def _run_scenarios(self):
"""
Run conventional scenarios (e.g. implemented using the Python API of ScenarioRunner)
"""
result = False
# Load the scenario configurations provided in the config file
scenario_configurations = ScenarioConfigurationParser.parse_scenario_configuration(
self._args.scenario, self._args.configFile)
if not scenario_configurations:
print("Configuration for scenario {} cannot be found!".format(
self._args.scenario))
return result
# # ===== original lines =====
# # Execute each configuration
# for config in scenario_configurations:
# for _ in range(self._args.repetitions):
# result = self._load_and_run_scenario(config)
#
# self._cleanup()
# # ============================
# Execute each configuration
result = self.run_group_scenarios(scenario_configurations)
return result
def _run_scenarios(self):
"""
Run conventional scenarios (e.g. implemented using the Python API of ScenarioRunner)
"""
result = False
# Load the scenario configurations provided in the config file
scenario_config_file = ScenarioConfigurationParser.find_scenario_config(
self._args.scenario, self._args.configFile)
if scenario_config_file is None:
print("Configuration for scenario {} cannot be found!".format(
self._args.scenario))
return result
scenario_configurations = ScenarioConfigurationParser.parse_scenario_configuration(
scenario_config_file, self._args.scenario)
# Execute each configuration
for config in scenario_configurations:
for _ in range(self._args.repetitions):
result = self._load_and_run_scenario(config)
self._cleanup()
return result
def main():
"""
main function
"""
description = ("CARLA Scenario Runner: Setup, Run and Evaluate scenarios using CARLA\n"
"Current version: " + VERSION)
# pylint: disable=line-too-long
parser = argparse.ArgumentParser(description=description,
formatter_class=RawTextHelpFormatter)
parser.add_argument('-v', '--version', action='version', version='%(prog)s ' + VERSION)
parser.add_argument('--host', default='127.0.0.1',
help='IP of the host server (default: localhost)')
parser.add_argument('--port', default='2000',
help='TCP port to listen to (default: 2000)')
parser.add_argument('--timeout', default="10.0",
help='Set the CARLA client timeout value in seconds')
parser.add_argument('--trafficManagerPort', default='8000',
help='Port to use for the TrafficManager (default: 8000)')
parser.add_argument('--trafficManagerSeed', default='0',
help='Seed used by the TrafficManager (default: 0)')
parser.add_argument('--sync', action='store_true',
help='Forces the simulation to run synchronously')
parser.add_argument('--list', action="store_true", help='List all supported scenarios and exit')
parser.add_argument(
'--scenario', help='Name of the scenario to be executed. Use the preposition \'group:\' to run all scenarios of one class, e.g. ControlLoss or FollowLeadingVehicle')
parser.add_argument('--openscenario', help='Provide an OpenSCENARIO definition')
parser.add_argument(
'--route', help='Run a route as a scenario (input: (route_file,scenario_file,[route id]))', nargs='+', type=str)
parser.add_argument(
'--agent', help="Agent used to execute the scenario. Currently only compatible with route-based scenarios.")
parser.add_argument('--agentConfig', type=str, help="Path to Agent's configuration file", default="")
parser.add_argument('--output', action="store_true", help='Provide results on stdout')
parser.add_argument('--file', action="store_true", help='Write results into a txt file')
parser.add_argument('--junit', action="store_true", help='Write results into a junit file')
parser.add_argument('--json', action="store_true", help='Write results into a JSON file')
parser.add_argument('--outputDir', default='', help='Directory for output files (default: this directory)')
parser.add_argument('--configFile', default='', help='Provide an additional scenario configuration file (*.xml)')
parser.add_argument('--additionalScenario', default='', help='Provide additional scenario implementations (*.py)')
parser.add_argument('--debug', action="store_true", help='Run with debug output')
parser.add_argument('--reloadWorld', action="store_true",
help='Reload the CARLA world before starting a scenario (default=True)')
parser.add_argument('--record', type=str, default='',
help='Path were the files will be saved, relative to SCENARIO_RUNNER_ROOT.\nActivates the CARLA recording feature and saves to file all the criteria information.')
parser.add_argument('--randomize', action="store_true", help='Scenario parameters are randomized')
parser.add_argument('--repetitions', default=1, type=int, help='Number of scenario executions')
parser.add_argument('--waitForEgo', action="store_true", help='Connect the scenario to an existing ego vehicle')
arguments = parser.parse_args()
# pylint: enable=line-too-long
if arguments.list:
print("Currently the following scenarios are supported:")
print(*ScenarioConfigurationParser.get_list_of_scenarios(arguments.configFile), sep='\n')
return 1
if not arguments.scenario and not arguments.openscenario and not arguments.route:
print("Please specify either a scenario or use the route mode\n\n")
parser.print_help(sys.stdout)
return 1
if arguments.route and (arguments.openscenario or arguments.scenario):
print("The route mode cannot be used together with a scenario (incl. OpenSCENARIO)'\n\n")
parser.print_help(sys.stdout)
return 1
if arguments.agent and (arguments.openscenario or arguments.scenario):
print("Agents are currently only compatible with route scenarios'\n\n")
parser.print_help(sys.stdout)
return 1
if arguments.route:
arguments.reloadWorld = True
if arguments.agent:
arguments.sync = True
scenario_runner = None
result = True
try:
scenario_runner = ScenarioRunner(arguments)
result = scenario_runner.run()
finally:
if scenario_runner is not None:
scenario_runner.destroy()
del scenario_runner
return not result