def __init__(self, args, statistics_manager):
"""
Setup CARLA client and world
Setup ScenarioManager
"""
self.statistics_manager = statistics_manager
self.sensors = []
# 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)
dist = pkg_resources.get_distribution("carla")
if LooseVersion(dist.version) < LooseVersion('0.9.6'):
raise ImportError(
"CARLA version 0.9.6 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.debug, args.challenge_mode,
args.track, self.client_timeout)
# Time control for summary purposes
self._start_time = GameTime.get_time()
self._end_time = None
def __init__(self, args, statistics_manager, customized_data=None):
"""
Setup CARLA client and world
Setup ScenarioManager
"""
self.statistics_manager = statistics_manager
self.sensors = []
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, int(args.port))
if args.timeout:
self.client_timeout = float(args.timeout)
self.client.set_timeout(self.client_timeout)
dist = pkg_resources.get_distribution("carla")
if LooseVersion(dist.version) < LooseVersion('0.9.9'):
raise ImportError(
"CARLA version 0.9.9 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.debug, args.sync,
args.challenge_mode, args.track,
self.client_timeout)
# Time control for summary purposes
self._start_time = GameTime.get_time()
self._end_time = None
# addition
parent_folder = args.save_folder
print('-' * 100, args.agent, os.environ['TEAM_AGENT'], '-' * 100)
if not os.path.exists(parent_folder):
os.mkdir(parent_folder)
string = pathlib.Path(os.environ['ROUTES']).stem
current_record_folder = pathlib.Path(parent_folder) / string
if os.path.exists(str(current_record_folder)):
import shutil
shutil.rmtree(current_record_folder)
current_record_folder.mkdir(exist_ok=False)
(current_record_folder / 'rgb').mkdir()
(current_record_folder / 'rgb_left').mkdir()
(current_record_folder / 'rgb_right').mkdir()
(current_record_folder / 'topdown').mkdir()
(current_record_folder / 'rgb_with_car').mkdir()
# if args.agent == 'leaderboard/team_code/auto_pilot.py':
# (current_record_folder / 'topdown').mkdir()
self.save_path = str(current_record_folder / 'events.txt')
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, 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)
# Set scenario class
self._scenario_class = {
'route_scenario': RouteScenario,
'train_scenario': TrainScenario,
'nocrash_train_scenario': NoCrashTrainScenario,
'nocrash_eval_scenario': NoCrashEvalScenario,
}.get(args.scenario_class)
if args.scenario_class == 'train_scenario':
self.town = args.town
else:
self.town = None
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, 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
# Prepare the agent timer
self._agent_watchdog = None
signal.signal(signal.SIGINT, self._signal_handler)
def __init__(self,
args,
statistics_manager,
launch_server=False,
episode_max_time=10000):
"""
Setup CARLA client and world
Setup ScenarioManager
"""
self.statistics_manager = statistics_manager
self.sensors = []
self._vehicle_lights = carla.VehicleLightState.Position | carla.VehicleLightState.LowBeam
