Updated Changelog

Change-Id: Ia148688cf25a040807d0d51a085877f6d8334a75

Author: fabianoboril

CHANGELOG.md

@@ -1,28 +1,28 @@
 ## Latest changes
-* Added logging functionalities to challenge_evaluator_routes.py
-* Added wall clock timeout for the CARLA challenge
-* Added background scenario to generate dynamic traffic using autopilot
-* Updated compatibility with Python 2.7 for the challenge evaluator
-* Updated WaypointFollower behavior
-* Added detect_lane_obstacle() helper function which identifies if an obstacle is present in front of the reference actor
-* Added test to detect vehicles running a stop
-* Updated the reference position for a scenario is now called trigger_point
-* Added universal access to the map without re-calling get_map()
-* Added criteria_enable flag to enable/disable criteria tree
-* Added multiple helper methods for generic scenario execution.
-* Added pseudo-sensors for SceneLayoutMeasurements and ObjectMeasurements for Track4 of the CARLA AD challenge
-* Extended CarlaDataProvider with method to get next relevant traffic light
-* Added track identification for autonomous_agent.py
-* Added HDMap pseudo-sensor
-* Added wrong way test
-* Added new traffic event logger
-* Added running red light test
-* Added running stop test
-* Added various helper methods to allow generic scenario execution
-* Added method to calculate distance along a route
-* Updated folder structure and naming convention in lowercase
-* In challenge mode spawn exception are caught and the corresponding scenario is removed
+
+## CARLA Scenario_Runner 0.9.5
+* Added support for CARLA challenge
+    - Added logging functionalities to challenge_evaluator_routes.py
+    - Added wall clock timeout for the CARLA challenge
+    - Added background scenario to generate dynamic traffic using autopilot
+    - Updated compatibility with Python 2.7 for the challenge evaluator
+    - Updated WaypointFollower behavior
+    - Added detect_lane_obstacle() helper function which identifies if an obstacle is present in front of the reference actor
+    - Added test to detect vehicles running a stop
+    - Updated the reference position for a scenario is now called trigger_point
+    - Added universal access to the map without re-calling get_map()
+    - Added criteria_enable flag to enable/disable criteria tree
+    - Added multiple helper methods for generic scenario execution.
+    - Added pseudo-sensors for SceneLayoutMeasurements and ObjectMeasurements for Track4 of the CARLA AD challenge
+    - Added track identification for autonomous_agent.py
+    - Added HDMap pseudo-sensor
+    - Added new traffic event logger
+    - Added various helper methods to allow generic scenario execution
+    - Added method to calculate distance along a route
+    - In challenge mode spawn exception are caught and the corresponding scenario is removed
 * Reworked scenario execution
+    - Updated folder structure and naming convention in lowercase
+    - Extended CarlaDataProvider with method to get next relevant traffic light
     - Every scenario has to have a configuration provided as XML file.
       Currently there is one XML file for each scenario class
     - The scenario runner is now responsible for spawning/destroying the ego vehicle
@@ -44,6 +44,10 @@
     - ActorSource: creates actors indefinitely around a location if no other vehicles are present within a threshold
     - ActorSink: indefinitely destroys vehicles that wander close to a location within a threshold
     - InTriggerDistanceToLocationAlongRoute: check if an actor is within a certain distance to a given location along a given route
+* Added new atomic evaluation criteria
+    - Added running red light test
+    - Added running stop test
+    - Added wrong way test
 * Fixes
     - Fixed SteerVehicle atomic behavior to keep vehicle velocity
 * Updated NHTSA Traffic Scenarios
@@ -57,8 +61,6 @@
                                    straight initially from a lateral direction and avoid collision at a signalized intersection.
     - SignalizedJunctionLeftTurn : hero vehicle is turning left at signalized intersection, cuts across the path of another vehicle
                                    coming straight crossing from an opposite direction.
-* Traffic flow scenario rework
-    - Traffic scenario 06 modified to simulate a flow of vehicles
 
