def __init__(self, params: Dict[str, Any]):
"""
carla_config: CarlaConfig,
agent_config: AgentConfig,
npc_agent_class, num_frames_per_step: int = 1,
use_manual_control: bool = False
Args:
params:
"""
self.env_params = params
carla_config: CarlaConfig = params["carla_config"]
agent_config: AgentConfig = params["agent_config"]
ego_agent_class = params.get("ego_agent_class", Agent)
npc_agent_class = params.get("npc_agent_class", PurePursuitAgent)
num_frames_per_step: int = params.get("num_frames_per_step", 1)
# use_manual_control: bool = params.get("use_manual_control", False)
self.max_collision_allowed: int = params.get("max_collision", 5)
self.logger = logging.getLogger("ROAR Gym")
self.agent_config = agent_config
self.EgoAgentClass = ego_agent_class
self.npc_agent_class = npc_agent_class
self.carla_config = carla_config
self.carla_runner = CarlaRunner(carla_settings=self.carla_config,
agent_settings=self.agent_config,
npc_agent_class=self.npc_agent_class)
self.num_frames_per_step = num_frames_per_step
self.agent: Optional[Agent] = None
self.clock: Optional[pygame.time.Clock] = None
self.action_space = None # overwrite in higher classes
self.observation_space = None # overwrite in higher classes
def reset(self) -> Any:
self.carla_runner.on_finish()
self.carla_runner = CarlaRunner(agent_settings=self.agent_config,
carla_settings=self.carla_config,
npc_agent_class=self.npc_agent_class)
vehicle = self.carla_runner.set_carla_world()
self.agent = self.EgoAgentClass(vehicle=vehicle,
agent_settings=self.agent_config,
kwargs=self.env_params)
self.clock: Optional[pygame.time.Clock] = None
self._start_game()
return self._get_obs()
def run(agent_class,
agent_config_file_path: Path,
carla_config_file_path: Path,
num_laps: int = 10) -> Tuple[float, int, int]:
"""
Run the agent along the track and produce a score based on certain metrics
Args:
num_laps: int number of laps that the agent should run
agent_class: the participant's agent
agent_config_file_path: agent configuration path
carla_config_file_path: carla configuration path
Returns:
float between 0 - 1 representing scores
"""
agent_config: AgentConfig = AgentConfig.parse_file(agent_config_file_path)
carla_config = CarlaConfig.parse_file(carla_config_file_path)
# hard code agent config such that it reflect competition requirements
agent_config.num_laps = num_laps
carla_runner = CarlaRunner(carla_settings=carla_config,
agent_settings=agent_config,
npc_agent_class=PurePursuitAgent,
competition_mode=True,
lap_count=num_laps)
try:
my_vehicle = carla_runner.set_carla_world()
agent = agent_class(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=False)
return compute_score(carla_runner)
except Exception as e:
print(f"something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")
return 0, 0, False
def run(agent_class, agent_config_file_path: Path,
carla_config_file_path: Path) -> Tuple[float, int, bool]:
"""
Run the agent along the track and produce a score based on certain metrics
Args:
agent_class: the participant's agent
agent_config_file_path: agent configuration path
carla_config_file_path: carla configuration path
Returns:
float between 0 - 1 representing scores
"""
agent_config = AgentConfig.parse_file(agent_config_file_path)
carla_config = CarlaConfig.parse_file(carla_config_file_path)
carla_runner = CarlaRunner(carla_settings=carla_config,
agent_settings=agent_config,
npc_agent_class=PurePursuitAgent,
competition_mode=True,
max_collision=3)
try:
my_vehicle = carla_runner.set_carla_world()
agent = agent_class(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=True)
return compute_score(carla_runner)
except Exception as e:
print(f"something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")
return 0, 0, False
def main():
agent_config = AgentConfig.parse_file(
Path("./ROAR_Sim/configurations/agent_configuration.json"))
carla_config = CarlaConfig.parse_file(
Path("./ROAR_Sim/configurations/configuration.json"))
carla_runner = CarlaRunner(carla_settings=carla_config,
agent_settings=agent_config,
npc_agent_class=PurePursuitAgent)
''' Data collection code. Currently unnecessary
# make csv file to store some data in
# we have current position x, y, z, current velocity x, y, z, next waypoint position x, y, z,
# next waypoint direction relative to the current position of the car x, y, z, steering, and throttle
csvNotes = "{}\n{}\n".format("we have current car position x, y, z, current car velocity x, y, z, next waypoint position x, y, z,",
"next waypoint direction relative to the current position of the car x, y, z, steering, and throttle")
csvHeader = "px, py, pz, vx, vy, vz, wpx, wpy, wpz, wvx, wvy, wvz, steering, throttle\n"
with open("tmp/pid_data.csv", "w") as f:
f.write(csvNotes)
f.write(csvHeader)
'''
try:
my_vehicle = carla_runner.set_carla_world()
# agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config)
agent = LQRAgent(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=False)
