Added shut_down function to TM.

LibCarla/source/carla/trafficmanager/TrafficManager.cpp

@@ -66,6 +66,19 @@ void TrafficManager::Tick() {
   }
 }
 
+void TrafficManager::ShutDown() {
+  TrafficManagerBase* tm_ptr = GetTM(_port);
+  std::lock_guard<std::mutex> lock(_mutex);
+  auto it = _tm_map.find(_port);
+  if (it != _tm_map.end()) {
+    _tm_map.erase(it);
+  }
+  if(tm_ptr != nullptr) {
+    tm_ptr->ShutDown();
+    delete tm_ptr;
+  }
+}
+
 void TrafficManager::CreateTrafficManagerServer(
     carla::client::detail::EpisodeProxy episode_proxy,
     uint16_t port) {

LibCarla/source/carla/trafficmanager/TrafficManager.h

@@ -230,6 +230,8 @@ public:
     }
   }
 
+  void ShutDown();
+
 private:
 
   void CreateTrafficManagerServer(

LibCarla/source/carla/trafficmanager/TrafficManagerBase.h

@@ -106,6 +106,8 @@ public:
   /// Method to set Open Street Map mode.
   virtual void SetOSMMode(const bool mode_switch) = 0;
 
+  virtual void ShutDown() = 0;
+
 protected:
 
 };

LibCarla/source/carla/trafficmanager/TrafficManagerClient.h

@@ -199,6 +199,11 @@ public:
     _client->call("set_osm_mode", mode_switch);
   }
 
+  void ShutDown() {
+    DEBUG_ASSERT(_client != nullptr);
+    _client->call("shut_down");
+  }
+
 private:
 
   /// RPC client.

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -151,11 +151,6 @@ void TrafficManagerLocal::Run() {
 
     // Stop TM from processing the same frame more than once
     if (!synchronous_mode) {
-      try {
-        episode_proxy.Lock()->WaitForTick(
-          carla::time_duration::milliseconds(
-          TM_WAIT_FOR_TICK_TIMEOUT));
-      } catch (const std::exception &e) {}
       carla::client::Timestamp timestamp = world.GetSnapshot().GetTimestamp();
       if (timestamp.frame == last_frame) {
         continue;

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.h

@@ -226,6 +226,8 @@ public:
 
   /// Method to set Open Street Map mode.
   void SetOSMMode(const bool mode_switch);
+
+  void ShutDown() {};
 };
 
 } // namespace traffic_manager

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.cpp

@@ -185,6 +185,10 @@ void TrafficManagerRemote::SetOSMMode(const bool mode_switch) {
   client.SetOSMMode(mode_switch);
 }
 
+void TrafficManagerRemote::ShutDown() {
+  client.ShutDown();
+}
+
 void TrafficManagerRemote::SetSynchronousMode(bool mode) {
   client.SetSynchronousMode(mode);
 }

LibCarla/source/carla/trafficmanager/TrafficManagerRemote.h

@@ -105,6 +105,8 @@ public:
   /// Method to set Open Street Map mode.
   void SetOSMMode(const bool mode_switch);
 
+  virtual void ShutDown();
+
   /// Method to provide synchronous tick
   bool SynchronousTick();
 

LibCarla/source/carla/trafficmanager/TrafficManagerServer.h

@@ -168,6 +168,10 @@ public:
         tm->SetHybridPhysicsRadius(mode_switch);
       });
 
+      server->bind("shut_down", [=]() {
+        tm->Release();
+      });
+
       /// Method to set synchronous mode.
       server->bind("set_synchronous_mode", [=](const bool mode) {
         tm->SetSynchronousMode(mode);

PythonAPI/carla/source/libcarla/TrafficManager.cpp

@@ -35,5 +35,6 @@ void export_trafficmanager() {
     .def("set_hybrid_physics_mode", &ctm::TrafficManager::SetHybridPhysicsMode)
     .def("set_hybrid_physics_radius", &ctm::TrafficManager::SetHybridPhysicsRadius)
     .def("set_random_device_seed", &ctm::TrafficManager::SetRandomDeviceSeed)
-    .def("set_osm_mode", &carla::traffic_manager::TrafficManager::SetOSMMode);
+    .def("set_osm_mode", &carla::traffic_manager::TrafficManager::SetOSMMode)
+    .def("shut_down", &ctm::TrafficManager::ShutDown);
 }

PythonAPI/test/smoke/test_determinism.py

@@ -117,6 +117,7 @@ class TestDeterminism(SmokeTest):
         # run simulation 1
         vehicle_actor_list = self.spawn_vehicles(world, blueprint_transform_list)
         record_run1 = self.run_simulation(world, vehicle_actor_list)
+        traffic_manager.shut_down()
 
         # reset for simulation 2
         self.client.reload_world(False)
@@ -128,9 +129,9 @@ class TestDeterminism(SmokeTest):
         #run simulation 2
         vehicle_actor_list = self.spawn_vehicles(world, blueprint_transform_list)
         record_run2 = self.run_simulation(world, vehicle_actor_list)
+        traffic_manager.shut_down()
 
         self.client.reload_world()
-        traffic_manager.set_synchronous_mode(False)
         world.apply_settings(old_settings)
 
         self.compare_records(record_run1, record_run2)