From 9dc569b8c6dec8652328e0b1f83a315aa85c7322 Mon Sep 17 00:00:00 2001 From: Daniel Date: Fri, 25 Oct 2024 20:22:03 +0200 Subject: [PATCH] parameterless super() minor changes --- .../scenarioatomics/atomic_behaviors.py | 156 +++++++++--------- .../scenarioatomics/atomic_criteria.py | 54 +++--- .../atomic_trigger_conditions.py | 81 ++++----- srunner/tools/py_trees_port.py | 2 +- srunner/tools/scenario_helper.py | 6 +- 5 files changed, 150 insertions(+), 149 deletions(-) diff --git a/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py b/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py index 1da167ca8..3904931d7 100644 --- a/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py +++ b/srunner/scenariomanager/scenarioatomics/atomic_behaviors.py @@ -104,7 +104,7 @@ def __init__(self, name, actor=None): """ Default init. Has to be called via super from derived class """ - super(AtomicBehavior, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self.name = name self._actor = actor @@ -163,7 +163,7 @@ def __init__(self, script, base_path=None, name="RunScript"): """ Setup parameters """ - super(RunScript, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._script = script self._base_path = base_path @@ -200,7 +200,7 @@ class ChangeParameter(AtomicBehavior): """ def __init__(self, parameter_ref, value, rule=None, name="ChangeParameter"): - super(ChangeParameter, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % self.__class__.__name__) self._parameter_ref = parameter_ref self._rule = rule @@ -247,7 +247,7 @@ def __init__(self, weather, name="ChangeWeather"): """ Setup parameters """ - super(ChangeWeather, self).__init__(name) + super().__init__(name) self._weather = weather def update(self): @@ -281,7 +281,7 @@ def __init__(self, friction, name="ChangeRoadFriction"): """ Setup parameters """ - super(ChangeRoadFriction, self).__init__(name) + super().__init__(name) self._friction = friction def update(self): @@ -335,7 +335,7 @@ def __init__(self, actor, control_py_module, args, scenario_file_path=None, name """ Setup actor controller. """ - super(ChangeActorControl, self).__init__(name, actor) + super().__init__(name, actor) self._actor_control = ActorControl(actor, control_py_module=control_py_module, args=args, scenario_file_path=scenario_file_path) @@ -383,7 +383,7 @@ def __init__(self, name="UpdateAllActorControls"): """ Constructor """ - super(UpdateAllActorControls, self).__init__(name) + super().__init__(name) def update(self): """ @@ -464,7 +464,7 @@ def __init__(self, actor, target_speed, init_speed=False, """ Setup parameters """ - super(ChangeActorTargetSpeed, self).__init__(name, actor) + super().__init__(name, actor) self._target_speed = target_speed self._init_speed = init_speed @@ -517,7 +517,7 @@ def initialise(self): if self._init_speed: actor_dict[self._actor.id].set_init_speed() - super(ChangeActorTargetSpeed, self).initialise() + super().initialise() def update(self): """ @@ -597,7 +597,7 @@ def __init__(self, actor, master_actor, actor_target, master_target, final_speed """ Setup required parameters """ - super(SyncArrivalOSC, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor @@ -724,7 +724,7 @@ def terminate(self, new_status): self._final_speed_set = True - super(SyncArrivalOSC, self).terminate(new_status) + super().terminate(new_status) class ChangeActorWaypoints(AtomicBehavior): @@ -759,7 +759,7 @@ def __init__(self, actor, waypoints, times=None, name="ChangeActorWaypoints"): """ Setup parameters """ - super(ChangeActorWaypoints, self).__init__(name, actor) + super().__init__(name, actor) self._waypoints = waypoints self._start_time = None @@ -839,7 +839,7 @@ def initialise(self): actor_dict[self._actor.id].update_waypoints(route, start_time=self._start_time) - super(ChangeActorWaypoints, self).initialise() + super().initialise() def update(self): """ @@ -916,7 +916,7 @@ def __init__(self, actor, position, name="ChangeActorWaypointsToReachPosition"): """ Setup parameters """ - super(ChangeActorWaypointsToReachPosition, self).__init__(actor, []) + super().__init__(actor, []) self._end_transform = position @@ -943,7 +943,7 @@ def initialise(self): for elem in plan: self._waypoints.append(elem[0].transform) - super(ChangeActorWaypointsToReachPosition, self).initialise() + super().initialise() class ChangeActorLateralMotion(AtomicBehavior): @@ -993,7 +993,7 @@ def __init__(self, actor, direction='left', distance_lane_change=25, distance_ot """ Setup parameters """ - super(ChangeActorLateralMotion, self).__init__(name, actor) + super().