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Merged
david-gasinski merged 1 commit into from
Jul 31, 2025
Merged

completed refactor #41

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0 LICENSE → LICENSE Carla
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21 changes: 21 additions & 0 deletions LICENSE Sheffield
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
MIT License

Copyright (c) 2025 The University of Sheffield

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
201 changes: 64 additions & 137 deletions aw_scenario_runner.py
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Expand Up @@ -12,8 +12,7 @@
import carla

from srunner.scenariomanager.scenario_manager import ScenarioManager
from srunner.scenario_decoder.json_to_xml_files import XMLToFiles
from srunner.tools.results_manager import ResultsManager
from srunner.tools.results_manager import ScenarioDefinitionManager
from srunner.scenarios.route_scenario import RouteScenario
from srunner.scenariomanager.carla_data_provider import CarlaDataProvider
from srunner.tools.route_parser import RouteParser
Expand All @@ -23,55 +22,60 @@
RouteScenarioConfiguration,
)

from srunner.objects.ego_vehicle import EgoVehicle

from srunner.tools.log import LogUtil

logger = logging.getLogger("scenario-runner")


class AWScenarioRunner(object):
# flags
DEV_MODE = False
DEBUG = False

# global class instances
ego_vehicles = []

# world and scenario handlers
carla_world = None
carla_client = None

scenario_manager = None
scenario_decoder = None
results_manager = None

wait_for_update = False
finished = False
definition_manager = None

aw_agent = None

def __init__(self, config: dict) -> None:
"""
Setup Scenario Manager and the Carla client
"""

self._carla_config = config["carla"]
self._tm_config = config["traffic_manager"]
self._scenario_config = config["scenario_runner"]

self.carla_client = carla.Client(
self._carla_config["host"], int(self._carla_config["port"])
)

self.carla_client.set_timeout(self._carla_config["timeout"])

# update the client
# Flags
self.DEV_MODE = self._scenario_config["dev_mode"]
self.DEBUG = self._scenario_config["dev_mode"]

CarlaDataProvider.set_client(self.carla_client)

# load autoware agent
# only load if in docker environment
# debug
if self._scenario_config["in_docker"]:
autoware_agent_path = "srunner/autoagents/autoware_agent"
if not self.DEV_MODE: # only load agents and algorithms in non-dev mode
autoware_agent_path = self._scenario_config["agent"]
module_name = os.path.basename(autoware_agent_path).split(".")[0]
sys.path.insert(0, os.path.dirname(autoware_agent_path))
self.module_aw_agent = importlib.import_module(module_name)

# load the algorithm of choice
# algorithm = self._scenario_config["algorithm"] # relative path to entry point
# alg_module = os.path.basename(algorithm).split(".")[0]
# sys.path.insert(0, os.path.dirname(algorithm))
# self.module_algorithm = importlib.import_module(alg_module)
algorithm = self._scenario_config["algorithm"]["path"]
alg_module = os.path.basename(algorithm).split(".")[0]
sys.path.insert(0, os.path.dirname(algorithm))
self.module_algorithm = importlib.import_module(alg_module)

# main class to execute scenarios
self.scenario_manager = ScenarioManager(
Expand All @@ -80,9 +84,9 @@ def __init__(self, config: dict) -> None:
self._carla_config["timeout"],
)

self.results_manager = ResultsManager()
self.results_manager = ScenarioDefinitionManager()

# Create signal handler for SIGINT
# capture SIGINT for cleanp
self._shutdown_requested = False
if sys.platform != "win32":
signal.signal(signal.SIGHUP, self._signal_handler)
Expand All @@ -91,33 +95,14 @@ def __init__(self, config: dict) -> None:

self._start_wall_time = datetime.datetime.now()

# parse the JSON scenario file
if self.scenario_decoder is None:
self.scenario_decoder = XMLToFiles()

scenario_name = os.path.split(
os.path.splitext(self._scenario_config["json"])[0]
)[1]
self._parse_json(self._scenario_config["json"], scenario_name, "0")

def _parse_json(self, json: str, scenario: str, iteration: str) -> None:
"""Parses a given JSON Scenario definition. Outputs two XML files used by scenario runner

