Fixing exception on tcp, adding verbose

PythonClient/carla/benchmarks/benchmark.py

@@ -7,21 +7,19 @@
 # For a copy, see <https://opensource.org/licenses/MIT>.
 
 
-from builtins import input as input_data
-
 import csv
 import datetime
 import math
 import os
-
 import abc
+import logging
 
 
+from builtins import input as input_data
 
 
 from carla.client import VehicleControl
 
-
 def sldist(c1, c2):
     return math.sqrt((c2[0] - c1[0])**2 + (c2[1] - c1[1])**2)
 
@@ -38,11 +36,15 @@ class Benchmark(object):
             city_name,
             name_to_save,
             continue_experiment=False,
-            save_images=False):
+            save_images=False,
+            verbose=False):
+
 
         self.__metaclass__ = abc.ABCMeta
 
         self._city_name = city_name
+        self._verbose = verbose
+
 
         self._base_name = name_to_save
         self._dict_stats = {'exp_id': -1,
@@ -104,8 +106,11 @@ class Benchmark(object):
             measurements, sensor_data = carla.read_data()
 
             control = agent.run_step(measurements, sensor_data, target)
-            print('STEER ', control.steer, 'GAS ',
-                  control.throttle, 'Brake ', control.brake)
+
+            logging.info("Controller is Inputting:")
+            logging.info('Steer = %f Throttle = %f Brake = %f ' %
+                         (control.steer, control.throttle, control.brake))
+
             carla.send_control(control)
 
             # measure distance to target
@@ -124,9 +129,11 @@ class Benchmark(object):
             distance = sldist([curr_x, curr_y],
                               [target.location.x, target.location.y])
 
-            print(
+            logging.info('Status:')
+            logging.info(
                 '[d=%f] c_x = %f, c_y = %f ---> t_x = %f, t_y = %f' %
-                (float(distance), curr_x, curr_y, target.location.x, target.location.y))
+                (float(distance), curr_x, curr_y, target.location.x,
+                 target.location.y))
 
             if distance < 200.0:
                 success = True
@@ -157,7 +164,7 @@ class Benchmark(object):
         else:
             (start_task, start_pose) = self._get_pose_and_task(self._line_on_file)
 
-        print(' START ')
+        logging.info(' START ')
 
         for experiment in self._experiments[start_task:]:
 
@@ -172,12 +179,15 @@ class Benchmark(object):
 
                     carla.start_episode(start_point)
 
-                    print('======== !!!! ==========')
-                    print(' Start Position ', start_point,
-                          ' End Position ', end_point)
+                    logging.info('======== !!!! ==========')
+                    logging.info(' Start Position %d End Position %d ' %
+                                 (start_point, end_point))
 
                     path_distance = agent.get_distance(
                         positions[start_point], positions[end_point])
+                    euclidean_distance = \
+                        sldist([positions[start_point].location.x, positions[start_point].location.y],
+                        [positions[end_point].location.x, positions[end_point].location.y])
 
                     time_out = self._calculate_time_out(path_distance)
                     # running the agent
@@ -191,16 +201,16 @@ class Benchmark(object):
                     # compute stats for the experiment
 
                     self._write_summary_results(
-                        experiment, pose, rep, path_distance,
+                        experiment, pose, rep, euclidean_distance,
                         remaining_distance, final_time, time_out, result)
 
                     self._write_details_results(experiment, rep, reward_vec)
 
                     if(result > 0):
-                        print('+++++ Target achieved in %f seconds! +++++' %
+                        logging.info('+++++ Target achieved in %f seconds! +++++' %
                               final_time)
                     else:
-                        print('----- Timeout! -----')
+                        logging.info('----- Timeout! -----')
         return self.get_all_statistics()
 
     def _write_summary_results(self, experiment, pose, rep,

PythonClient/carla/tcp.py

@@ -41,7 +41,7 @@ class TCPClient(object):
                 self._socket.settimeout(self._timeout)
                 logging.debug('%sconnected', self._logprefix)
                 return
-            except OSError as exception:
+            except socket.error as exception:
                 error = exception
                 logging.debug('%sconnection attempt %d: %s', self._logprefix, attempt, error)
                 time.sleep(1)
@@ -65,7 +65,7 @@ class TCPClient(object):
         header = struct.pack('<L', len(message))
         try:
             self._socket.sendall(header + message)
-        except OSError as exception:
+        except socket.error as exception:
             self._reraise_exception_as_tcp_error('failed to write data', exception)
 
     def read(self):
@@ -85,7 +85,7 @@ class TCPClient(object):
         while length > 0:
             try:
                 data = self._socket.recv(length)
-            except OSError as exception:
+            except socket.error as exception:
                 self._reraise_exception_as_tcp_error('failed to read data', exception)
             if not data:
                 raise TCPConnectionError(self._logprefix + 'connection closed')

PythonClient/run_benchmark.py

@@ -35,6 +35,11 @@ if __name__ == '__main__':
     argparser.add_argument(
         '-v', '--verbose',
         action='store_true',
+        dest='verbose',
+        help='print some extra status information')
+    argparser.add_argument(
+        '-db', '--debug',
+        action='store_true',
         dest='debug',
         help='print debug information')
     argparser.add_argument(
@@ -58,12 +63,17 @@ if __name__ == '__main__':
         '-n', '--log_name',
         metavar='T',
         default='test',
-        help='The name of the log file to be created by the scripts'
+        help='The name of the log file to be created by the benchmark'
         )
 
     args = argparser.parse_args()
+    if args.debug:
+        log_level = logging.DEBUG
+    elif args.verbose:
+        log_level = logging.INFO
+    else:
+        log_level = logging.WARNING
 
-    log_level = logging.DEBUG if args.debug else logging.INFO
     logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
 
     logging.info('listening to server %s:%s', args.host, args.port)
@@ -71,7 +81,8 @@ if __name__ == '__main__':
     while True:
         try:
             with make_carla_client(args.host, args.port) as client:
-                corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name)
+                corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name,
+                                verbose=args.verbose)
                 agent = Manual(args.city_name)
                 results = corl.benchmark_agent(agent, client)
                 corl.plot_summary_test()