__init__(name, actor) self._waypoints = [] self._direction = direction @@ -1044,7 +1044,7 @@ def initialise(self): actor_dict[self._actor.id].update_waypoints(self._waypoints, start_time=self._start_time) - super(ChangeActorLateralMotion, self).initialise() + super().initialise() def update(self): """ @@ -1143,7 +1143,7 @@ def __init__(self, actor, offset, relative_actor=None, continuous=True, name="Ch """ Setup parameters """ - super(ChangeActorLaneOffset, self).__init__(name, actor) + super().__init__(name, actor) self._offset = offset self._relative_actor = relative_actor @@ -1178,7 +1178,7 @@ def initialise(self): actor_dict[self._actor.id].update_offset(self._offset, start_time=self._start_time) - super(ChangeActorLaneOffset, self).initialise() + super().initialise() def update(self): """ @@ -1273,7 +1273,7 @@ def terminate(self, new_status): self._overwritten = True - super(ChangeActorLaneOffset, self).terminate(new_status) + super().terminate(new_status) class ChangeLateralDistance(AtomicBehavior): @@ -1315,7 +1315,7 @@ def __init__(self, actor, offset, relative_actor=None, freespace=False, """ Setup parameters """ - super(ChangeLateralDistance, self).__init__(name, actor) + super().__init__(name, actor) self._offset = offset self._relative_actor = relative_actor @@ -1359,7 +1359,7 @@ def initialise(self): actor_dict[self._actor.id].update_offset(self._offset, start_time=self._start_time) - super(ChangeLateralDistance, self).initialise() + super().initialise() def update(self): """ @@ -1454,7 +1454,7 @@ def terminate(self, new_status): self._overwritten = True - super(ChangeLateralDistance, self).terminate(new_status) + super().terminate(new_status) class ActorTransformSetterToOSCPosition(AtomicBehavior): @@ -1481,14 +1481,14 @@ def __init__(self, actor, osc_position, physics=True, name="ActorTransformSetter """ Setup parameters """ - super(ActorTransformSetterToOSCPosition, self).__init__(name, actor) + super().__init__(name, actor) self._osc_position = osc_position self._physics = physics self._osc_transform = None def initialise(self): - super(ActorTransformSetterToOSCPosition, self).initialise() + super().initialise() if self._actor.is_alive: self._actor.set_target_velocity(carla.Vector3D(0, 0, 0)) @@ -1536,7 +1536,7 @@ def __init__(self, actor, throttle_value, target_velocity, name="Acceleration"): Setup parameters including acceleration value (via throttle_value) and target velocity """ - super(AccelerateToVelocity, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._control, self._type = get_actor_control(actor) self._throttle_value = throttle_value @@ -1548,7 +1548,7 @@ def initialise(self): self._control.speed = self._target_velocity self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector() - super(AccelerateToVelocity, self).initialise() + super().initialise() def update(self): """ @@ -1592,7 +1592,7 @@ def __init__(self, actor, start_velocity, target_velocity, acceleration, start_t Setup parameters including acceleration value (via throttle_value), start_velocity, target velocity and duration """ - super(UniformAcceleration, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._control, self._type = get_actor_control(actor) self._start_velocity = start_velocity @@ -1608,7 +1608,7 @@ def initialise(self): self._control.speed = self._start_velocity self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector() - super(UniformAcceleration, self).initialise() + super().initialise() def update(self): """ @@ -1656,7 +1656,7 @@ def __init__(self, actor, target_velocity, name="ChangeTargetSpeed"): Setup parameters including acceleration value (via throttle_value) and target velocity """ - super(ChangeTargetSpeed, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._control, self._type = get_actor_control(actor) self._target_velocity = target_velocity @@ -1667,7 +1667,7 @@ def initialise(self): self._control.speed = self._target_velocity self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector() - super(ChangeTargetSpeed, self).initialise() + super().initialise() def update(self): """ @@ -1719,7 +1719,7 @@ def __init__(self, actor, brake_value, target_velocity, name="Deceleration"): Setup parameters including acceleration value (via throttle_value) and target velocity """ - super(DecelerateToVelocity, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._control, self._type = get_actor_control(actor) self._brake_value = brake_value @@ -1731,7 +1731,7 @@ def initialise(self): self._control.speed = self._target_velocity self._control.direction = CarlaDataProvider.get_transform(self._actor).get_forward_vector() - super(DecelerateToVelocity, self).initialise() + super().initialise() def update(self): """ @@ -1781,7 +1781,7 @@ def __init__(self, actor, other_actor, throttle_value=1, delta_velocity=10, trig Setup parameters The target_speet is calculated on the fly. """ - super(AccelerateToCatchUp, self).