 ## CARLA Scenario_Runner 0.9.2
 

srunner/challenge/challenge_evaluator_routes.py

@@ -183,15 +183,15 @@ def __init__(self, args):
 
         if phase_codename == 'dev':
             split_name = 'dev_split'
-            self.routes =  '{}/srunner/challenge/routes_devtest.xml'.format(scenario_runner_root)
+            self.routes = '{}/srunner/challenge/routes_devtest.xml'.format(scenario_runner_root)
             repetitions = 1
         elif phase_codename == 'validation':
             split_name = 'val_split'
-            self.routes =  '{}/srunner/challenge/routes_testprep.xml'.format(scenario_runner_root)
+            self.routes = '{}/srunner/challenge/routes_testprep.xml'.format(scenario_runner_root)
             repetitions = 3
         elif phase_codename == 'test':
             split_name = 'test_split'
-            self.routes =  '{}/srunner/challenge/routes_testchallenge.xml'.format(scenario_runner_root)
+            self.routes = '{}/srunner/challenge/routes_testchallenge.xml'.format(scenario_runner_root)
             repetitions = 3
         else:
             # debug mode
@@ -252,7 +252,6 @@ def __init__(self, args):
         # debugging parameters
         self.route_visible = self.debug > 0
 
-
     def within_available_time(self):
         current_time = datetime.datetime.now()
         elapsed_seconds = (current_time - self.start_wall_time).seconds
@@ -281,7 +280,6 @@ def cleanup(self, ego=False):
         CarlaActorPool.cleanup()
         CarlaDataProvider.cleanup()
 
-
         if ego and self.ego_vehicle is not None:
             self.ego_vehicle.destroy()
             self.ego_vehicle = None
@@ -342,7 +340,7 @@ def draw_waypoints(self, waypoints, turn_positions_and_labels, vertical_shift, p
 
             for position in range(start, end):
                 self.world.debug.draw_point(waypoints[position][0].location + carla.Location(z=vertical_shift),
-                                       size=0.2, color=color, life_time=persistency)
+                                            size=0.2, color=color, life_time=persistency)
 
         self.world.debug.draw_point(waypoints[0][0].location + carla.Location(z=vertical_shift), size=0.2,
                                     color=carla.Color(0, 0, 255), life_time=persistency)
@@ -496,7 +494,7 @@ def build_master_scenario(self, route, town_name, timeout=300):
         blackboard.set('master_scenario_command', 'scenarios_running')
 
         return MasterScenario(self.world, self.ego_vehicle, master_scenario_configuration,
-                              timeout=timeout, debug_mode=self.debug>1)
+                              timeout=timeout, debug_mode=self.debug > 1)
 
     def build_background_scenario(self, town_name, timeout=300):
         scenario_configuration = ScenarioConfiguration()
@@ -527,15 +525,15 @@ def build_background_scenario(self, town_name, timeout=300):
         scenario_configuration.other_actors = [actor_configuration_instance]
 
         return BackgroundActivity(self.world, self.ego_vehicle, scenario_configuration,
-                                  timeout=timeout, debug_mode=self.debug>1)
+                                  timeout=timeout, debug_mode=self.debug > 1)
 
     def build_trafficlight_scenario(self, town_name, timeout=300):
         scenario_configuration = ScenarioConfiguration()
         scenario_configuration.route = None
         scenario_configuration.town = town_name
 
         return TrafficLightScenario(self.world, self.ego_vehicle, scenario_configuration,
-                                    timeout=timeout, debug_mode=self.debug>1)
+                                    timeout=timeout, debug_mode=self.debug > 1)
 
     def build_scenario_instances(self, scenario_definition_vec, town_name, timeout=300):
         """
@@ -644,7 +642,6 @@ def run_route(self, trajectory, no_master=False):
                                              draw_shadow=False, color=carla.Color(255, 255, 255),
                                              life_time=0.01)
 
-
             if self.route_visible:
                 turn_positions_and_labels = clean_route(trajectory)
                 self.draw_waypoints(trajectory, turn_positions_and_labels,
@@ -661,15 +658,14 @@ def run_route(self, trajectory, no_master=False):
                 except Exception:
                     attempts += 1
                     print('======[WARNING] The server is frozen [{}/{} attempts]!!'.format(attempts,
-                                                                                       self.MAX_CONNECTION_ATTEMPTS))
+                                                                                           self.MAX_CONNECTION_ATTEMPTS))
                     time.sleep(2.0)
                     continue
 
-
             # check for scenario termination
             for i, _ in enumerate(self.list_scenarios):
 