self.episode_max_time = episode_max_time
# 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.
# This is currently set to be consistent with os.environ['HAS_DISPLAY'].
# however, it is possible to control them separately.
if os.environ['HAS_DISPLAY'] == '0':
os.environ["DISPLAY"] = ''
gpu = port_to_gpu[args.port]
# if os.environ.get('SUDO_USER') is not None:
# username = os.environ['SUDO_USER']
# else:
# username = os.environ['USER']
# print('\n'*10, 'username', username, '\n'*10)
os.environ["CUDA_VISIBLE_DEVICES"] = str(gpu)
self.cmd_list = shlex.split(
'sh ../carla_0994_no_rss/CarlaUE4.sh -opengl -carla-rpc-port=' +
str(args.port) + ' -carla-streaming-port=0')
if launch_server:
while is_port_in_use(args.port):
try:
subprocess.run('kill $(lsof -t -i :' + str(args.port) +
')',
shell=True)
print('-' * 20, 'kill server at port', port)
time.sleep(2)
except:
continue
subprocess.Popen(self.cmd_list)
print('-' * 20, 'start server at port', args.port)
# 10s is usually enough
time.sleep(10)
while True:
try:
self.client = carla.Client(args.host, int(args.port))
break
except:
logging.exception("__init__ error")
traceback.print_exc()
if args.timeout:
self.client_timeout = float(args.timeout)
self.client.set_timeout(self.client_timeout)
dist = pkg_resources.get_distribution("carla")
if LooseVersion(dist.version) < LooseVersion('0.9.9'):
raise ImportError(
"CARLA version 0.9.9 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.debug, args.sync,
args.challenge_mode, args.track,
self.client_timeout,
self.episode_max_time)
# Time control for summary purposes
self._start_time = GameTime.get_time()
self._end_time = None
# addition
parent_folder = args.save_folder
if not os.path.exists(parent_folder):
os.mkdir(parent_folder)
string = pathlib.Path(os.environ['ROUTES']).stem
current_record_folder = pathlib.Path(parent_folder) / string
if os.path.exists(str(current_record_folder)):
import shutil
shutil.rmtree(current_record_folder)
current_record_folder.mkdir(exist_ok=False)
(current_record_folder / 'rgb').mkdir()
(current_record_folder / 'rgb_left').mkdir()
(current_record_folder / 'rgb_right').mkdir()
(current_record_folder / 'topdown').mkdir()
(current_record_folder / 'rgb_with_car').mkdir()
# if args.agent == 'leaderboard/team_code/auto_pilot.py':
# (current_record_folder / 'topdown').mkdir()
self.save_path = str(current_record_folder / 'events.txt')
def __init__(self,
args,
statistics_manager,
launch_server=False,
episode_max_time=10000):
"""
Setup CARLA client and world
Setup ScenarioManager
"""
self.statistics_manager = statistics_manager
self.sensors = []
self._vehicle_lights = (carla.VehicleLightState.Position
| carla.VehicleLightState.LowBeam)
self.episode_max_time = episode_max_time
# First of all, we need to create the client that will send the requests
# to the simulator.
# This is currently set to be consistent with os.environ['HAS_DISPLAY'].
# however, it is possible to control them separately.
if os.environ["HAS_DISPLAY"] == "0":
os.environ["DISPLAY"] = ""
gpu = port_to_gpu(int(args.port))
os.environ["CUDA_VISIBLE_DEVICES"] = str(gpu)
if launch_server:
start_server(args.port)
start_client(self, args.host, int(args.port))
if args.timeout:
self.client_timeout = float(args.timeout)
self.client.set_timeout(self.client_timeout)
dist = pkg_resources.get_distribution("carla")
if LooseVersion(dist.version) < LooseVersion("0.9.9"):
raise ImportError(
"CARLA version 0.9.9 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.debug,
args.sync,
args.challenge_mode,
args.track,
self.client_timeout,
self.episode_max_time,
)
# Time control for summary purposes
self._start_time = GameTime.get_time()
self._end_time = None
# addition
parent_folder = args.save_folder
if not os.path.exists(parent_folder):
os.mkdir(parent_folder)
string = pathlib.Path(os.environ["ROUTES"]).stem
current_record_folder = pathlib.Path(parent_folder) / string
if os.path.exists(str(current_record_folder)):
import shutil
shutil.rmtree(current_record_folder)
current_record_folder.mkdir(exist_ok=False)
(current_record_folder / "rgb").mkdir()
(current_record_folder / "rgb_left").mkdir()
(current_record_folder / "rgb_right").mkdir()
(current_record_folder / "topdown").mkdir()
(current_record_folder / "rgb_with_car").mkdir()
# if args.agent == 'leaderboard/team_code/auto_pilot.py':
# (current_record_folder / 'topdown').mkdir()
self.save_path = str(current_record_folder / "events.txt")