applied fix to docker copy + fixed MetricsCollector thread hanging

aw_scenario_runner.py

@@ -68,7 +68,6 @@ class AWScenarioRunner(object):
     definition_manager = None
 
     aw_agent = None
-    host_volume = os.environ["SR_HOST_VOLUME"]
 
     def __init__(self, config: dict) -> None:
         """
@@ -345,11 +344,10 @@ def run(self) -> None:
                 scenario_process.kill()
 
             # copy over the recording from CARLA container if env variable is setup
-            if self.host_volume is not None:
-                CARLAManager.fetch_file(
-                    "/home/carla/recording.log",
-                    f"{self.host_volume}/{self.results_manager.last_scenario_host}/recording.log",
-                )
+            CARLAManager.fetch_file(
+                "/home/carla/recording.log",
+                self.results_manager.last_scenario,
+            )
 
             logger.info("Calculating driving score...")
             driving_score = self._calculate_driving_score(result["criteria"])

srunner/tools/CARLA_manager.py

@@ -57,12 +57,34 @@ def stop_carla():
             logger.info(f"Kill stdout: {result.stdout.strip()}")
             CARLAManager.container_id = None
 
+    @staticmethod
+    def update_permission(path: str) -> None:
+        """Updates the permissions of a folder to allow non-root users to copy
+
+        Args:
+            path (str): file to modify
+        """
+        env = os.environ.copy()
+        result = subprocess.run(
+            f"chmod -R 777 {path}",
+            shell=True,
+            text=True,
+            capture_output=True,
+            env=env,
+        )
+
+        if not result.returncode == 0:
+            logger.error(f"Failed to update permissions for {path}")
+        else:
+            logger.info(f"Successfully changed {path} ownership")
+
     @staticmethod
     def fetch_file(path: str, dest: str):
         if CARLAManager.container_id is not None:
             env = os.environ.copy()
+            # ensure everyone has permission to copy to dest
             result = subprocess.run(
-                f"docker cp {CARLAManager.container_id}:{path} {dest}",
+                f"chmod -R 777 {dest} && docker cp {CARLAManager.container_id}:{path} {dest}",
                 shell=True,
                 text=True,
                 capture_output=True,

srunner/tools/metrics_collector.py

@@ -1,4 +1,4 @@
-from queue import Queue
+from queue import Queue, Empty
 from typing import Any
 
 import threading
@@ -44,7 +44,6 @@ def reset(cls) -> None:
         cls.state = {}
         cls._file_target = ""
         cls._thread = None
-        cls._running = False
 
     @classmethod
     def update_key(cls, key: str, value: Any) -> None:
@@ -91,22 +90,29 @@ def stop_thread(cls) -> None:
 
     @classmethod
     def _thread_target(cls) -> None:
-        with open(cls._file_target, "w") as f:  # open the file for reading
-            f.write("[")  # first character of json array
-            while cls._running:
+        f = open(cls._file_target, "w")
+
+        f.write("[")
+        while cls._running:
+            try:
                 state = cls.state_queue.get(
-                    block=True
-                )  # block thread until there is an object in queue
+                    block=True, timeout=0.05
+                )  # can't block thread as it will never finish
                 serialized_json = json.dumps(state)
                 f.write(serialized_json + ",")
-            f.write("]")  # last json character
+            except Empty:
+                pass
+
+        f.write("]")  # last json character
+        f.close()
 
 
 if __name__ == "__main__":
     # debug
     target = "test_buffer.txt"
 
     state = {"timestamp": time.perf_counter(), "value": 0}
+    start = time.perf_counter()
 
     MetricsCollector.init_state(state, target, include=False)
 
@@ -118,4 +124,7 @@ def _thread_target(cls) -> None:
         MetricsCollector.update_key("value", i)
         MetricsCollector.save_state()
 
+    print(f"Took {time.perf_counter() - start} to push.")
+
     MetricsCollector.stop_thread()
+    print(f"Took {time.perf_counter() - start} to join.")

srunner/tools/results_manager.py

@@ -3,6 +3,7 @@
 
 import json
 from srunner.scenario_decoder.json_to_xml_files import XMLToFiles
+from srunner.tools.CARLA_manager import CARLAManager
 
 
 class ScenarioDefinitionManager(object):
@@ -61,10 +62,9 @@ def _create_scenario_folder(self, iteration: str, results_folder: str):
 
         os.makedirs(full_path, exist_ok=True)  # exist_ok=True, no need to error handle
         self.last_scenario = full_path
-        self.last_scenario_host = os.path.join(
-            os.path.split(results_folder)[1], iteration
-        )  # relative path on host
 
+        # update permissions
+        CARLAManager.update_permission(self.last_scenario)
         return full_path
 
     def parse_json(