Merge pull request #42 from Intelligent-Testing-Lab/28-add-support-for-spawning-ego-vehicle-through-scenario-runner

moved some files and added docstrings

Author: david-gasinski

aw_scenario_runner.py

@@ -17,7 +17,7 @@
 from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
 from srunner.tools.route_parser import RouteParser
 from srunner.tools.environment_parser import EnvironmentParser
-from srunner.tools.environment_parser import EnvironmentConfig
+from srunner.scenarioconfigs.environment_configuration import EnvironmentConfig
 from srunner.scenarioconfigs.route_scenario_configuration import (
     RouteScenarioConfiguration,
 )
@@ -191,16 +191,20 @@ def run_scenario(
             result = False
         return result
 
-    def run(self) -> bool:
+    def run(self) -> None:
+        """The Scenario loop. Read the scenario configuration from the parsed XML files,
+        configure the scenario in CARLA and execute. Use the results to and parse to the algorithm callback.
+        Repeats **iterations** times, as defined in config.yaml
+
+        """
         env_config = EnvironmentParser.parse_scenario_env(
             os.path.join(self.results_manager.last_scenario, "scenario.xml")
         )
         route_config = RouteParser.parse_routes_file(
             self.results_manager.last_scenario, env_config
         )[self._scenario_config["route_id"]]
 
-        scenario_result = self.run_scenario(route_config, env_config)
-        return scenario_result
+        self.run_scenario(route_config, env_config)
 
     def destroy(self) -> None:
         """Deletes instances of all classes related to CARLA"""

srunner/autoagents/autoware_agent.py

@@ -7,19 +7,18 @@
 
 from srunner.autoagents.agent_state import autoware_state
 
-from srunner.tools.environment_parser import EnvironmentConfig
+from srunner.scenarioconfigs.environment_configuration import EnvironmentConfig
 
 from autoware_carla_interface_msgs.msg import EgoConfig, SensorConfig
 
 import threading
 import rclpy
 import time
+import logging
 
+logger = logging.getLogger("scenario-runner")
 
-DEBUG_ENV = False
 
-
-# uncomment if testing in scenario runner
 class AutowareAgent(AutonomousAgent):
     timestamp = None
     current_map = None
@@ -66,7 +65,9 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
             ego_config_msg.sensors.append(sensor_config_msg)
 
         # keep publishing ego_sensor config until the bridge is ready
+        # big performance diminishment here
         while not self.autoware_state.bridge_ready:
+            logger.info("Sending Sensor state to Agent...")
             time.sleep(5)
             self.state_node.ego_config_publisher.publish(ego_config_msg)
 
@@ -81,10 +82,10 @@ def set_route(self) -> None:
         self.waypoints_world = self._global_plan_world_coord[:-1]
 
         # reinitialise localization
-        print("called localise")
+        logger.info("called localise")
         # self.autoware_node.request_localize()  # None uses GNSS
 
-        print("called clear route")
+        logger.info("called clear route")
         # clear route
         # self.route_node.request_clear_route()
 
@@ -108,15 +109,15 @@ def destroy(self) -> None:
                 self._node_threads[thread].join()
                 self._nodes[thread].destroy_node()
         except RuntimeError:
-            print("Cleaned up threads...")
+            logger.info("Cleaned up threads...")
 
         rclpy.shutdown()
 
     def run_step(self) -> None:
         """Tick method containing all logic based on autoware state"""
         self.counter += 1
         if self.counter % 20 == 0:
-            print("1 second")
+            logger.info("1 second")
 
         if not self.agent_set_route:
             self.set_route()

srunner/objects/ego_vehicle.py

@@ -62,3 +62,10 @@ def prepare_ego(self) -> None:
         self._actor.set_target_velocity(carla.Vector3D())
         self._actor.set_target_angular_velocity(carla.Vector3D())
         CarlaDataProvider.register_actor(self._actor, self._env.ego_spawn)
+
+    def __del__(self) -> None:
+        """Clean up
+        Check if the actor exists in CARLA, delete if so
+        """
+        if self._actor.is_alive():
+            self._actor.destroy()

