From 0ecb9c17571531f7488aee75ac8d44ce3124a333 Mon Sep 17 00:00:00 2001
From: David Gasinski <dgasinski1@sheffield.ac.uk>
Date: Fri, 1 Aug 2025 15:51:58 +0100
Subject: [PATCH] bunch of bug fixes

---
 aw_scenario_runner.py                | 12 ++++++++++--
 config.yaml                          |  5 +++--
 example_scenario.json                |  5 +++--
 srunner/autoagents/autoware_agent.py | 13 ++++++-------
 srunner/objects/ego_vehicle.py       |  2 ++
 srunner/objects/sensors.py           |  2 +-
 6 files changed, 25 insertions(+), 14 deletions(-)

diff --git a/aw_scenario_runner.py b/aw_scenario_runner.py
index 6089838..d6ca70a 100644
--- a/aw_scenario_runner.py
+++ b/aw_scenario_runner.py
@@ -263,9 +263,17 @@ def main():
 
     logger.setLevel(logging.INFO)
 
+    log_formatter = logging.Formatter(log_config["log_format"])
+
     log_path = LogUtil.create_log_file(log_config["path"])
-    logger.addHandler(logging.FileHandler(log_path, encoding="utf-8"))
-    logger.addHandler(logging.StreamHandler(sys.stdout))
+    fh = logging.FileHandler(log_path, encoding="utf-8")
+    sh = logging.StreamHandler(sys.stdout)
+
+    fh.setFormatter(log_formatter)
+    sh.setFormatter(log_formatter)
+
+    logger.addHandler(fh)
+    logger.addHandler(sh)
 
     # reload world and sync must be present when running agent-based route scenarios
     scenario_runner = None
diff --git a/config.yaml b/config.yaml
index 66f3885..f13ae8d 100644
--- a/config.yaml
+++ b/config.yaml
@@ -1,6 +1,7 @@
 log:
   path: 'logs/'
   clear_old_logs: true
+  log_format: '[%(levelname)s] [%(asctime)s] [%(message)s] [%(filename)s]:[%(lineno)d]'
 carla:
   host: 127.0.0.1
   port: 2000
@@ -8,10 +9,10 @@ carla:
   sync: true
   fixed_delta_seconds: 0.05 # update rate 1 / FPS
 traffic_manager:
-  active: false
+  active: true
   sync: true # must be the same as carla sync
   seed: 0
-  port: 8000
+  port: 8001
 scenario_runner:
   debug: false
   dev_mode: false
diff --git a/example_scenario.json b/example_scenario.json
index b66d2ed..384de2e 100644
--- a/example_scenario.json
+++ b/example_scenario.json
@@ -8,6 +8,7 @@
                         "weather": {
                             "route_percentage": 0.0,
                             "precipitation": 100.0,
+                            "cloudiness": 0.0,
                             "precipitation_deposits": 100.0,
                             "wetness": 100.0,
                             "wind_intensity": 100.0,
@@ -18,8 +19,9 @@
                     },
                     {
                         "weather": {
-                            "route_percentage": 50.0,
+                            "route_percentage": 100.0,
                             "precipitation": 0.0,
+                            "cloudiness": 0.0,
                             "precipitation_deposits": 0.0,
                             "wetness": 0.0,
                             "wind_intensity": 0.0,
@@ -130,7 +132,6 @@
         {
             "scenario": {
                 "town": "Town01",
-                "route-id": 0,
                 "ego_vehicle": {
                     "x": 312,
                     "y": 129,
diff --git a/srunner/autoagents/autoware_agent.py b/srunner/autoagents/autoware_agent.py
index 3416c54..c46be2f 100644
--- a/srunner/autoagents/autoware_agent.py
+++ b/srunner/autoagents/autoware_agent.py
@@ -86,12 +86,11 @@ def set_route(self) -> None:
         self.waypoints_world = self._global_plan_world_coord[:-1]
 
         # reinitialise localization
-        logger.info("called localise")
-        # self.autoware_node.request_localize()  # None uses GNSS
+        logger.info("Localising Autoware agent...")
+        self.autoware_node.request_localize()  # None uses GNSS
 
-        logger.info("called clear route")
-        # clear route
-        # self.route_node.request_clear_route()
+        logger.info("Clearing route...")
+        self.route_node.request_clear_route()
 
     def _convert_to_waypoint(self, point):
         """Returns a waypoint
@@ -121,7 +120,7 @@ def run_step(self) -> None:
         """Tick method containing all logic based on autoware state"""
         self.counter += 1
         if self.counter % 20 == 0:
-            logger.info("1 second")
+            logger.info("Ticked 1 second")
 
         if not self.agent_set_route:
             self.set_route()
@@ -135,7 +134,7 @@ def run_step(self) -> None:
                 waypoints.append(
                     self._convert_to_waypoint(waypoint).autoware_from_world_coords()
                 )
-            self.route_node.publish_route(goal_pose, waypoints)
+            self.route_node.request_route(goal_pose, waypoints)
             self.autoware_state.sent_route = True
 
         # check if the current route is set
diff --git a/srunner/objects/ego_vehicle.py b/srunner/objects/ego_vehicle.py
index ebb671c..3253ddc 100644
--- a/srunner/objects/ego_vehicle.py
+++ b/srunner/objects/ego_vehicle.py
@@ -36,6 +36,8 @@ def spawn(self) -> carla.Actor:
             self.ego_model, self.ego_spawn, self.ego_name
         )
 
+        CarlaDataProvider.get_world().tick()
+
         if self._actor is None:
             logger.warning(
                 "Failed to spawn EgoVehicle. This is likely an issue with CARLA."
diff --git a/srunner/objects/sensors.py b/srunner/objects/sensors.py
index 42b3968..5334872 100644
--- a/srunner/objects/sensors.py
+++ b/srunner/objects/sensors.py
@@ -25,7 +25,7 @@ def _spawn(self, bp_library, vehicle) -> None:
             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()
+        CarlaDataProvider.get_world().tick()
 
     def serealize(self):
         return self.type, self.id