors ( The ones not provided by the policy )
self._environments.update({env_name: env})
if __name__ == '__main__':
description = ("CARLA AD Challenge evaluation: evaluate your Agent in CARLA scenarios\n")
parser = argparse.ArgumentParser(description=description)
parser.add_argument('-t', '--town', default='Town01', help='The town name to be used')
parser.add_argument('-o', '--output', default='routes_test.xml', help='The outputfile route')
arguments = parser.parse_args()
port = find_free_port()
print(port)
#if not check_test_server(6666):
# start_test_server(6666)
# print (" WAITING FOR DOCKER TO BE STARTED")
client = carla.Client('localhost', port)
client.set_timeout(25.0)
world = client.load_world(arguments.town)
make_routes(arguments.output, world)