except Exception as e:
logging.error(f"Something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")
def main():
agent_config = AgentConfig.parse_file(Path("../ROAR/configurations/carla_configuration.json"))
carla_config = CarlaConfig.parse_file(Path("../ROAR_Sim/configurations/carla_configuration.json"))
carla_runner = CarlaRunner(carla_settings=carla_config, agent_settings=agent_config,
npc_agent_class=PurePursuitAgent)
try:
my_vehicle = carla_runner.set_carla_world()
agent = PointCloudMapRecordingAgent(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=False)
except Exception as e:
print("Ending abnormally: ", e)
carla_runner.on_finish()
logging.error(f"Hint: Might be a good idea to restart Server. ")
def main():
agent_config = AgentConfig.parse_file(
Path("./ROAR_Sim/configurations/agent_configuration.json"))
carla_config = CarlaConfig.parse_file(
Path("./ROAR_Sim/configurations/configuration.json"))
carla_runner = CarlaRunner(carla_settings=carla_config,
agent_settings=agent_config,
npc_agent_class=PurePursuitAgent)
try:
my_vehicle = carla_runner.set_carla_world()
agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=False)
except Exception as e:
logging.error(f"Something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")
def main():
"""Starts game loop"""
agent_config = AgentConfig.parse_file(
Path("./ROAR_Sim/configurations/agent_configuration.json"))
carla_config = CarlaConfig.parse_file(
Path("./ROAR_Sim/configurations/configuration.json"))
carla_runner = CarlaRunner(carla_settings=carla_config,
agent_settings=agent_config,
npc_agent_class=PurePursuitAgent)
try:
my_vehicle = carla_runner.set_carla_world()
#agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config)
#agent = OccupancyMapAgent(vehicle=my_vehicle, agent_settings=agent_config)
#agent = PurePursuitAgent(vehicle=my_vehicle, agent_settings=agent_config)
#agent = JAM1Agent_old(vehicle=my_vehicle, agent_settings=agent_config) # *** roll controller
agent = PIDRollAgent(
vehicle=my_vehicle,
agent_settings=agent_config) # *** roll controller
#agent = JAM1Agent(vehicle=my_vehicle, agent_settings=agent_config)
#agent = JAM2Agent(vehicle=my_vehicle, agent_settings=agent_config)
#agent = JAM3Agent_old(vehicle=my_vehicle, agent_settings=agent_config) # *** bstanley
#agent = JAM3Agent(vehicle=my_vehicle, agent_settings=agent_config)
# *** use to record new waypoints ***
# waypointrecord = agent.bstanley_controller.blat_stanley_controller.waypointrecord
# np.save("James_waypoints", np.array(waypointrecord))
#agent = RecordingAgent(vehicle=my_vehicle, agent_settings=agent_config)
#carla_runner.start_game_loop(agent=agent, use_manual_control=True)#*******True for manual control, False auto
carla_runner.start_game_loop(
agent=agent, use_manual_control=False
) # *******True for manual control, False auto
except Exception as e:
logging.error(f"Something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")
class ROAREnv(gym.Env, ABC):
def __init__(self, params: Dict[str, Any]):
"""
carla_config: CarlaConfig,
agent_config: AgentConfig,
npc_agent_class, num_frames_per_step: int = 1,
use_manual_control: bool = False
Args:
params:
"""
self.env_params = params
carla_config: CarlaConfig = params["carla_config"]
agent_config: AgentConfig = params["agent_config"]
ego_agent_class = params.get("ego_agent_class", Agent)
npc_agent_class = params.get("npc_agent_class", PurePursuitAgent)
num_frames_per_step: int = params.get("num_frames_per_step", 1)
# use_manual_control: bool = params.get("use_manual_control", False)
self.max_collision_allowed: int = params.get("max_collision", 5)
self.logger = logging.getLogger("ROAR Gym")
self.agent_config = agent_config
self.EgoAgentClass = ego_agent_class
self.npc_agent_class = npc_agent_class
self.carla_config = carla_config
self.carla_runner = CarlaRunner(carla_settings=self.carla_config,
agent_settings=self.agent_config,
npc_agent_class=self.npc_agent_class)
self.num_frames_per_step = num_frames_per_step
self.agent: Optional[Agent] = None
self.clock: Optional[pygame.time.Clock] = None
self.action_space = None # overwrite in higher classes
self.observation_space = None # overwrite in higher classes
@abstractmethod
def step(self, action: Any) -> Tuple[Any, float, bool, dict]:
"""
This provides an example implementation of step, intended to be overwritten
Args:
action: Any
Returns:
Tuple of Observation, reward, is done, other information
"""
self.clock.tick_busy_loop(60)
should_continue, carla_control = self.carla_runner.controller.parse_events(
client=self.carla_runner.client,
world=self.carla_runner.world,
clock=self.clock)
self.carla_runner.world.tick(self.clock)
self.carla_runner.fetch_data_async()
sensor_data, new_vehicle = self.carla_runner.sensor_data.copy(
), self.carla_runner.vehicle_state.copy()
if self.carla_runner.agent_settings.enable_autopilot:
if self.agent is None:
raise Exception("In autopilot mode, but no agent is defined.")
