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Merged
david-gasinski merged 1 commit into from
Aug 1, 2025
Merged

refactor #53

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46 changes: 23 additions & 23 deletions aw_scenario_runner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,17 +120,38 @@ def run_scenario(
self.carla_world = self.carla_client.get_world()
self.carla_client.load_world(env_config.town)

logger.info("Updating world settings:")
# tick asynchronously until then
settings = self.carla_world.get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = self._carla_config["fixed_delta_seconds"]
self.carla_world.apply_settings(settings)

logger.info(f"{settings.__str__()}")

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)

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

# update the world
CarlaDataProvider.set_world(self.carla_world)

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

self.carla_world.wait_for_tick()
self.carla_world.tick()

logger.info("Setting up sensor configuration...")
ego.setup_sensors()

self.carla_world.wait_for_tick()
self.carla_world.tick()

if not self.DEV_MODE:
logger.info("Loading Autoware agent")
Expand All @@ -149,27 +170,6 @@ def run_scenario(
ego.prepare_ego()

logger.info("Loading route...")
logger.info("Updating world settings:")

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

logger.info(f"{settings.__str__()}")

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)

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

# update the world
CarlaDataProvider.set_world(self.carla_world)

try:
scenario = RouteScenario(
Expand Down