93 lines
3.1 KiB
Python
Executable File
93 lines
3.1 KiB
Python
Executable File
#!/usr/bin/env python3
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# Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
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# Barcelona (UAB).
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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import argparse
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import logging
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from carla.driving_benchmark import run_driving_benchmark
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from carla.driving_benchmark.experiment_suites import CoRL2017
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from carla.driving_benchmark.experiment_suites import BasicExperimentSuite
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from carla.agent import ForwardAgent
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if __name__ == '__main__':
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argparser = argparse.ArgumentParser(description=__doc__)
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argparser.add_argument(
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'-v', '--verbose',
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action='store_true',
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dest='verbose',
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help='print some extra status information')
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argparser.add_argument(
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'-db', '--debug',
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action='store_true',
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dest='debug',
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help='print debug information')
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argparser.add_argument(
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'--host',
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metavar='H',
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default='localhost',
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help='IP of the host server (default: localhost)')
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argparser.add_argument(
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'-p', '--port',
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metavar='P',
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default=2000,
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type=int,
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help='TCP port to listen to (default: 2000)')
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argparser.add_argument(
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'-c', '--city-name',
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metavar='C',
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default='Town01',
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help='The town that is going to be used on benchmark'
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+ '(needs to match active town in server, options: Town01 or Town02)')
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argparser.add_argument(
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'-n', '--log_name',
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metavar='T',
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default='test',
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help='The name of the log file to be created by the benchmark'
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)
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argparser.add_argument(
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'--corl-2017',
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action='store_true',
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help='If you want to benchmark the corl-2017 instead of the Basic one'
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)
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argparser.add_argument(
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'--continue-experiment',
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action='store_true',
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help='If you want to continue the experiment with the same name'
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)
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args = argparser.parse_args()
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if args.debug:
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log_level = logging.DEBUG
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elif args.verbose:
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log_level = logging.INFO
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else:
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log_level = logging.WARNING
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logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)
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logging.info('listening to server %s:%s', args.host, args.port)
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# We instantiate a forward agent, a simple policy that just set
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# acceleration as 0.9 and steering as zero
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agent = ForwardAgent()
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# We instantiate an experiment suite. Basically a set of experiments
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# that are going to be evaluated on this benchmark.
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if args.corl_2017:
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experiment_suite = CoRL2017(args.city_name)
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else:
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print (' WARNING: running the basic driving benchmark, to run for CoRL 2017'
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' experiment suites, you should run'
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' python driving_benchmark_example.py --corl-2017')
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experiment_suite = BasicExperimentSuite(args.city_name)
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# Now actually run the driving_benchmark
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run_driving_benchmark(agent, experiment_suite, args.city_name,
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args.log_name, args.continue_experiment,
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args.host, args.port)
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