__init__(name, actor) + super().__init__(name, actor) self._other_actor = other_actor self._throttle_value = throttle_value @@ -1797,7 +1797,7 @@ def initialise(self): # get initial actor position self._initial_actor_pos = CarlaDataProvider.get_location(self._actor) - super(AccelerateToCatchUp, self).initialise() + super().initialise() def update(self): @@ -1859,7 +1859,7 @@ def __init__(self, actor, target_velocity, force_speed=False, Setup parameters including acceleration value (via throttle_value) and target velocity """ - super(KeepVelocity, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._target_velocity = target_velocity @@ -1887,7 +1887,7 @@ def initialise(self): self._control.hand_brake = False self._actor.apply_control(self._control) - super(KeepVelocity, self).initialise() + super().initialise() def update(self): """ @@ -1940,7 +1940,7 @@ def terminate(self, new_status): self._actor.apply_control(self._control) except RuntimeError: pass - super(KeepVelocity, self).terminate(new_status) + super().terminate(new_status) class ChangeAutoPilot(AtomicBehavior): @@ -1963,7 +1963,7 @@ def __init__(self, actor, activate, parameters=None, name="ChangeAutoPilot"): """ Setup parameters """ - super(ChangeAutoPilot, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._activate = activate self._tm = CarlaDataProvider.get_client().get_trafficmanager( @@ -2025,7 +2025,7 @@ def __init__(self, actor, brake_value, name="Stopping"): """ Setup _actor and maximum braking value """ - super(StopVehicle, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._control, self._type = get_actor_control(actor) if self._type == 'walker': @@ -2075,7 +2075,7 @@ def __init__(self, actor, actor_reference, target_location, gain=1, name="SyncAr """ Setup required parameters """ - super(SyncArrival, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._control = carla.VehicleControl() self._actor_reference = actor_reference @@ -2127,7 +2127,7 @@ def terminate(self, new_status): self._control.throttle = 0.0 self._control.brake = 0.0 self._actor.apply_control(self._control) - super(SyncArrival, self).terminate(new_status) + super().terminate(new_status) class SyncArrivalWithAgent(AtomicBehavior): @@ -2296,7 +2296,7 @@ def __init__(self, actor, steer_value, throttle_value, name="Jittering"): """ Setup actor , maximum steer value and throttle value """ - super(AddNoiseToVehicle, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._control = carla.VehicleControl() self._steer_value = steer_value @@ -2382,7 +2382,7 @@ def __init__(self, new_steer_noise, new_throttle_noise, """ Setup actor , maximum steer value and throttle value """ - super(ChangeNoiseParameters, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._new_steer_noise = new_steer_noise self._new_throttle_noise = new_throttle_noise @@ -2430,7 +2430,7 @@ def __init__( """ Setup actor and maximum steer value """ - super(BasicAgentBehavior, self).__init__(name, actor) + super().__init__(name, actor) self._map = CarlaDataProvider.get_map() self._target_location = target_location self._target_speed = target_speed @@ -2471,7 +2471,7 @@ def terminate(self, new_status): self._control.throttle = 0.0 self._control.brake = 0.0 self._actor.apply_control(self._control) - super(BasicAgentBehavior, self).terminate(new_status) + super().terminate(new_status) class ConstantVelocityAgentBehavior(AtomicBehavior): @@ -2494,7 +2494,7 @@ def __init__(self, actor, target_location, target_speed=None, """ Set up actor and local planner """ - super(ConstantVelocityAgentBehavior, self).__init__(name, actor) + super().__init__(name, actor) self._target_speed = target_speed self._map = CarlaDataProvider.get_map() self._target_location = target_location @@ -2537,7 +2537,7 @@ def terminate(self, new_status): self._actor.apply_control(self._control) if self._agent: self._agent.destroy_sensor() - super(ConstantVelocityAgentBehavior, self).terminate(new_status) + super().terminate(new_status) class AdaptiveConstantVelocityAgentBehavior(AtomicBehavior): @@ -2629,7 +2629,7 @@ def __init__(self, duration=float("inf"), name="Idle"): """ Setup actor """ - super(Idle, self).__init__(name) + super().__init__(name) self._duration = duration self._start_time = 0 self.logger.debug("%s.__init__()" % (self.__class__.__name__)) @@ -2639,7 +2639,7 @@ def initialise(self): Set start time """ self._start_time = GameTime.get_time() - super(Idle, self).initialise() + super().initialise() def update(self): """ @@ -2722,7 +2722,7 @@ def __init__(self, actor, target_speed=None, plan=None, blackboard_queue_name=No """ Set up actor and local planner """ - super(WaypointFollower, self).