Args:
json (str): filepath to JSON scenario definition
scenario (str): Name of the scenario
iteration (str): ID of the scenario. Can be anything, but must be unique
"""
# create run directory if doesn't exist
if not self.results_manager.results_path:
self.results_manager.create_run_folder()

self.results_manager.create_scenario_folder(
scenario, iteration, self.results_manager.results_path
self.results_manager.parse_json(
self._scenario_config["json"], scenario_name, "0"
)

self.scenario_decoder.parse_scenario(json, self.results_manager.last_scenario)

def _signal_handler(self, signum, frame) -> None:
"""
Handle shutdown signal, do cleanup
Expand All @@ -132,148 +117,87 @@ def _signal_handler(self, signum, frame) -> None:
def run_scenario(
self, route_config: RouteScenarioConfiguration, env_config: EnvironmentConfig
) -> bool:
# find the ego vehicle by name
# only supports one ego

# setup world based on env config
# make sure to reload
self.carla_world = self.carla_client.get_world()
self.carla_client.load_world(env_config.town)

# update carla provider
CarlaDataProvider.set_world(self.carla_world)

# replace with spawning ego
# ego_missing = True
# while ego_missing:
# self.ego_vehicles = []
# for ego in route_config.ego_vehicles:
# carla_vehicles = (
# self.carla_client.get_world().get_actors().filter("vehicle.*")
# )
#
# for carla_vehicle in carla_vehicles:
# if carla_vehicle.attributes["role_name"] == ego:
# self.ego_vehicles.append(carla_vehicle)
# ego_missing = False
# break
# print("Can't find ego, waiting...")
# time.sleep(1)
# ego_missing = False

print("Spawning ego...")
self._spawn_ego(env_config)

print("Spawned ego...")
logger.info("Spawning ego...")
ego = EgoVehicle(env_config)
self.ego_vehicles.append(ego.spawn())
logger.info("Spawned ego...")

self.carla_world.wait_for_tick()

if self._scenario_config["in_docker"]:
print("Loading Autoware agent")
logger.info("Setting up sensort configuration...")
ego.setup_sensors()

if not self.DEV_MODE:
logger.info("Loading Autoware agent")
agent_class_name = self.module_aw_agent.__name__.title().replace("_", "")
try:
print(getattr(self.module_aw_agent, agent_class_name))
# call the agent method to notify the bridge of the ego spawn
# this will loop until the bridge is ready
logger.info(getattr(self.module_aw_agent, agent_class_name))
self.aw_agent = getattr(self.module_aw_agent, agent_class_name)(
env_config
)
route_config.agent = self.aw_agent
except Exception as e: # Forces the simulation to run synchronously # pylint: disable=broad-except
traceback.print_exc()
print("Could not setup required agent due to {}".format(e))
logger.error("Could not setup required agent due to {}".format(e))
# self._cleanup()
return False

# only set synchronous mode once bridge is ready
ego.prepare_ego()

logger.info("Updating world settings:")

# tick asynchronously until then
settings = CarlaDataProvider.get_world().get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = self._carla_config["fixed_delta_seconds"]
CarlaDataProvider.get_world().apply_settings(settings)

# ADD TRAFFIC MANAGER SEED TO CONFIG
tm_port = int(self._tm_config["port"]) # type: ignore
CarlaDataProvider.set_traffic_manager_port(tm_port)
tm = self.carla_client.get_trafficmanager(tm_port)
tm.set_random_device_seed(1) # ADD TO CONFIG
logger.info(f"{settings.__str__()}")

tm.set_synchronous_mode(self._tm_config["sync"])
if self._tm_config["active"]:
logger.info("Loading Traffic Manager...")
tm_port = int(self._tm_config["port"]) # type: ignore
CarlaDataProvider.set_traffic_manager_port(tm_port)
tm = self.carla_client.get_trafficmanager(tm_port)

print("Preparing ego...")
tm.set_random_device_seed(int(self._tm_config["seed"])) # ADD TO CONFIG
tm.set_synchronous_mode(self._tm_config["sync"])