-                if self.debug==1:
+                if self.debug == 1:
                     behavior = self.list_scenarios[i].scenario.scenario_tree.children[0]
                     if behavior.tip():
                         print("{} {} {} {}".format(self.list_scenarios[i].scenario.scenario_tree.name,
@@ -680,8 +676,8 @@ def run_route(self, trajectory, no_master=False):
                         "InTriggerDistanceToLocationAlongRoute" and self.list_scenarios[
                         i].scenario.scenario_tree.name != "MasterScenario" and
                         self.list_scenarios[i].scenario.scenario_tree.name != "BackgroundActivity" and
-                        self.list_scenarios[i].scenario.scenario_tree.name != "TrafficLightScenario"):
-                        pass # TODO: find a fix for this ascii bug
+                            self.list_scenarios[i].scenario.scenario_tree.name != "TrafficLightScenario"):
+                        pass  # TODO: find a fix for this ascii bug
                         # py_trees.display.print_ascii_tree(self.list_scenarios[i].scenario.scenario_tree, 2, True)
 
                     # The scenario status can be: INVALID, RUNNING, SUCCESS, FAILURE. Only the last two
@@ -694,7 +690,6 @@ def run_route(self, trajectory, no_master=False):
                     self.list_scenarios[i] = None
             self.list_scenarios[:] = [scenario for scenario in self.list_scenarios if scenario]
 
-
         # Route finished set for the background scenario to also finish
         blackboard = py_trees.blackboard.Blackboard()
         blackboard.set('master_scenario_command', 'scenarios_stop_request')
@@ -714,7 +709,6 @@ def record_fatal_error(self, error_message):
         return_message = error_message
         return_message += "\n=================================="
 
-
         current_statistics = {'id': -1,
                               'score_composed': score_composed,
                               'score_route': score_route,
@@ -833,7 +827,6 @@ def compute_current_statistics(self):
 
         return score_composed, score_route, score_penalty
 
-
     def record_route_statistics_default(self, route_id):
         """
           This function is intended to be called from outside and provide
@@ -928,9 +921,9 @@ def record_route_statistics_default(self, route_id):
 
         return_message += "\n=================================="
         return_message += "\n==[r{}:{}] [Score = {:.2f} : (route_score={}, infractions=-{})]".format(route_id, result,
-                                                                                                 score_composed,
-                                                                                                 score_route,
-                                                                                                 score_penalty)
+                                                                                                     score_composed,
+                                                                                                     score_route,
+                                                                                                     score_penalty)
         if list_collisions:
             return_message += "\n===== Collisions:"
             for item in list_collisions:
@@ -985,7 +978,6 @@ def report_challenge_statistics(self, filename, show_to_participant):
             for stats in self.statistics_routes:
                 help_message += "{}\n\n".format(stats['help_text'])
 
-
         else:
             submission_status = 'FINISHED'
 
@@ -1001,7 +993,7 @@ def report_challenge_statistics(self, filename, show_to_participant):
         # create json structure
         json_data = {
             'submission_status': submission_status,
-            'stderr': help_message if self.phase == 'dev' or  self.phase == 'debug' else 'No metadata provided for '
+            'stderr': help_message if self.phase == 'dev' or self.phase == 'debug' else 'No metadata provided for '
                                                                                          'this phase',
             'result': [
                 {
@@ -1157,9 +1149,9 @@ def load_environment_and_run(self, args, world_annotations, route_description):
 
         self.background_scenario = self.build_background_scenario(_route_description['town_name'],
                                                                   timeout=route_timeout)
-        
+
         self.traffic_light_scenario = self.build_trafficlight_scenario(_route_description['town_name'],
-                                                                  timeout=route_timeout)
+                                                                       timeout=route_timeout)
 
         self.list_scenarios = [self.master_scenario, self.background_scenario, self.traffic_light_scenario]
         # build the instance based on the parsed definitions.
@@ -1332,7 +1324,6 @@ def run(self, args):
         print("Error. ROOT_SCENARIO_RUNNER not found. Please run setup_environment.sh first.")
         sys.exit(0)
 
-
     if ARGUMENTS.scenarios is None:
         print("Please specify a path to a scenario specification file  '--scenarios path-to-file'\n\n")
         PARSER.print_help(sys.stdout)

srunner/scenariomanager/atomic_scenario_behavior.py

@@ -1323,8 +1323,8 @@ def update(self):
 
             else:
                 # the traffic light has been manipulated...
-                base_transform =  self.target_traffic_light.get_transform()
-                area_loc = carla.Location(base_transform.transform( self.target_traffic_light.trigger_volume.location))
+                base_transform = self.target_traffic_light.get_transform()
+                area_loc = carla.Location(base_transform.transform(self.target_traffic_light.trigger_volume.location))
                 distance_to_traffic_light = area_loc.distance(self.ego_vehicle.get_location())
 
                 if self.debug: