def cleanup(self, ego=True):
"""
Remove and destroy all actors
"""
for scenario in self._list_scenarios:
# Reset scenario status for proper cleanup
scenario.scenario.terminate()
# Do not call del here! Directly enforce the actor removal
scenario.remove_all_actors()
scenario = None
self._client.stop_recorder()
# We need enumerate here, otherwise the actors are not properly removed
for i, _ in enumerate(self._instanced_sensors):
if self._instanced_sensors[i] is not None:
self._instanced_sensors[i].stop()
self._instanced_sensors[i].destroy()
self._instanced_sensors[i] = None
self._instanced_sensors = []
self._sensor_interface.destroy()
# We stop the sensors first to avoid problems
CarlaActorPool.cleanup()
CarlaDataProvider.cleanup()
if ego and self._ego_actor is not None:
self._ego_actor.destroy()
self._ego_actor = None
logging.debug("Removed Ego Vehicle")
if self.world is not None:
self.world = None
def _cleanup(self):
"""
Remove and destroy all actors
"""
if self.world is not None and self.manager is not None \
and self._args.agent and self.manager.get_running_status():
# Reset to asynchronous mode
settings = self.world.get_settings()
settings.synchronous_mode = False
settings.fixed_delta_seconds = None
self.world.apply_settings(settings)
self.client.stop_recorder()
self.manager.cleanup()
CarlaDataProvider.cleanup()
CarlaActorPool.cleanup()
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
if not self._args.waitForEgo:
print("Destroying ego vehicle {}".format(
self.ego_vehicles[i].id))
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
if self.agent_instance:
self.agent_instance.destroy()
self.agent_instance = None
def cleanup(self, ego=False):
"""
Remove and destroy all actors
"""
# We need enumerate here, otherwise the actors are not properly removed
if hasattr(self, '_sensors_list'):
for i, _ in enumerate(self._sensors_list):
if self._sensors_list[i] is not None:
self._sensors_list[i].stop()
self._sensors_list[i].destroy()
self._sensors_list[i] = None
self._sensors_list = []
for i, _ in enumerate(self.actors):
if self.actors[i] is not None:
self.actors[i].destroy()
self.actors[i] = None
self.actors = []
CarlaActorPool.cleanup()
CarlaDataProvider.cleanup()
if ego and self.ego_vehicle is not None:
self.ego_vehicle.destroy()
self.ego_vehicle = None
def stop_scenario(self):
"""
This function triggers a proper termination of a scenario
"""
if self.scenario is not None:
self.scenario.terminate()
if self._agent is not None:
self._agent.cleanup()
self._agent = None
CarlaDataProvider.cleanup()
CarlaActorPool.cleanup()
def cleanup(self, ego=False):
"""
Remove and destroy all actors
"""
settings = self.world.get_settings()
settings.synchronous_mode = False
self.world.apply_settings(settings)
CarlaDataProvider.cleanup()
CarlaActorPool.cleanup()
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
if ego:
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
def _cleanup(self, ego=False):
"""
Remove and destroy all actors
"""
self.client.stop_recorder()
CarlaDataProvider.cleanup()
CarlaActorPool.cleanup()
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
if ego:
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
if self.agent_instance:
self.agent_instance.destroy()
self.agent_instance = None
def cleanup(self, ego=False):
"""
Remove and destroy all actors
"""
# TODO: Print this to a file instead
# Scenario name, start time, end time, stats
print('Start time')
print(self._start_time)
print('End time')
print(self.world.tick())
CarlaDataProvider.cleanup()
CarlaActorPool.cleanup()
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
if ego:
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
def _cleanup(self):
"""
Remove and destroy all actors
"""
self.client.stop_recorder()
self.manager.cleanup()
CarlaDataProvider.cleanup()
CarlaActorPool.cleanup()
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
if not self._args.waitForEgo:
print("Destroying ego vehicle {}".format(
self.ego_vehicles[i].id))
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
if self.agent_instance:
self.agent_instance.destroy()
self.agent_instance = None
def run_loop(host='127.0.0.1', port=2000):
# Tunable parameters
client_timeout = 30.0 # in seconds
wait_for_world = 20.0 # in seconds
world = None
safety_metrics_vector = []
metrics_hist_dict = {}
try:
# 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.
client = carla.Client(host, int(port))
client.set_timeout(client_timeout)
# Once we have a client we can retrieve the world that is currently
# running.
world = retrieve_wold(client)
world_id = world.id
current_world_id = world_id
fig, axs = plt.subplots(6, figsize=(8, 10))
rss_sensor_missing = True
rss_sensor = None
ego_vehicle_missing = True
current_episode = True
while True:
# get the RssSensor
while rss_sensor_missing:
sensors = CarlaDataProvider.get_world().get_actors().filter(
'sensor.other.rss')
if sensors is not None and len(sensors) > 0:
rss_sensor = sensors[0]
rss_sensor_missing = False
break
else:
print("waiting for RSS sensor")
### listen to RSS sensor attached to ego_vehicle
rss_sensor.listen(
lambda event: _on_rss_response(event, safety_metrics_vector))
if len(safety_metrics_vector) > 0:
active_situations = save_metrics_history(
metrics_hist_dict, safety_metrics_vector)
print("active situations size", len(active_situations))
# create a color palette
palette = plt.get_cmap('Set1')
if len(active_situations) > 0:
for ax in axs:
ax.cla()
# for i in range(0, situations_cnt):
for i in active_situations:
situation_id = i
# print("situation id", situation_id)
metrics = metrics_hist_dict[situation_id]
hist_cnt = len(metrics)
time = []
msdf_lon = []
msdf_latr = []
msdf_latl = []
msdv = []
d_lon = []
d_min_lon = []
pra = []
ttc = []
ttc_v = []
ttc_thr = []
mttc = []
mttc_v = []
mttc_thr = []
for j in range(0, hist_cnt):
metrics_hist = metrics[j]
# print("------")
time.append(
metrics_hist.get_timestamp().elapsed_seconds)
# print(len(time), metrics_hist.get_timestamp().elapsed_seconds)
msdf_lon.append(metrics_hist.get_msdf().msdf_lon)
msdf_latr.append(
metrics_hist.get_msdf().msdf_lat_r)
msdf_latl.append(
metrics_hist.get_msdf().msdf_lat_l)
# print(len(msdf_lon), metrics_hist.get_msdf().msdf_lon)
# print(metrics_hist.get_msdf().msdf_lat_r)
# print(metrics_hist.get_msdf().msdf_lat_l)
msdv.append(metrics_hist.get_msdv().msd_violation)
d_lon.append(metrics_hist.d_lon)
d_min_lon.append(metrics_hist.d_min_lon)
# print("msdv", metrics_hist.get_msdv().msd_violation)
pra.append(metrics_hist.get_pra().pra)
# print("pra", metrics_hist.get_pra().pra)
ttc.append(metrics_hist.get_ttc().ttc)
ttc_v.append(metrics_hist.get_ttc().ttc_violation)
ttc_thr.append(
metrics_hist.get_ttc().ttc_threshold)
# print(metrics_hist.get_ttc().ttc)
# print(metrics_hist.get_ttc().ttc_violation)
# print(metrics_hist.get_ttc().ttc_threshold)
mttc.append(metrics_hist.get_mttc().mttc)
mttc_v.append(
metrics_hist.get_mttc().mttc_violation)
mttc_thr.append(
metrics_hist.get_mttc().mttc_threshold)
# print(metrics_hist.get_mttc().mttc)
# print(metrics_hist.get_mttc().mttc_violation)
# print(metrics_hist.get_mttc().mttc_threshold)
# print("------")
# print("d_min_lon", d_min_lon, "d_lon", d_lon)
axs[0].plot(time,
msdf_lon,
color=palette(situation_id),
linewidth=1.9,
label=situation_id)
axs[0].set(xlabel='time [s]', ylabel='MSDF Lon [m]')
axs[0].plot(time, [1] * len(time), '--r')
axs[0].legend(loc="upper right")
# axs[1].cla()
axs[1].plot(time,
msdf_latr,
color=palette(situation_id),
linewidth=1.9,
label=situation_id)
# axs[1].plot(time, msdf_latl, 'g' , label = situation_id)
axs[1].plot(time, [1] * len(time), '--r')
axs[1].set(xlabel='time [s]', ylabel='MSDF Lat R [m]')
axs[1].legend(loc="upper right")
# axs[2].cla()
axs[2].plot(time,
pra,
color=palette(situation_id),
linewidth=1.9,
label=situation_id)
axs[2].set(xlabel='time [s]', ylabel='PRA')
axs[2].legend(loc="upper right")
# axs[3].cla()
axs[3].plot(time,
msdv,
color=palette(situation_id),
linewidth=1.9,
label=situation_id)
axs[3].plot(time,
d_lon,
color='g',
linewidth=1.9,
label="d_lon")
axs[3].plot(time,
d_min_lon,
color='y',
linewidth=1.9,
label="d_min_lon")
axs[3].set(xlabel='time [s]', ylabel='MSDV')
axs[3].legend(loc="upper right")
# axs[4].cla()
axs[4].plot(time,
ttc,
color=palette(situation_id),
linewidth=1.9,
label=situation_id)
# axs[4].plot(time, ttc_v, 'g' , label = 'TTC Violation')
axs[4].plot(time, ttc_thr, '--r')
axs[4].set(xlabel='time [s]', ylabel='TTC [s]')
axs[4].legend(loc="upper right")
# axs[5].cla()
axs[5].plot(time,
mttc,
color=palette(situation_id),
linewidth=1.9,
label=situation_id)
# axs[5].plot(time, mttc_v, 'g' , label = situation_id)
axs[5].plot(time, mttc_thr, '--r')
axs[5].set(xlabel='time [s]', ylabel='MTTC [s]')
axs[5].legend(loc="upper right")
# Format plot
# plt.subplots_adjust(bottom=0.20)
fig.suptitle('Safety Metrics')
# plt.tight_layout()
plt.pause(0.0001)
plt.savefig("safety_metrics.png")
# '''
# As the world is re-loaded for every scenario, no ego exists so far
# '''
# ego_vehicle_found = False
# carla_vehicles = CarlaDataProvider.get_world().get_actors().filter('vehicle.*')
# if len(carla_vehicles) > 0 :
# for carla_vehicle in carla_vehicles:
# if carla_vehicle.attributes['role_name'] == 'hero':
# ego_vehicle_found = True
# print("vehicle found")
# if ego_vehicle_found == False:
# print("---------")
# print("new episode")
# print("--------")
# current_episode = False
# # break
# curr_world = CarlaDataProvider.get_world()
# # current_world_id = world.id
# if curr_world != world:
# print("starting new episode")
# print("exiting")
# sys.exit(-1)
# # break
# if CarlaDataProvider.get_world() != world:
# print("EXITING")
# break
finally:
# settings = world.get_settings()
# settings.synchronous_mode = False
# world.apply_settings(settings)
CarlaDataProvider.cleanup()
CarlaActorPool.cleanup()