__init__(name, actor) + super().__init__(name, actor) self._actor_dict = {} self._actor_dict[actor] = None self._target_speed = target_speed @@ -2743,7 +2743,7 @@ def initialise(self): Checks if another WaypointFollower behavior is already running for this actor. If this is the case, a termination signal is sent to the running behavior. """ - super(WaypointFollower, self).initialise() + super().initialise() self._start_time = GameTime.get_time() self._unique_id = int(round(time.time() * 1e9)) try: @@ -2894,7 +2894,7 @@ def terminate(self, new_status): self._local_planner_dict = {} self._actor_dict = {} - super(WaypointFollower, self).terminate(new_status) + super().terminate(new_status) class LaneChange(WaypointFollower): @@ -2939,7 +2939,7 @@ def __init__(self, actor, speed=10, direction='left', distance_same_lane=5, dist self._pos_before_lane_change = None self._plan = None - super(LaneChange, self).__init__(actor, target_speed=speed, name=name) + super().__init__(actor, target_speed=speed, name=name) def initialise(self): @@ -2950,7 +2950,7 @@ def initialise(self): self._plan, self._target_lane_id = generate_target_waypoint_list_multilane( position_actor, self._direction, self._distance_same_lane, self._distance_other_lane, self._distance_lane_change, check=True, lane_changes=self._lane_changes) - super(LaneChange, self).initialise() + super().initialise() def update(self): @@ -2958,7 +2958,7 @@ def update(self): print("{} couldn't perform the expected lane change".format(self._actor)) return py_trees.common.Status.FAILURE - status = super(LaneChange, self).update() + status = super().update() current_position_actor = CarlaDataProvider.get_map().get_waypoint(self._actor.get_location()) current_lane_id = current_position_actor.lane_id @@ -2989,7 +2989,7 @@ def __init__(self, actor, init_speed=10, name='SetInitSpeed'): self._terminate = None self._actor = actor - super(SetInitSpeed, self).__init__(name, actor) + super().__init__(name, actor) def initialise(self): """ @@ -3028,7 +3028,7 @@ def __init__(self, vehicle, hand_brake_value, name="Braking"): """ Setup vehicle control and brake value """ - super(HandBrakeVehicle, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._vehicle = vehicle self._control, self._type = get_actor_control(vehicle) @@ -3067,7 +3067,7 @@ def __init__(self, actor, name="ActorDestroy"): """ Setup actor """ - super(ActorDestroy, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) def update(self): @@ -3104,7 +3104,7 @@ def __init__(self, actor, transform, physics=True, name="ActorTransformSetter"): """ Init """ - super(ActorTransformSetter, self).__init__(name, actor) + super().__init__(name, actor) self._transform = transform self._physics = physics self.logger.debug("%s.__init__()" % (self.__class__.__name__)) @@ -3114,7 +3114,7 @@ def initialise(self): self._actor.set_target_velocity(carla.Vector3D(0, 0, 0)) self._actor.set_target_angular_velocity(carla.Vector3D(0, 0, 0)) self._actor.set_transform(self._transform) - super(ActorTransformSetter, self).initialise() + super().initialise() def update(self): """ @@ -3186,7 +3186,7 @@ def __init__(self, actor, state, name="TrafficLightStateSetter"): """ Init """ - super(TrafficLightStateSetter, self).__init__(name) + super().__init__(name) self._actor = actor if "traffic_light" in actor.type_id else None self._state = state @@ -3225,7 +3225,7 @@ def __init__(self, traffic_signal_id, state, duration, delay=None, ref_id=None, """ Init """ - super(TrafficLightControllerSetter, self).__init__(name) + super().__init__(name) self.actor_id = traffic_signal_id self._actor = None self._start_time = None @@ -3282,7 +3282,7 @@ def terminate(self, new_status): self._actor.set_red_time(self._previous_traffic_light_info[self._actor]['red_time']) self._actor.set_yellow_time(self._previous_traffic_light_info[self._actor]['yellow_time']) - super(TrafficLightControllerSetter, self).terminate(new_status) + super().terminate(new_status) class ActorSource(AtomicBehavior): @@ -3307,7 +3307,7 @@ def __init__(self, actor_type_list, transform, threshold, blackboard_queue_name, """ Setup class members """ - super(ActorSource, self).__init__(name) + super().__init__(name) self._world = CarlaDataProvider.get_world() self._actor_types = actor_type_list self._spawn_point = transform @@ -3361,7 +3361,7 @@ def __init__(self, sink_location, threshold, name="ActorSink"): """ Setup class members """ - super(ActorSink, self).__init__(name) + super().