# update ego position to one specified in route
self.ego_vehicles[0].set_transform(env_config.ego_spawn)
self.ego_vehicles[0].set_target_velocity(carla.Vector3D())
self.ego_vehicles[0].set_target_angular_velocity(carla.Vector3D())
CarlaDataProvider.register_actor(self.ego_vehicles[0], env_config.ego_spawn)
logger.info("Loading route...")

print("Loading route...")
try:
scenario = RouteScenario(
world=self.carla_world,
config=route_config,
debug_mode=self._carla_config["debug"],
)
except Exception:
print("Could not load Route Scenario")
logger.info("Could not load Route Scenario")
traceback.print_exc()
return False

print("Starting scenario...")
logger.info("Starting scenario...")
try:
self.scenario_manager.load_scenario(scenario, self.aw_agent)
self.scenario_manager.run_scenario()
result = True
except Exception:
traceback.print_exc()
print("It doesn't work")
logger.info("It doesn't work")
result = False
return result

def _load_scenario_config(self) -> EnvironmentConfig:
return EnvironmentParser.parse_scenario_env(
def run(self) -> bool:
env_config = EnvironmentParser.parse_scenario_env(
os.path.join(self.results_manager.last_scenario, "scenario.xml")
)

def _spawn_ego(self, env_config: EnvironmentConfig) -> None:
ego = CarlaDataProvider.request_new_actor(
model=env_config.ego_model,
spawn_point=env_config.ego_spawn,
rolename=env_config.ego_name,
)
self.ego_vehicles.append(ego)

CarlaDataProvider.get_world().wait_for_tick() # wait for tick

bp_library = self.carla_world.get_blueprint_library()
# setup sensors
for sensor in env_config.sensor_config:
sensor._spawn(bp_library, ego)
print(f"Spawned sensor type {sensor.type}")

def _load_route_scenario(
self, env_config: EnvironmentConfig
) -> RouteScenarioConfiguration:
route_config = RouteParser.parse_routes_file(
self.results_manager.last_scenario, env_config
) # type: ignore

return route_config[0]

def run(self) -> bool:
# load the original JSON file
# load the route config
# load the scenario config
# run scenario
# get the metrics
# call the algorithm callback
# save using ResultsManager static class

# repeat for iterations

env_config = self._load_scenario_config()
route_config = self._load_route_scenario(env_config)
)[self._scenario_config["route_id"]]

scenario_result = self.run_scenario(route_config, env_config)
return scenario_result
Expand All @@ -296,7 +220,7 @@ def _cleanup(self) -> None:
try:
# Reset to asynchronous mode
self.carla_client.get_trafficmanager(
int(self._args.traffic_port)
int(self._tm_config["port"])
).set_synchronous_mode(False)
except RuntimeError:
sys.exit(-1)
Expand All @@ -308,7 +232,9 @@ def _cleanup(self) -> None:
for i, _ in enumerate(self.ego_vehicles):
if self.ego_vehicles[i]:
if self.ego_vehicles[i] is not None and self.ego_vehicles[i].is_alive:
print("Destroying ego vehicle {}".format(self.ego_vehicles[i].id))
logger.info(
"Destroying ego vehicle {}".format(self.ego_vehicles[i].id)
)
self.ego_vehicles[i].destroy()
self.ego_vehicles[i] = None
self.ego_vehicles = []
Expand All @@ -319,14 +245,15 @@ def _cleanup(self) -> None:


def main():
# single argument of configuration file

# configure logger
config = None
with open("config.yaml", "r") as stream:
config = yaml.safe_load(stream)

log_config = config["log"]

logger = logging.getLogger("scenario-runner")
logger.setLevel(logging.INFO)

log_path = LogUtil.create_log_file(log_config["path"])
Expand All @@ -338,7 +265,7 @@ def main():
try:
scenario_runner = AWScenarioRunner(config)
results = scenario_runner.run()
print(results)
logger.info(results)
except Exception: # NOT GOOD PRACTICE PROBABLY CHANGE
traceback.print_exc()
finally:
Expand Down
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