95 lines
2.7 KiB
Python
Executable File
95 lines
2.7 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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import time
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from carla.benchmarks.agent import Agent
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from carla.benchmarks.corl_2017 import CoRL2017
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from carla.client import make_carla_client, VehicleControl
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from carla.tcp import TCPConnectionError
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class Manual(Agent):
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"""
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Sample redefinition of the Agent,
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An agent that goes straight
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"""
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def run_step(self, measurements, sensor_data, target):
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control = VehicleControl()
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control.throttle = 0.9
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return control
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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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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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while True:
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try:
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with make_carla_client(args.host, args.port) as client:
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corl = CoRL2017(city_name=args.city_name, name_to_save=args.log_name)
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agent = Manual(args.city_name)
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results = corl.benchmark_agent(agent, client)
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corl.plot_summary_test()
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corl.plot_summary_train()
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break
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except TCPConnectionError as error:
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logging.error(error)
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time.sleep(1)
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