__init__(name) self._sink_location = sink_location self._threshold = threshold @@ -3955,7 +3955,7 @@ def __init__(self, actor, vehicle_door, name="OpenVehicleDoor"): """ Setup class members """ - super(OpenVehicleDoor, self).__init__(name, actor) + super().__init__(name, actor) self._vehicle_door = vehicle_door self.logger.debug("%s.__init__()" % (self.__class__.__name__)) @@ -3987,7 +3987,7 @@ class TrafficLightFreezer(AtomicBehavior): def __init__(self, traffic_lights_dict, duration=10000, name="TrafficLightFreezer"): """Setup class members""" - super(TrafficLightFreezer, self).__init__(name) + super().__init__(name) self._traffic_lights_dict = traffic_lights_dict self._duration = duration self._previous_traffic_light_info = {} @@ -4048,7 +4048,7 @@ def __init__(self, recorder_name, name="StartRecorder"): """ Setup class members """ - super(StartRecorder, self).__init__(name) + super().__init__(name) self._client = CarlaDataProvider.get_client() self._recorder_name = recorder_name @@ -4070,7 +4070,7 @@ def __init__(self, name="StopRecorder"): """ Setup class members """ - super(StopRecorder, self).__init__(name) + super().__init__(name) self._client = CarlaDataProvider.get_client() def update(self): @@ -4131,7 +4131,7 @@ class TrafficLightManipulator(AtomicBehavior): } def __init__(self, ego_vehicle, subtype, debug=False, name="TrafficLightManipulator"): - super(TrafficLightManipulator, self).__init__(name) + super().__init__(name) self.ego_vehicle = ego_vehicle self.subtype = subtype self.current_step = 1 @@ -4380,7 +4380,7 @@ def __init__(self, actor, route, blackboard_list, distance, debug=False, name="S """ Setup class members """ - super(ScenarioTriggerer, self).__init__(name) + super().__init__(name) self._world = CarlaDataProvider.get_world() self._map = CarlaDataProvider.get_map() self._debug = debug @@ -4488,7 +4488,7 @@ def __init__(self, actor, reference_actor, gap, gap_type="distance", max_speed=N """ Setup parameters """ - super(KeepLongitudinalGap, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._reference_actor = reference_actor self._gap = gap @@ -4520,7 +4520,7 @@ def initialise(self): self._global_rp = CarlaDataProvider.get_global_route_planner() - super(KeepLongitudinalGap, self).initialise() + super().initialise() def update(self): """ @@ -4587,7 +4587,7 @@ def __init__(self, actor_type, transform, color=None, name="SpawnActor"): """ Setup class members """ - super(AddActor, self).__init__(name) + super().__init__(name) self._actor_type = actor_type self._spawn_point = transform self._color = color @@ -4675,7 +4675,7 @@ def __init__( """ Setup class members """ - super(WalkerFlow, self).__init__(name) + super().__init__(name) if random_seed is not None: self._rng = random.RandomState(random_seed) @@ -4770,7 +4770,7 @@ def __init__(self, source_location, sink_location, """ Setup class members """ - super(AIWalkerBehavior, self).__init__(name) + super().__init__(name) self._world = CarlaDataProvider.get_world() self._controller_bp = self._world.get_blueprint_library().find('controller.ai.walker') @@ -4803,7 +4803,7 @@ def initialise(self): self._controller.start() self._controller.go_to_location(self._sink_location) - super(AIWalkerBehavior, self).initialise() + super().initialise() def update(self): """Controls the created walker""" diff --git a/srunner/scenariomanager/scenarioatomics/atomic_criteria.py b/srunner/scenariomanager/scenarioatomics/atomic_criteria.py index 42e75cc55..2e87da2d3 100644 --- a/srunner/scenariomanager/scenarioatomics/atomic_criteria.py +++ b/srunner/scenariomanager/scenarioatomics/atomic_criteria.py @@ -51,7 +51,7 @@ def __init__(self, actor, optional=False, terminate_on_failure=False): - super(Criterion, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self.name = name @@ -99,7 +99,7 @@ def __init__(self, actor, max_velocity, optional=False, name="CheckMaximumVeloci """ Setup actor and maximum allowed velovity """ - super(MaxVelocityTest, self).__init__(name, actor, optional) + super().__init__(name, actor, optional) self.success_value = max_velocity def update(self): @@ -145,14 +145,14 @@ def __init__(self, actor, distance, acceptable_distance=None, optional=False, na """ Setup actor """ - super(DrivenDistanceTest, self).__init__(name, actor, optional) + super().__init__(name, actor, optional) self.success_value = distance self.acceptable_value = acceptable_distance self._last_location = None def initialise(self): self._last_location = CarlaDataProvider.get_location(self.actor) - super(DrivenDistanceTest, self).initialise() + super().initialise() def update(self): """ @@ -197,7 +197,7 @@ def terminate(self, new_status): if self.test_status != "SUCCESS": self.test_status = "FAILURE" self.actual_value = round(self.actual_value, 2) - super(DrivenDistanceTest, self).terminate(new_status) + super().terminate(new_status) class AverageVelocityTest(Criterion): @@ -219,7 +219,7 @@ def __init__(self, actor, velocity, acceptable_velocity=None, optional=False, """ Setup actor and average velovity expected """ - super(AverageVelocityTest, self).__init__(name, actor, optional) + super().__init__(name, actor, optional) self.success_value = velocity self.acceptable_value = acceptable_velocity self._last_location = None @@ -227,7 +227,7 @@ def __init__(self, actor, velocity, acceptable_velocity=None, optional=False, def initialise(self): self._last_location = CarlaDataProvider.get_location(self.actor) - super(AverageVelocityTest, self).initialise() + super().initialise() def update(self): """ @@ -275,7 +275,7 @@ def terminate(self, new_status): """ if self.test_status == "RUNNING": self.test_status = "FAILURE" - super(AverageVelocityTest, self).terminate(new_status) + super().terminate(new_status) class CollisionTest(Criterion): @@ -301,7 +301,7 @@ def __init__(self, actor, other_actor=None, other_actor_type=None, """ Construction with sensor setup """ - super(CollisionTest, self).__init__(name, actor, optional, terminate_on_failure) + super().__init__(name, actor, optional, terminate_on_failure) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._other_actor = other_actor self._other_actor_type = other_actor_type @@ -319,7 +319,7 @@ def initialise(self): blueprint = world.get_blueprint_library().find('sensor.other.collision') self._collision_sensor = world.spawn_actor(blueprint, carla.Transform(), attach_to=self.actor) self._collision_sensor.listen(lambda event: self._count_collisions(event)) # pylint: disable=unnecessary-lambda - super(CollisionTest, self).initialise() + super().initialise() def update(self): """ @@ -354,7 +354,7 @@ def terminate(self, new_status): self._collision_sensor.stop() self._collision_sensor.destroy() self._collision_sensor = None - super(CollisionTest, self).terminate(new_status) + super().terminate(new_status) def _count_collisions(self, event): # pylint: disable=too-many-return-statements """Update collision count""" @@ -489,7 +489,7 @@ def __init__(self, actor, optional=False, name="CheckKeepLane"): """ Construction with sensor setup """ - super(KeepLaneTest, self).__init__(name, actor, optional) + super().__init__(name, actor, optional) world = self.actor.get_world() blueprint = world.get_blueprint_library().find('sensor.other.lane_invasion') @@ -521,7 +521,7 @@ def terminate(self, new_status): if self._lane_sensor is not None: self._lane_sensor.destroy() self._lane_sensor = None - super(KeepLaneTest, self).terminate(new_status) + super().terminate(new_status) def _count_lane_invasion(self, event): """ @@ -546,7 +546,7 @@ def __init__(self, actor, min_x, max_x, min_y, max_y, name="ReachedRegionTest"): Setup trigger region (rectangle provided by [min_x,min_y] and [max_x,max_y] """ - super(ReachedRegionTest, self).__init__(name, actor) + super().__init__(name, actor) self._min_x = min_x self._max_x = max_x self._min_y = min_y @@ -598,7 +598,7 @@ def __init__(self, actor, duration=0, optional=False, terminate_on_failure=False """ Setup of the variables """ - super(OffRoadTest, self).__init__(name, actor, optional, terminate_on_failure) + super().__init__(name, actor, optional, terminate_on_failure) self._map = CarlaDataProvider.get_map() self._offroad = False @@ -676,7 +676,7 @@ def __init__(self, actor, duration=0, optional=False, terminate_on_failure=False """ Setup of the variables """ - super(EndofRoadTest, self).__init__(name, actor, optional, terminate_on_failure) + super().__init__(name, actor, optional, terminate_on_failure) self._map = CarlaDataProvider.get_map() self._end_of_road = False @@ -743,7 +743,7 @@ def __init__(self, actor, duration=0, optional=False, terminate_on_failure=False """ Construction with sensor setup """ - super(OnSidewalkTest, self).__init__(name, actor, optional, terminate_on_failure) + super().__init__(name, actor, optional, terminate_on_failure) self._map = CarlaDataProvider.get_map() self._onsidewalk_active = False @@ -966,7 +966,7 @@ def terminate(self, new_status): self._wrong_outside_lane_distance = 0 self.events.append(outsidelane_event) - super(OnSidewalkTest, self).terminate(new_status) + super().terminate(new_status) def _set_event_message(self, event, location, distance): """ @@ -1013,7 +1013,7 @@ def __init__(self, actor, route, optional=False, name="OutsideRouteLanesTest"): """ Constructor """ - super(OutsideRouteLanesTest, self).__init__(name, actor, optional) + super().