Fix client tests

CARLA.sublime-project

@@ -42,7 +42,8 @@
 	"settings":
 	{
 		"tab_size": 2,
-		"translate_tabs_to_spaces": true
+		"translate_tabs_to_spaces": true,
+		"trim_trailing_white_space_on_save": true
 	},
 	"build_systems":
 	[

PythonClient/carla/client.py

@@ -8,6 +8,7 @@
 
 import os
 import struct
+import time
 
 from contextlib import contextmanager
 
@@ -37,7 +38,6 @@ class CarlaClient(object):
         self._current_settings = None
         # Controls the state, if an episode is already started.
         self._is_episode_requested = False
-        # Variable to control the latest episode where the it started
 
     def connect(self):
         self._world_client.connect()
@@ -50,34 +50,11 @@ class CarlaClient(object):
     def connected(self):
         return self._world_client.connected()
 
-    def _request_new_episode(self, carla_settings):
-        """Request a new episode. Internal function to 
-        request information about a new episode episode that
-        is going to start. It also prepare the client for
-        reset by disconnecting stream and control clients.
-
-
-        """
-        # Disconnect agent clients.
-        self._stream_client.disconnect()
-        self._control_client.disconnect()
-        # Send new episode request.
-        pb_message = carla_protocol.RequestNewEpisode()
-        pb_message.ini_file = str(carla_settings)
-        self._world_client.write(pb_message.SerializeToString())
-        # Read scene description.
-        data = self._world_client.read()
-        if not data:
-            raise RuntimeError('failed to read data from server')
-        pb_message = carla_protocol.SceneDescription()
-        pb_message.ParseFromString(data)
-        if len(pb_message.player_start_spots) < 1:
-            raise RuntimeError("received 0 player start spots")
-        self._is_episode_requested =True
-        return pb_message
     def load_settings(self, carla_settings):
-        """ Abstraction to new episode request. carla_settings object must be convertible to
-        a str holding a CarlaSettings.ini. Loads new settings to the server.
+        """
+        Load new settings and request a new episode based on these settings to
+        the server. carla_settings object must be convertible to a str holding a
+        CarlaSettings.ini.
 
         Returns a protobuf object holding the scene description.
         """
@@ -86,18 +63,19 @@ class CarlaClient(object):
 
 
     def start_episode(self, player_start_index):
-        """Start the new episode at the player start given by the
+        """
+        Start the new episode at the player start given by the
         player_start_index. The list of player starts is retrieved by
-        load_settings().
+        "load_settings". Requests a new episode based on the last settings
+        loaded by "load_settings".
 
         This function waits until the server answers with an EpisodeReady.
         """
-
-        if self._current_settings == None:
+        if self._current_settings is None:
             raise RuntimeError('no settings loaded, cannot start episode')
 
         # if no new settings are loaded, request new episode with previous
-        if not self._is_episode_requested: 
+        if not self._is_episode_requested:
             self._request_new_episode(self._current_settings)
 
         try:
@@ -120,9 +98,10 @@ class CarlaClient(object):
             self._is_episode_requested = False
 
     def read_measurements(self):
-        """Read measuremnts of current frame. The episode must be started.
-        Return the protobuf object with the measurements followed by the raw
-        data with the images.
+        """
+        Read measuremnts of current frame. The episode must be started. Return
+        the protobuf object with the measurements followed by the raw data with
+        the images.
         """
         # Read measurements.
         data = self._stream_client.read()
@@ -147,6 +126,30 @@ class CarlaClient(object):
             pb_message.reverse = kwargs.get('reverse', False)
         self._control_client.write(pb_message.SerializeToString())
 
+    def _request_new_episode(self, carla_settings):
+        """
+        Request a new episode. Internal function to request information about a
+        new episode episode that is going to start. It also prepare the client
+        for reset by disconnecting stream and control clients.
+        """
+        # Disconnect agent clients.
+        self._stream_client.disconnect()
+        self._control_client.disconnect()
+        # Send new episode request.
+        pb_message = carla_protocol.RequestNewEpisode()
+        pb_message.ini_file = str(carla_settings)
+        self._world_client.write(pb_message.SerializeToString())
+        # Read scene description.
+        data = self._world_client.read()
+        if not data:
+            raise RuntimeError('failed to read data from server')
+        pb_message = carla_protocol.SceneDescription()
+        pb_message.ParseFromString(data)
+        if len(pb_message.player_start_spots) < 1:
+            raise RuntimeError("received 0 player start spots")
+        self._is_episode_requested = True
+        return pb_message
+
 
 class CarlaImage(object):
     @staticmethod

PythonClient/test/console.py

@@ -128,7 +128,7 @@ class CarlaClientConsole(cmd.Cmd):
             self.control = _Control()
             if not self.client.connected():
                 self.client.connect()
-            self.client.request_new_episode(self.settings)
+            self.client.load_settings(self.settings)
             self.client.start_episode(0)
             logging.info('new episode started')
         except Exception as exception:

PythonClient/test/test_client.py

@@ -45,7 +45,7 @@ def run_carla_client(args):
             logging.debug('sending CarlaSettings:\n%s', settings)
             logging.info('new episode requested')
 
-            scene = client.request_new_episode(settings)
+            scene = client.load_settings(settings)
 
             number_of_player_starts = len(scene.player_start_spots)
             player_start = random.randint(0, max(0, number_of_player_starts - 1))

PythonClient/test/test_suite.py

@@ -23,6 +23,7 @@ sys.path.append(os.path.join(os.path.dirname(__file__), '.'))
 
 import carla
 
+from carla.tcp import TCPConnectionError
 from carla.util import StopWatch
 
 from unit_tests import CarlaServerTest
@@ -99,14 +100,20 @@ def run_test(test, args):
         logging.error('exception instantiating %r: %s', test.name, exception)
         return False
     log_test(RUN, test.name)
-    try:
-        timer = StopWatch()
-        result = test.run()
-        timer.stop()
-    except Exception as exception:
-        timer.stop()
-        logging.error('exception: %s', exception)
-        result = False
+    while True:
+        try:
+            timer = StopWatch()
+            result = test.run()
+            timer.stop()
+            break
+        except TCPConnectionError as error:
+            logging.error(error)
+            time.sleep(1)
+        except Exception as exception:
+            timer.stop()
+            logging.exception('exception: %s', exception)
+            result = False
+            break
     log_test(OK if result else FAILED, '%s (%d ms)', test.name, timer.milliseconds())
     return result
 
@@ -118,9 +125,6 @@ def do_the_tests(args):
     failed = []
     log_test(SEP0, 'Running %d tests.', len(tests))
     for test in tests:
-        if succeeded or failed:
-            logging.info('waiting for the server to be ready again')
-            time.sleep(7)
         if run_test(test, args):
             succeeded.append(test)
         else:

PythonClient/test/unit_tests/Basic.py

@@ -25,7 +25,7 @@ class _BasicTestBase(unit_tests.CarlaServerTest):
                 carla_settings.randomize_weather()
                 logging.debug('sending CarlaSettings:\n%s', carla_settings)
                 logging.info('new episode requested')
-                scene = client.request_new_episode(carla_settings)
+                scene = client.load_settings(carla_settings)
                 number_of_player_starts = len(scene.player_start_spots)
                 player_start = random.randint(0, max(0, number_of_player_starts - 1))
                 logging.info(