class LeaderboardEvaluator(object):
"""
TODO: document me!
"""
ego_vehicles = []
# Tunable parameters
client_timeout = 10.0 # in seconds
wait_for_world = 20.0 # in seconds
frame_rate = 20.0 # in Hz
def __init__(self, args, statistics_manager):
"""
Setup CARLA client and world
Setup ScenarioManager
"""
self.statistics_manager = statistics_manager
self.sensors = None
self.sensor_icons = []
self._vehicle_lights = carla.VehicleLightState.Position | carla.VehicleLightState.LowBeam
# First of all, we need to create the client that will send the requests
# to the simulator. Here we'll assume the simulator is accepting
# requests in the localhost at port 2000.
self.client = carla.Client(args.host, args.port)
if args.timeout:
self.client_timeout = args.timeout
self.client.set_timeout(self.client_timeout)
self.traffic_manager = self.client.get_trafficmanager(args.traffic_manager_port)
dist = pkg_resources.get_distribution("carla")
if dist.version != 'leaderboard':
if LooseVersion(dist.version) < LooseVersion('0.9.10'):
raise ImportError("CARLA version 0.9.10.1 or newer required. CARLA version found: {}".format(dist))
# Load agent
module_name = os.path.basename(args.agent).split('.')[0]
sys.path.insert(0, os.path.dirname(args.agent))
self.module_agent = importlib.import_module(module_name)
# Create the ScenarioManager
self.manager = ScenarioManager(args.timeout, args.debug > 1)
# Time control for summary purposes
self._start_time = GameTime.get_time()
self._end_time = None
# Create the agent timer
self._agent_watchdog = Watchdog(args.timeout)
signal.signal(signal.SIGINT, self._signal_handler)
def _signal_handler(self, signum, frame):
"""
Terminate scenario ticking when receiving a signal interrupt
"""
if self._agent_watchdog and not self._agent_watchdog.get_status():
raise RuntimeError("Timeout: Agent took longer than {}s to setup".format(self.client_timeout))
elif self.manager:
self.manager.signal_handler(signum, frame)
def __del__(self):
"""
Cleanup and delete actors, ScenarioManager and CARLA world
"""
self._cleanup()
if hasattr(self, 'manager') and self.manager:
del self.manager
if hasattr(self, 'world') and self.world:
del self.world
def _cleanup(self):
"""
Remove and destroy all actors
"""
# Simulation still running and in synchronous mode?
if self.manager and self.manager.get_running_status() \
and hasattr(self, 'world') and self.world:
# Reset to asynchronous mode
settings = self.world.get_settings()
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
self.world.apply_settings(settings)
self.traffic_manager.set_synchronous_mode(False)
if self.manager:
self.manager.cleanup()
CarlaDataProvider.cleanup()
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
if self._agent_watchdog:
self._agent_watchdog.stop()
if hasattr(self, 'agent_instance') and self.agent_instance:
self.agent_instance.destroy()
self.agent_instance = None
if hasattr(self, 'statistics_manager') and self.statistics_manager:
self.statistics_manager.scenario = None
def _prepare_ego_vehicles(self, ego_vehicles, wait_for_ego_vehicles=False):
"""
Spawn or update the ego vehicles
"""
if not wait_for_ego_vehicles:
for vehicle in ego_vehicles:
self.ego_vehicles.append(CarlaDataProvider.request_new_actor(vehicle.model,
vehicle.transform,
vehicle.rolename,
color=vehicle.color,
vehicle_category=vehicle.category))
else:
ego_vehicle_missing = True
