From 5828e5913d7bace51de56d8516ca6c6190213acb Mon Sep 17 00:00:00 2001
From: Tay Yim <yan_sy@126.com>
Date: Mon, 3 Jun 2024 16:24:19 +0800
Subject: [PATCH] Added log agent

---
 .../scenariomanager/carla_data_provider.py    | 31 +++++++++++++++++++
 .../scenarioatomics/atomic_behaviors.py       |  4 ++-
 2 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/srunner/scenariomanager/carla_data_provider.py b/srunner/scenariomanager/carla_data_provider.py
index 83ac00546..9e5e23d39 100644
--- a/srunner/scenariomanager/carla_data_provider.py
+++ b/srunner/scenariomanager/carla_data_provider.py
@@ -70,6 +70,7 @@ class CarlaDataProvider(object):  # pylint: disable=too-many-public-methods
     _grp = None                 # type: GlobalRoutePlanner
     _runtime_init_flag = False
     _lock = threading.Lock()
+    _latest_scenario = ""
 
     @staticmethod
     def set_local_planner(plan):
@@ -268,6 +269,20 @@ def get_global_route_planner():
         """
         return CarlaDataProvider._grp
 
+    @staticmethod
+    def set_ego_route(route):
+        """
+        set the ego route
+        """
+        CarlaDataProvider._ego_vehicle_route = route
+
+    @staticmethod
+    def get_ego_route():
+        """
+        @return the ego route
+        """
+        return CarlaDataProvider._ego_vehicle_route
+
     @staticmethod
     def get_all_actors():
         """
@@ -1023,6 +1038,20 @@ def set_traffic_manager_port(tm_port):
         """
         CarlaDataProvider._traffic_manager_port = tm_port
 
+    @staticmethod
+    def set_latest_scenario(scenario_name):
+        """
+        Set the latest scenario
+        """
+        CarlaDataProvider._latest_scenario = scenario_name
+
+    @staticmethod
+    def get_latest_scenario():
+        """
+        Get the latest scenario
+        """
+        return CarlaDataProvider._latest_scenario
+
     @staticmethod
     def cleanup():
         """
@@ -1061,7 +1090,9 @@ def cleanup():
         CarlaDataProvider._rng = random.RandomState(CarlaDataProvider._random_seed)
         CarlaDataProvider._grp = None
         CarlaDataProvider._runtime_init_flag = False
+        CarlaDataProvider._latest_scenario = ""
 
     @property
     def world(self):
         return self._world
+
diff --git a/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py b/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py
index 5bac4339e..56b03de0a 100644
--- a/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py
+++ b/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py
@@ -4425,7 +4425,7 @@ def update(self):
 
         # Check which scenarios can be triggered
         blackboard = py_trees.blackboard.Blackboard()
-        for black_var_name, scen_location in self._blackboard_list:
+        for black_var_name, scen_location, scen_name in self._blackboard_list:
 
             # Close enough
             scen_distance = route_location.distance(scen_location)
@@ -4442,6 +4442,8 @@ def update(self):
                 _ = blackboard.set(black_var_name, True)
                 self._triggered_scenarios.append(black_var_name)
 
+                CarlaDataProvider.set_latest_scenario(scen_name)
+
                 if self._debug:
                     self._world.debug.draw_point(
                         scen_location + carla.Location(z=4),