Minor formatting changes
This commit is contained in:
Daniel Santos-Olivan
DSantosO
parent
f5e42c6760
commit
f6da3d1718
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@ -103,7 +103,7 @@ namespace rpc {
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Settings.bSubstepping = substepping;
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Settings.MaxSubstepDeltaTime = max_substep_delta_time;
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Settings.MaxSubsteps = max_substeps;
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return Settings;
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}
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@ -34,7 +34,7 @@ import carla
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def wait(world, frames=100):
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for i in range(0, frames):
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for _i in range(0, frames):
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world.tick()
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class Scenario():
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@ -71,7 +71,7 @@ class Scenario():
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def save_snapshots(self):
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for i in range (0, len(self.vehicle_list)):
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self.snapshots[i] = np.vstack((self.snapshots[i], self.save_snapshot(self.vehicle_list[i])))
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def get_filename(self, prefix, i):
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return prefix + "_v" + str(i) + ".out"
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@ -250,6 +250,7 @@ class CarBikeCollis1(Scenario):
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super().init_scene()
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class CarWalkCollis1(Scenario):
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def init_scene(self):
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world = self.world
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@ -326,7 +327,7 @@ class TestScenario():
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mat_check[j][i] = int(sim_check)
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determinism = np.sum(mat_check,axis=1)
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max_rep_equal = np.amax(determinism)
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#max_rep_equal = np.amax(determinism)
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max_rep_equal_idx = np.argmax(determinism)
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min_rep_equal_idx = np.argmin(determinism)
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@ -343,30 +344,28 @@ class TestScenario():
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def save_simulations(self, rep_prefixes, prefix, max_idx, min_idx):
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for i in range(0, len(self.scene.vehicle_list)):
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file_repetition = self.scene.get_filename(rep_prefixes[max_idx], i)
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file_reference = self.scene.get_filename(prefix + "reference", i)
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file_repetition = self.scene.get_filename(rep_prefixes[max_idx], i)
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file_reference = self.scene.get_filename(prefix + "reference", i)
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shutil.copyfile(file_repetition, file_reference)
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if min_idx != max_idx:
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for i in range(0, len(self.scene.vehicle_list)):
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file_repetition = self.scene.get_filename(rep_prefixes[min_idx], i)
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file_failed = self.scene.get_filename(prefix + "failed", i)
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file_repetition = self.scene.get_filename(rep_prefixes[min_idx], i)
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file_failed = self.scene.get_filename(prefix + "failed", i)
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shutil.copyfile(file_repetition, file_failed)
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for r_prefix in rep_prefixes:
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for i in range(0, len(self.scene.vehicle_list)):
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file_repetition = self.scene.get_filename(r_prefix, i)
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os.remove(file_repetition)
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def test_determ_one_config(self, fps, fps_phys, repetitions = 1, sim_tics = 100):
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print("Testing Determinism in %s for %3d render FPS and %3d physics FPS -> " % \
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(self.scenario_name, fps, fps_phys), end='')
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old_settings = self.world.get_settings()
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settings = self.world.get_settings()
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delta = 1.0/fps
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settings.synchronous_mode = True
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@ -387,7 +386,7 @@ class TestScenario():
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t_start = time.perf_counter()
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sim_prefixes = []
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for i in range(0, repetitions):
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prefix_rep = prefix + "rep" + str(i)
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prefix_rep = prefix + "rep" + str(i)
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self.scene.run_simulation(prefix_rep, tics=sim_tics)
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sim_prefixes.append(prefix_rep)
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t_end = time.perf_counter()
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@ -396,8 +395,6 @@ class TestScenario():
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print("Deterministic Repetitions: %r / %2d" % (determ_repet, repetitions), end="")
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print(" -> Comp. Time per frame: %.0f" % ((t_end-t_start)/repetitions*sim_tics))
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return
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def main(arg):
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@ -408,15 +405,12 @@ def main(arg):
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pre_settings = world.get_settings()
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world.apply_settings(pre_settings)
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fps = arg.fps
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fps_phys = arg.phys_fps
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spectator_transform = carla.Transform(carla.Location(120, -256, 5), carla.Rotation(yaw=180))
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spectator_transform.location.z += 5
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spectator = world.get_spectator()
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spectator.set_transform(spectator_transform)
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try:
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try:
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repetitions = 10
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#test00 = TestScenario(SpawnCars01(client, world))
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@ -504,19 +498,19 @@ if __name__ == "__main__":
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metavar='PATTERN',
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default='model3',
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help='actor filter (default: "vehicle.*")')
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argparser.add_argument(
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'-fps', '--fps',
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metavar='FPS',
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default=20,
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type=int,
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help='Frames per simulatation second (default: 20)')
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argparser.add_argument(
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'-phys_fps', '--phys_fps',
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metavar='PHYSFPS',
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default=100,
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type=int,
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help='Target physical frames per simulatation second, it will \
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divide the dt in substeps if required to get more precision. (default: 100)')
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# argparser.add_argument(
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# '-fps', '--fps',
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# metavar='FPS',
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# default=20,
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# type=int,
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# help='Frames per simulatation second (default: 20)')
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# argparser.add_argument(
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# '-phys_fps', '--phys_fps',
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# metavar='PHYSFPS',
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# default=100,
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# type=int,
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# help='Target physical frames per simulatation second, it will \
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# divide the dt in substeps if required to get more precision. (default: 100)')
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args = argparser.parse_args()
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try:
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