agent_control = self.agent.run_step(vehicle=new_vehicle,
sensors_data=sensor_data)
carla_control = self.carla_runner.carla_bridge.convert_control_from_agent_to_source(
agent_control)
self.carla_runner.world.player.apply_control(carla_control)
result = self._get_obs(), self.get_reward(), self._terminal(
), self._get_info()
return result
def reset(self) -> Any:
if self.agent is not None:
self.agent.shutdown_module_threads()
self.carla_runner.on_finish()
self.carla_runner = CarlaRunner(agent_settings=self.agent_config,
carla_settings=self.carla_config,
npc_agent_class=self.npc_agent_class)
vehicle = self.carla_runner.set_carla_world()
self.agent = self.EgoAgentClass(vehicle=vehicle,
agent_settings=self.agent_config,
kwargs=self.env_params)
self.clock: Optional[pygame.time.Clock] = None
self._start_game()
return self._get_obs()
def render(self, mode='ego'):
self.carla_runner.world.render(display=self.carla_runner.display)
pygame.display.flip()
def _start_game(self):
try:
self.logger.debug("Initiating game")
self.agent.start_module_threads()
self.clock = pygame.time.Clock()
self.start_simulation_time = self.carla_runner.world.hud.simulation_time
self.start_vehicle_position = self.agent.vehicle.transform.location.to_array(
)
except Exception as e:
self.logger.error(e)
@abstractmethod
def get_reward(self) -> float:
"""
Intended to be overwritten
Returns:
"""
raise NotImplementedError
def _terminal(self) -> bool:
if self.carla_runner.get_num_collision() > self.max_collision_allowed:
return True
return self.agent.is_done # TODO temporary, needs to be changed
@abstractmethod
def _get_info(self) -> dict:
return dict()
@abstractmethod
def _get_obs(self) -> Any:
raise NotImplementedError
def main():
"""Starts game loop"""
carla_config = CarlaConfig.parse_file(Path("./ROAR_Sim/configurations/configuration.json"))
agent_config = AgentConfig.parse_file(Path("./ROAR_Sim/configurations/agent_configuration.json"))
"""
Pit Stop:
Use different kinds of 'set' functions at PitStop to tune/fix your own car!
"""
pitstop = PitStop(carla_config, agent_config)
pitstop.set_carla_version(version = "0.9.9")
pitstop.set_carla_sync_mode(False)
pitstop.set_autopilot_mode(True)
pitstop.set_car_color(CarlaCarColor(r = 255,g = 200,b = 00,a = 255))
pitstop.set_num_laps(num=1)
pitstop.set_output_data_folder_path("./data/output")
pitstop.set_output_data_file_name(time.strftime("%Y%m%d-%H%M%S-") + "map-waypoints")
pitstop.set_max_speed(speed = 200)
pitstop.set_target_speed(speed = 30)
print(agent_config.target_speed, " target speed")
pitstop.set_steering_boundary(boundary = (-1.0, 1.0))
pitstop.set_throttle_boundary(boundary = (0, 0.5))
pitstop.set_waypoints_look_ahead_values(values={
"60": 5,
"80": 10,
"120": 20,
"180": 50})
pid_value = {
"longitudinal_controller": {
"40": {
"Kp": 0.8,
"Kd": 0.2,
"Ki": 0
},
"60": {
"Kp": 0.5,
"Kd": 0.2,
"Ki": 0
},
"150": {
"Kp": 0.2,
"Kd": 0.1,
"Ki": 0.1
}
},
"latitudinal_controller": {
"60": {
"Kp": 0.8,
"Kd": 0.1,
"Ki": 0.1
},
"100": {
"Kp": 0.6,
"Kd": 0.2,
"Ki": 0.1
},
"150": {
"Kp": 0.5,
"Kd": 0.2,
"Ki": 0.1
}
}
}
pitstop.set_pid_values(pid_value)
"""Passing configurations to Carla and Agent"""
carla_runner = CarlaRunner(carla_settings=carla_config, # ROAR Academy: fine
agent_settings=agent_config, # ROAR Academy: fine
npc_agent_class=PurePursuitAgent)
try:
my_vehicle = carla_runner.set_carla_world()
agent = PIDAgent(vehicle=my_vehicle, agent_settings=agent_config)
# agent = WaypointGeneratigAgent(vehicle=my_vehicle, agent_settings=agent_config)
carla_runner.start_game_loop(agent=agent, use_manual_control=False) # for PIDAgent
# carla_runner.start_game_loop(agent=agent, use_manual_control=True) # for WaypointGeneratingAgent
except Exception as e:
logging.error(f"Something bad happened during initialization: {e}")
carla_runner.on_finish()
logging.error(f"{e}. Might be a good idea to restart Server")