refactor

Author: david-gasinski

cawsr.py

@@ -217,20 +217,17 @@ def run_scenario(
                 scenario, self.aw_agent, follow_ego=True
             )
 
-            logger.info("Initialising agent route...")
-
+            # logger.info("Initialising agent route...")
             # allow the agent to localise and set the route
-            budget = self._conf["initialisation_budget"]
-            status = False
-
-            for tick in range(1, budget + 1):
-                status = self.aw_agent.run_step_init()  # type: ignore
-                self.carla_world.tick()
-
-            if not status:
-                logger.info("Agent failed to initialise route")
-            else:
-                logger.info("Successfully initialised agent; route set.")
+            # budget = self._conf["initialisation_budget"]
+            # status = False
+            # for tick in range(1, budget + 1):
+            #    status = self.aw_agent.run_step_init()  # type: ignore
+            #    CarlaDataProvider.get_world().tick()
+            # if not status:
+            #    logger.info("Agent failed to initialise route")
+            # else:
+            #    logger.info("Successfully initialised agent; route set.")
 
             self.scenario_manager.run_scenario()
             self.carla_client.stop_recorder()
@@ -307,7 +304,7 @@ def run_algorithm(self) -> None:
 
         runs = self._conf["algorithm"]["runs"]
         for i in range(0, runs):
-            logger.info(f"Running scenario {i + 1}/{runs + 1}")
+            logger.info(f"Running scenario {i + 1}/{runs}")
 
             logger.info("Starting CARLA container....")
             CARLAManager.restart_carla()
@@ -346,7 +343,7 @@ def run_benchmark(self) -> None:
 
         runs = len(scenarios)
         for i in range(0, runs):
-            logger.info(f"Running scenario {i + 1}/{runs + 1}")
+            logger.info(f"Running scenario {i + 1}/{runs}")
 
             logger.info("Starting CARLA container....")
             CARLAManager.restart_carla()

srunner/autoagents/agent_wrapper.py

@@ -26,7 +26,9 @@ def __init__(self, agent):
         """
         self._agent = agent
 
-    def __call__(self):
+    def __call__(
+        self,
+    ):
         """
         Pass the call directly to the agent
         """

srunner/autoagents/autoware_agent.py

@@ -11,7 +11,6 @@
 from srunner.autoagents.autoware_nodes import autoware_node
 from srunner.autoagents.autoware_nodes import route_node
 from srunner.autoagents.autoware_nodes import state_node
-from srunner.autoagents.autoware_nodes import tick_node
 
 from srunner.autoagents.agent_state import autoware_state
 from srunner.scenarioconfigs.environment_configuration import EnvironmentConfig
@@ -70,22 +69,10 @@ def setup(self, config: EnvironmentConfig) -> None:
         self._executor_thread.start()
 
         self.sent_route = False
+        self.initialised = False
 
         self.carla_interface.load_world()
         self.carla_interface.run_bridge()
-        # self.setup_tick_service()
-
-    def setup_tick_service(self):
-        # no need to setup tick service anymore
-        self.tick_node = tick_node.TickNode()
-        self._tick_executor = rclpy.executors.SingleThreadedExecutor()
-
-        self._tick_executor.add_node(self.tick_node)
-
-        self._executor_thread = threading.Thread(
-            target=self._tick_executor.spin, daemon=True
-        )
-        self._executor_thread.start()
 
     def set_route(self) -> None:
         self.agent_set_route = True
@@ -141,7 +128,6 @@ def run_step_init(self) -> bool:
         Operates on a fixed tick budget to ensure determinism. If the agent goes over the budget, it is treated as a failure.
 
         """
-        self.carla_interface.tick_bridge()
 
         if not self.agent_set_route:
             self.set_route()
@@ -179,6 +165,12 @@ def run_step(self) -> None:
             )
             self.last_tick = time.perf_counter_ns()
 
+        if not self.initialised:
+            self.initialised = self.run_step_init()
+
+            if self.initialised:
+                logger.info("Set agent route!")
+
         # check if the current route is set
         if self.autoware_state.route_set() and not self.autoware_state.sent_engage:
             self.autoware_node.publish_engage(True)

srunner/scenariomanager/scenario_manager.py

@@ -184,6 +184,7 @@ def _tick_scenario(self, timestamp):
             _tick_carla_start = time.perf_counter_ns() / 1e6
             if self._sync_mode and self._watchdog.get_status():
                 CarlaDataProvider.get_world().tick()
+
             MetricsCollector.update_key(
                 "carla_time", (time.perf_counter_ns() / 1e6) - _tick_carla_start
             )