configure sync/async mode

JdeRobot · Sep 4, 2023 · 65d3c2e · 65d3c2e
1 parent 0cfbf73
commit 65d3c2e
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Showing 4 changed files with 16 additions and 14 deletions.
diff --git a/behavior_metrics/driver_carla.py b/behavior_metrics/driver_carla.py
@@ -285,7 +285,8 @@ def main():
         traffic_manager = TrafficManager(app_configuration.number_of_vehicle, 
                                          app_configuration.number_of_walker, 
                                          app_configuration.percentage_walker_running, 
-                                         app_configuration.percentage_walker_crossing)
+                                         app_configuration.percentage_walker_crossing,
+                                         app_configuration.async_mode)
         traffic_manager.generate_traffic()
 
         # Launch control

diff --git a/behavior_metrics/pilot_carla.py b/behavior_metrics/pilot_carla.py
@@ -165,7 +165,8 @@ def run(self):
                     time.sleep((self.time_cycle - ms) / 1000.0)
                 self.real_time_factors.append(self.real_time_factor)
                 self.brain_iterations_simulated_time.append(self.ros_clock_time - start_time_ros)
-                self.controller.world.tick()
+                if not self.async_mode:
+                    self.controller.world.tick()
         self.execution_completed = True
         self.kill()
         logger.info('Pilot: pilot killed.')

diff --git a/behavior_metrics/utils/controller_carla.py b/behavior_metrics/utils/controller_carla.py
@@ -89,10 +89,6 @@ def __init__(self):
                 time.sleep(1)  # sleep for 1 second before checking again
         self.map_waypoints = self.carla_map.generate_waypoints(0.5)
         self.weather = self.world.get_weather()
-
-        settings = self.world.get_settings()
-        settings.synchronous_mode = True 
-        self.world.apply_settings(settings)
 
     # GUI update
     def update_frame(self, frame_id, data):

diff --git a/behavior_metrics/utils/traffic.py b/behavior_metrics/utils/traffic.py
@@ -3,14 +3,18 @@
 from utils.logger import logger
 import random
 
-SpawnActor = carla.command.SpawnActor
-SetAutopilot = carla.command.SetAutopilot
-FutureActor = carla.command.FutureActor
+spawn_actor = carla.command.SpawnActor
+set_autopilot = carla.command.SetAutopilot
+future_actor = carla.command.FutureActor
 
 class TrafficManager:
-    def __init__(self, n_vehicle, n_walker, percentage_walker_running=0.0, percentage_walker_crossing=0.0, port=8000):
+    def __init__(self, n_vehicle, n_walker, percentage_walker_running=0.0, percentage_walker_crossing=0.0, async_mode=False, port=8000):
         self.client = carla.Client('localhost', 2000)
         self.world = self.client.get_world()
+        if not async_mode:
+            settings = self.world.get_settings()
+            settings.synchronous_mode = True 
+            self.world.apply_settings(settings)
 
         traffic_manager = self.client.get_trafficmanager(port)
         traffic_manager.set_synchronous_mode(True)
@@ -103,8 +107,8 @@ def spawn_vehicles(self, world, client, n_vehicles, traffic_manager):
                 blueprint.set_attribute('driver_id', driver_id)
             blueprint.set_attribute('role_name', 'autopilot')
 
-            batch.append(SpawnActor(blueprint, transform)
-                .then(SetAutopilot(FutureActor, True, traffic_manager.get_port())))
+            batch.append(spawn_actor(blueprint, transform)
+                .then(set_autopilot(future_actor, True, traffic_manager.get_port())))
 
         for response in client.apply_batch_sync(batch, True):
             if response.error:
@@ -141,7 +145,7 @@ def spawn_pedestrians(self, world, client, n_pedestrians, percentagePedestriansR
             else:
                 print("Walker has no speed")
                 walker_speed.append(0.0)
-            batch.append(SpawnActor(walker_bp, spawn_point))
+            batch.append(spawn_actor(walker_bp, spawn_point))
         results = client.apply_batch_sync(batch, True)
         walker_speed2 = []
         for i in range(len(results)):
@@ -155,7 +159,7 @@ def spawn_pedestrians(self, world, client, n_pedestrians, percentagePedestriansR
         batch = []
         walker_controller_bp = world.get_blueprint_library().find('controller.ai.walker')
         for i in range(len(walkers_list)):
-            batch.append(SpawnActor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"]))
+            batch.append(spawn_actor(walker_controller_bp, carla.Transform(), walkers_list[i]["id"]))
         results = client.apply_batch_sync(batch, True)
         for i in range(len(results)):
             if results[i].error: