def _run_challenge(self, args):
"""
Run the challenge mode
"""
routes = args.route[0]
scenario_file = args.route[1]
single_route = None
if args.route[2]:
single_route = args.route[2]
repetitions = 1
# retrieve routes
route_descriptions_list = RouteParser.parse_routes_file(
routes, single_route)
# find and filter potential scenarios for each of the evaluated routes
# For each of the routes and corresponding possible scenarios to be evaluated.
# n_routes = len(route_descriptions_list) * repetitions
for _, route_description in enumerate(route_descriptions_list):
for _ in range(repetitions):
config = RouteScenarioConfiguration(route_description,
scenario_file)
self._load_and_run_scenario(args, config)
self._cleanup(ego=(not args.waitForEgo))
def _run_route(self):
"""
Run the route scenario
"""
result = False
repetitions = self._args.repetitions
if self._args.route:
routes = self._args.route[0]
scenario_file = self._args.route[1]
single_route = None
if len(self._args.route) > 2:
single_route = self._args.route[2]
# retrieve routes
route_descriptions_list = RouteParser.parse_routes_file(
routes, single_route)
# find and filter potential scenarios for each of the evaluated routes
# For each of the routes and corresponding possible scenarios to be evaluated.
for _, route_description in enumerate(route_descriptions_list):
for _ in range(repetitions):
config = RouteScenarioConfiguration(route_description,
scenario_file)
result = self._load_and_run_scenario(config, -1, -1)
self._cleanup()
return result
def _run_route(self):
"""
Run the route scenario
"""
result = False
if self._args.route:
routes = self._args.route[0]
scenario_file = self._args.route[1]
single_route = None
if len(self._args.route) > 2:
single_route = self._args.route[2]
# retrieve routes
route_configurations = RouteParser.parse_routes_file(routes, scenario_file, single_route)
for config in route_configurations:
for _ in range(self._args.repetitions):
result = self._load_and_run_scenario(config)
self._cleanup()
return result
def _run_challenge(self):
"""
Run the challenge mode
"""
result = False
phase_codename = os.getenv('CHALLENGE_PHASE_CODENAME', 'dev_track_3')
phase = phase_codename.split("_")[0]
repetitions = self._args.repetitions
if self._args.challenge:
weather_profiles = CarlaDataProvider.find_weather_presets()
scenario_runner_root = os.getenv('ROOT_SCENARIO_RUNNER', "./")
if phase == 'dev':
routes = '{}/srunner/challenge/routes_devtest.xml'.format(
scenario_runner_root)
repetitions = 1
elif phase == 'validation':
routes = '{}/srunner/challenge/routes_testprep.xml'.format(
scenario_runner_root)
repetitions = 3
elif phase == 'test':
routes = '{}/srunner/challenge/routes_testchallenge.xml'.format(
scenario_runner_root)
repetitions = 3
else:
# debug mode
routes = '{}/srunner/challenge/routes_debug.xml'.format(
scenario_runner_root)
repetitions = 1
if self._args.route:
routes = self._args.route[0]
scenario_file = self._args.route[1]
single_route = None
if len(self._args.route) > 2:
single_route = self._args.route[2]
# retrieve routes
route_descriptions_list = RouteParser.parse_routes_file(
routes, single_route)
# find and filter potential scenarios for each of the evaluated routes
# For each of the routes and corresponding possible scenarios to be evaluated.
if self._args.challenge:
n_routes = len(route_descriptions_list) * repetitions
ChallengeStatisticsManager.set_number_of_scenarios(n_routes)
for _, route_description in enumerate(route_descriptions_list):
for repetition in range(repetitions):
if self._args.challenge and not self._within_available_time():
error_message = 'Not enough simulation time available to continue'
print(error_message)
ChallengeStatisticsManager.record_fatal_error(
error_message)
self._cleanup()
return False
config = RouteScenarioConfiguration(route_description,
scenario_file)
if self._args.challenge:
profile = weather_profiles[repetition %
len(weather_profiles)]
config.weather = profile[0]
config.weather.sun_azimuth_angle = -1
config.weather.sun_altitude_angle = -1
result = self._load_and_run_scenario(config)
self._cleanup()
return result