Exemple #1
0
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)
Exemple #2
0
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")