__init__(name, actor, optional) self.units = "%" self._route = route @@ -1196,7 +1196,7 @@ def __init__(self, actor, optional=False, name="WrongLaneTest"): """ Construction with sensor setup """ - super(WrongLaneTest, self).__init__(name, actor, optional) + super().__init__(name, actor, optional) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._map = CarlaDataProvider.get_map() @@ -1323,7 +1323,7 @@ def terminate(self, new_status): self._in_lane = True self.events.append(wrong_way_event) - super(WrongLaneTest, self).terminate(new_status) + super().terminate(new_status) def _set_event_message(self, event, location, distance, road_id, lane_id): """ @@ -1364,7 +1364,7 @@ class InRadiusRegionTest(Criterion): def __init__(self, actor, x, y, radius, name="InRadiusRegionTest"): """ """ - super(InRadiusRegionTest, self).__init__(name, actor) + super().__init__(name, actor) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._x = x # pylint: disable=invalid-name self._y = y # pylint: disable=invalid-name @@ -1420,7 +1420,7 @@ class InRouteTest(Criterion): def __init__(self, actor, route, offroad_min=None, offroad_max=30, name="InRouteTest", terminate_on_failure=False): """ """ - super(InRouteTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure) + super().__init__(name, actor, terminate_on_failure=terminate_on_failure) self.units = None # We care about whether or not it fails, no units attached self._route = route @@ -1549,7 +1549,7 @@ class RouteCompletionTest(Criterion): def __init__(self, actor, route, name="RouteCompletionTest", terminate_on_failure=False): """ """ - super(RouteCompletionTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure) + super().__init__(name, actor, terminate_on_failure=terminate_on_failure) self.units = "%" self.success_value = 100 self._route = route @@ -1634,7 +1634,7 @@ def terminate(self, new_status): if self.test_status == "INIT": self.test_status = "FAILURE" - super(RouteCompletionTest, self).terminate(new_status) + super().terminate(new_status) class RunningRedLightTest(Criterion): @@ -1652,7 +1652,7 @@ def __init__(self, actor, name="RunningRedLightTest", terminate_on_failure=False """ Init """ - super(RunningRedLightTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure) + super().__init__(name, actor, terminate_on_failure=terminate_on_failure) self._world = CarlaDataProvider.get_world() self._map = CarlaDataProvider.get_map() self._list_traffic_lights = [] @@ -1835,7 +1835,7 @@ class RunningStopTest(Criterion): def __init__(self, actor, name="RunningStopTest", terminate_on_failure=False): """ """ - super(RunningStopTest, self).__init__(name, actor, terminate_on_failure=terminate_on_failure) + super().__init__(name, actor, terminate_on_failure=terminate_on_failure) self._world = CarlaDataProvider.get_world() self._map = CarlaDataProvider.get_map() self._list_stop_signs = [] diff --git a/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py b/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py index ffa9f0f37..c39095dd4 100644 --- a/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py +++ b/srunner/scenariomanager/scenarioatomics/atomic_trigger_conditions.py @@ -53,7 +53,7 @@ def __init__(self, name): """ Default init. Has to be called via super from derived class """ - super(AtomicCondition, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self.name = name @@ -80,13 +80,13 @@ def terminate(self, new_status): class IfTriggerer(AtomicCondition): def __init__(self, actor_ego, actor_npc, comparison_operator=operator.gt, name="IfTriggerer"): - super(IfTriggerer, self).__init__(name) + super().__init__(name) self.actor_ego = actor_ego self.actor_npc = actor_npc self._comparison_operator = comparison_operator def initialise(self): - super(IfTriggerer, self).initialise() + super().initialise() def update(self): ego_speed_now = CarlaDataProvider.get_velocity(self.actor_ego) @@ -102,13 +102,13 @@ def update(self): class TimeOfWaitComparison(AtomicCondition): def __init__(self, duration_time, name="TimeOfWaitComparison"): - super(TimeOfWaitComparison, self).__init__(name) + super().__init__(name) self._duration_time = duration_time self._start_time = None def initialise(self): self._start_time = GameTime.get_time() - super(TimeOfWaitComparison, self).initialise() + super().initialise() def update(self): new_status = py_trees.common.Status.RUNNING @@ -124,7 +124,7 @@ def __init__(self, reference_actor, actor, distance, comparison_operator=operato """ Setup trigger distance """ - super(InTriggerNearCollision, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % self.__class__.