while ego_vehicle_missing:
self.ego_vehicles = []
ego_vehicle_missing = False
for ego_vehicle in ego_vehicles:
ego_vehicle_found = False
carla_vehicles = CarlaDataProvider.get_world().get_actors().filter('vehicle.*')
for carla_vehicle in carla_vehicles:
if carla_vehicle.attributes['role_name'] == ego_vehicle.rolename:
ego_vehicle_found = True
self.ego_vehicles.append(carla_vehicle)
break
if not ego_vehicle_found:
ego_vehicle_missing = True
break
for i, _ in enumerate(self.ego_vehicles):
self.ego_vehicles[i].set_transform(ego_vehicles[i].transform)
# sync state
CarlaDataProvider.get_world().tick()
def _load_and_wait_for_world(self, args, town, ego_vehicles=None):
"""
Load a new CARLA world and provide data to CarlaDataProvider
"""
self.world = self.client.load_world(town)
settings = self.world.get_settings()
settings.fixed_delta_seconds = 1.0 / self.frame_rate
settings.synchronous_mode = True
self.world.apply_settings(settings)
self.world.reset_all_traffic_lights()
CarlaDataProvider.set_client(self.client)
CarlaDataProvider.set_world(self.world)
CarlaDataProvider.set_traffic_manager_port(args.traffic_manager_port)
self.traffic_manager.set_synchronous_mode(True)
self.traffic_manager.set_random_device_seed(args.traffic_manager_seed)
self.traffic_manager.set_hybrid_physics_mode(True)
# Wait for the world to be ready
if CarlaDataProvider.is_sync_mode():
self.world.tick()
else:
self.world.wait_for_tick()
if CarlaDataProvider.get_map().name != town:
raise Exception("The CARLA server uses the wrong map!"
"This scenario requires to use map {}".format(town))
def _register_statistics(self, config, checkpoint, entry_status, crash_message=""):
"""
Computes and saved the simulation statistics
"""
# register statistics
current_stats_record = self.statistics_manager.compute_route_statistics(
config,
self.manager.scenario_duration_system,
self.manager.scenario_duration_game,
crash_message
)
print("\033[1m> Registering the route statistics\033[0m")
self.statistics_manager.save_record(current_stats_record, config.index, checkpoint)
self.statistics_manager.save_entry_status(entry_status, False, checkpoint)
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 run(self, args):
"""
Run the challenge mode
"""
route_indexer = RouteIndexer(args.routes, args.scenarios, args.repetitions)
if args.resume:
route_indexer.resume(args.checkpoint)
self.statistics_manager.resume(args.checkpoint)
else:
self.statistics_manager.clear_record(args.checkpoint)
route_indexer.save_state(args.checkpoint)
while route_indexer.peek():
# setup
config = route_indexer.next()
# run
self._load_and_run_scenario(args, config)
route_indexer.save_state(args.checkpoint)
# save global statistics
print("\033[1m> Registering the global statistics\033[0m")
global_stats_record = self.statistics_manager.compute_global_statistics(route_indexer.total)
StatisticsManager.save_global_record(global_stats_record, self.sensor_icons, route_indexer.total, args.checkpoint)
class NoCrashEvaluator(object):
"""
TODO: document me!
"""
ego_vehicles = []
# Tunable parameters
client_timeout = 10.0 # in seconds
wait_for_world = 20.0 # in seconds
frame_rate = 20.0 # in Hz
def __init__(self, args, statistics_manager):
"""
Setup CARLA client and world
Setup ScenarioManager
"""
self.statistics_manager = statistics_manager
self.sensors = None
self.sensor_icons = []