srunner/objects/sensors.py

@@ -0,0 +1,91 @@
+from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
+
+import carla
+
+
+class DefaultSensor(object):
+    """
+    A class to encapsulate information about a basic sensor
+    """
+
+    def __init__(self) -> None:
+        self.type: str = ""
+        self.id: str = ""
+        self.spawn: carla.Transform | None = None
+
+    def _spawn(self, bp_library, vehicle) -> None:
+        sensor_bp = bp_library.find(str(self.type))
+
+        ignored_params = ["serealize", "id", "spawn", "type"]
+
+        sensor_params = [
+            attr
+            for attr in dir(self)
+            if attr not in ignored_params or not attr.startswith("_")
+        ]
+
+        for param in sensor_params:
+            sensor_bp.set_attribute(param, str(getattr(self, param)))
+
+        CarlaDataProvider.get_world().spawn_actor(sensor_bp, self.spawn, vehicle)
+        CarlaDataProvider.get_world().wait_for_tick()
+
+    def serealize(self):
+        return self.type, self.id
+
+
+class CameraRGB(DefaultSensor):
+    """
+    A class to hold additional information about a camera sensor
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.image_size_x: int = 0
+        self.image_size_y: int = 0
+        self.fov: float = 0.0
+
+
+class LidarRayCast(DefaultSensor):
+    """
+    A class to hold additional information about a Lidar sensor
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.range: int = 0
+        self.channels: int = 0
+        self.points_per_second: int = 0
+        self.upper_fov: float = 0.0
+        self.lower_fov: float = 0.0
+        self.rotation_frequency: int = 0
+
+
+class SensorGNSS(DefaultSensor):
+    """
+    A class to hold additional information about GNSS
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.noise_alt_stddev = 0.0
+        self.noise_lat_stddev = 0.0
+        self.noise_lon_stddev = 0.0
+        self.noise_alt_bias = 0.0
+        self.noise_lat_bias = 0.0
+        self.noise_lon_bias = 0.0
+
+
+class SensorIMU(DefaultSensor):
+    """
+    A class to hold additional information about IMU
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.noise_accel_stddev_x = 0.0
+        self.noise_accel_stddev_y = 0.0
+        self.noise_accel_stddev_z = 0.0
+        self.noise_gyro_stddev_x = 0.0
+        self.noise_gyro_stddev_y = 0.0
+        self.noise_gyro_stddev_z = 0.0

srunner/scenarioconfigs/environment_configuration.py

@@ -0,0 +1,17 @@
+from srunner.objects.sensors import DefaultSensor
+
+import carla
+
+
+class EnvironmentConfig(object):
+    """
+    Simple object to store information about the initial environment setup for the scenario loop
+    """
+
+    def __init__(self) -> None:
+        self.town: str = ""
+        self.ego_model: str = ""
+        self.ego_name: str = ""
+        self.ego_spawn: carla.Transform | None = None
+        self.sensor_config: list[DefaultSensor] = []
+        self.route_id: int = 0

srunner/tools/environment_parser.py

@@ -1,114 +1,13 @@
 import xml.etree.ElementTree as ET
 from xml.etree.ElementTree import Element
 
-from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
+from srunner.scenarioconfigs.environment_configuration import EnvironmentConfig
+from srunner.objects.sensors import DefaultSensor, CameraRGB, LidarRayCast
 
 import carla
 import logging
 
 
-class EnvironmentConfig(object):
-    """
-    Simple object to store information about the initial environment setup for the scenario loop
-    """
-
-    def __init__(self) -> None:
-        self.town: str = ""
-        self.ego_model: str = ""
-        self.ego_name: str = ""
-        self.ego_spawn: carla.Transform | None = None
-        self.sensor_config: list[DefaultSensor] = []
-        self.route_id: int = 0
-
-
-class DefaultSensor(object):
-    """
-    A class to encapsulate information about a basic sensor
-    """
-
-    def __init__(self) -> None:
-        self.type: str = ""
-        self.id: str = ""
-        self.spawn: carla.Transform | None = None
-
-    def _spawn(self, bp_library, vehicle) -> None:
-        sensor_bp = bp_library.find(str(self.type))
-
-        ignored_params = ["serealize", "id", "spawn", "type"]
-
-        sensor_params = [
-            attr
-            for attr in dir(self)
-            if attr not in ignored_params or not attr.startswith("_")
-        ]
-
-        for param in sensor_params:
-            sensor_bp.set_attribute(param, str(getattr(self, param)))
-
-        CarlaDataProvider.get_world().spawn_actor(sensor_bp, self.spawn, vehicle)
-        CarlaDataProvider.get_world().wait_for_tick()
-
-    def serealize(self):
-        return self.type, self.id
-
-
-class CameraRGB(DefaultSensor):
-    """
-    A class to hold additional information about a camera sensor
-    """
-
-    def __init__(self) -> None:
-        super().__init__()
-        self.image_size_x: int = 0
-        self.image_size_y: int = 0
-        self.fov: float = 0.0
-
-
-class LidarRayCast(DefaultSensor):
-    """
-    A class to hold additional information about a Lidar sensor
-    """
-
-    def __init__(self) -> None:
-        super().__init__()
-        self.range: int = 0
-        self.channels: int = 0
-        self.points_per_second: int = 0
-        self.upper_fov: float = 0.0
-        self.lower_fov: float = 0.0
-        self.rotation_frequency: int = 0
-
-
-class SensorGNSS(DefaultSensor):
-    """
-    A class to hold additional information about GNSS
-    """
-
-    def __init__(self) -> None:
-        super().__init__()
-        self.noise_alt_stddev = 0.0
-        self.noise_lat_stddev = 0.0
-        self.noise_lon_stddev = 0.0
-        self.noise_alt_bias = 0.0
-        self.noise_lat_bias = 0.0
-        self.noise_lon_bias = 0.0
-
-
-class SensorIMU(DefaultSensor):
-    """
-    A class to hold additional information about IMU
-    """
-
-    def __init__(self) -> None:
-        super().__init__()
-        self.noise_accel_stddev_x = 0.0
-        self.noise_accel_stddev_y = 0.0
-        self.noise_accel_stddev_z = 0.0
-        self.noise_gyro_stddev_x = 0.0
-        self.noise_gyro_stddev_y = 0.0
-        self.noise_gyro_stddev_z = 0.0
-
-
 class EnvironmentParser(object):
     """
     Purely Static class for parsing Scenarion configuration files generated by the JSON parsers