# First of all, we need to create the client that will send the requests
# to the simulator. Here we'll assume the simulator is accepting
# requests in the localhost at port 2000.
self.client = carla.Client(args.host, int(args.port))
if args.timeout:
self.client_timeout = float(args.timeout)
self.client.set_timeout(self.client_timeout)
self.traffic_manager = self.client.get_trafficmanager(
int(args.trafficManagerPort))
dist = pkg_resources.get_distribution("carla")
if dist.version != 'leaderboard':
if LooseVersion(dist.version) < LooseVersion('0.9.10'):
raise ImportError(
"CARLA version 0.9.10.1 or newer required. CARLA version found: {}"
.format(dist))
# Load agent
module_name = os.path.basename(args.agent).split('.')[0]
sys.path.insert(0, os.path.dirname(args.agent))
self.module_agent = importlib.import_module(module_name)
# Create the ScenarioManager
self.manager = ScenarioManager(args.timeout, args.debug > 1)
# Time control for summary purposes
self._start_time = GameTime.get_time()
self._end_time = None
# Create the agent timer
self._agent_watchdog = Watchdog(int(float(args.timeout)))
signal.signal(signal.SIGINT, self._signal_handler)
self.town = args.town
def _signal_handler(self, signum, frame):
"""
Terminate scenario ticking when receiving a signal interrupt
"""
if self._agent_watchdog and not self._agent_watchdog.get_status():
raise RuntimeError("Timeout: Agent took too long to setup")
elif self.manager:
self.manager.signal_handler(signum, frame)
def __del__(self):
"""
Cleanup and delete actors, ScenarioManager and CARLA world
"""
self._cleanup()
if hasattr(self, 'manager') and self.manager:
del self.manager
if hasattr(self, 'world') and self.world:
del self.world
def _cleanup(self):
"""
Remove and destroy all actors
"""
# Simulation still running and in synchronous mode?
if self.manager and self.manager.get_running_status() \
and hasattr(self, 'world') and self.world:
# Reset to asynchronous mode
settings = self.world.get_settings()
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
self.world.apply_settings(settings)
self.traffic_manager.set_synchronous_mode(False)
if self.manager:
self.manager.cleanup()
CarlaDataProvider.cleanup()
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
if self._agent_watchdog:
self._agent_watchdog.stop()
if hasattr(self, 'agent_instance') and self.agent_instance:
self.agent_instance.destroy()
self.agent_instance = None
if hasattr(self, 'statistics_manager') and self.statistics_manager:
self.statistics_manager.scenario = None
def _load_and_wait_for_world(self, args):
"""
Load a new CARLA world and provide data to CarlaDataProvider
"""
self.world = self.client.load_world(args.town)
settings = self.world.get_settings()
settings.fixed_delta_seconds = 1.0 / self.frame_rate
settings.synchronous_mode = True
self.world.apply_settings(settings)
self.world.reset_all_traffic_lights()
CarlaDataProvider.set_client(self.client)
CarlaDataProvider.set_world(self.world)
CarlaDataProvider.set_traffic_manager_port(int(
args.trafficManagerPort))
self.traffic_manager.set_synchronous_mode(True)
self.traffic_manager.set_random_device_seed(
int(args.trafficManagerSeed))
# Wait for the world to be ready
if CarlaDataProvider.is_sync_mode():
self.world.tick()
else:
self.world.wait_for_tick()
if CarlaDataProvider.get_map().name != args.town:
raise Exception("The CARLA server uses the wrong map!"
"This scenario requires to use map {}".format(
args.town))
# def _register_statistics(self, config, checkpoint, entry_status, crash_message=""):
# """
# Computes and saved the simulation statistics
# """
# # register statistics
# current_stats_record = self.statistics_manager.compute_route_statistics(
# config,
# self.manager.scenario_duration_system,
# self.manager.scenario_duration_game,
# crash_message
# )
# print("\033[1m> Registering the route statistics\033[0m")
# self.statistics_manager.save_record(current_stats_record, config.index, checkpoint)
# self.statistics_manager.save_entry_status(entry_status, False, checkpoint)
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)
def run(self, args):
"""
Run the challenge mode
"""
# if args.resume:
# route_indexer.resume(args.checkpoint)
# self.statistics_manager.resume(args.checkpoint)
# else:
# self.statistics_manager.clear_record(args.checkpoint)
# route_indexer.save_state(args.checkpoint)
# Load routes
with open(f'runners/suite/nocrash_{args.town}.txt', 'r') as f:
routes = [tuple(map(int, l.split())) for l in f.readlines()]
weathers = {'train': [1, 3, 6, 8], 'test': [10, 14]}.get(args.weather)
traffics = [0, 1, 2]
for traffic, route, weather in itertools.product(
traffics, routes, weathers):
if self.statistics_manager.is_finished(self.town, route, weather,
traffic):
continue
self._load_and_run_scenario(args, route, weather, traffic)
# save global statistics
print("\033[1m> Registering the global statistics\033[0m")