__name__) self._reference_actor = reference_actor self._actor = actor @@ -176,7 +176,7 @@ def __init__(self, actor, osc_position, distance, along_route=False, """ Setup parameters """ - super(InTriggerDistanceToOSCPosition, self).__init__(name) + super().__init__(name) self._actor = actor self._osc_position = osc_position self._distance = distance @@ -241,7 +241,7 @@ def __init__(self, actor, osc_position, time, along_route=False, """ Setup parameters """ - super(InTimeToArrivalToOSCPosition, self).__init__(name) + super().__init__(name) self._map = CarlaDataProvider.get_map() self._actor = actor self._osc_position = osc_position @@ -316,7 +316,7 @@ def __init__(self, actor, name, duration=float("inf")): """ Setup actor """ - super(StandStill, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor @@ -328,7 +328,7 @@ def initialise(self): Initialize the start time of this condition """ self._start_time = GameTime.get_time() - super(StandStill, self).initialise() + super().initialise() def update(self): """ @@ -369,7 +369,7 @@ def __init__(self, actor, other_actor, speed, comparison_operator=operator.gt, """ Setup the parameters """ - super(RelativeVelocityToOtherActor, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor self._other_actor = other_actor @@ -417,7 +417,7 @@ def __init__(self, actor, target_velocity, comparison_operator=operator.gt, name """ Setup the atomic parameters """ - super(TriggerVelocity, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor self._target_velocity = target_velocity @@ -461,7 +461,7 @@ def __init__(self, actor, target_acceleration, comparison_operator=operator.gt, """ Setup trigger acceleration """ - super(TriggerAcceleration, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor self._target_acceleration = target_acceleration @@ -507,7 +507,7 @@ class TimeOfDayComparison(AtomicCondition): def __init__(self, dattime, comparison_operator=operator.gt, name="TimeOfDayComparison"): """ """ - super(TimeOfDayComparison, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._datetime = datetime.datetime.strptime(dattime, "%Y-%m-%dT%H:%M:%S") self._comparison_operator = comparison_operator @@ -553,7 +553,7 @@ def __init__(self, element_type, element_name, rule, name="OSCStartEndCondition" """ Setup element details """ - super(OSCStartEndCondition, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._element_type = element_type.upper() self._element_name = element_name @@ -566,7 +566,7 @@ def initialise(self): Initialize the start time of this condition """ self._start_time = GameTime.get_time() - super(OSCStartEndCondition, self).initialise() + super().initialise() def update(self): """ @@ -603,7 +603,7 @@ def __init__(self, actor, min_x, max_x, min_y, max_y, name="TriggerRegion"): Setup trigger region (rectangle provided by [min_x,min_y] and [max_x,max_y] """ - super(InTriggerRegion, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor self._min_x = min_x @@ -655,7 +655,7 @@ def __init__(self, reference_actor, actor, distance, comparison_operator=operato """ Setup trigger distance """ - super(InTriggerDistanceToVehicle, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._reference_actor = reference_actor self._actor = actor @@ -716,7 +716,7 @@ def __init__(self, """ Setup trigger distance """ - super(InTriggerDistanceToLocation, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._target_location = target_location self._actor = actor @@ -762,7 +762,7 @@ def __init__(self, actor, distance, name="InTriggerDistanceToNextIntersection"): """ Setup trigger distance """ - super(InTriggerDistanceToNextIntersection, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor self._distance = distance @@ -812,7 +812,7 @@ def __init__(self, actor, route, location, distance, name="InTriggerDistanceToLo """ Setup class members """ - super(InTriggerDistanceToLocationAlongRoute, self).__init__(name) + super().__init__(name) self._map = CarlaDataProvider.get_map() self._actor = actor self._location = location @@ -863,7 +863,7 @@ def __init__(self, actor, time, location, comparison_operator=operator.lt, name= """ Setup parameters """ - super(InTimeToArrivalToLocation, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor self._time = time @@ -919,7 +919,7 @@ def __init__(self, actor, other_actor, time, condition_freespace=False, """ Setup parameters """ - super(InTimeToArrivalToVehicle, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._map = CarlaDataProvider.get_map() self._actor = actor @@ -1025,11 +1025,11 @@ def __init__(self, actor, other_actor, time, side_lane, elif self._side_lane == 'left': other_side_waypoint = other_waypoint.get_right_lane() else: - raise Exception("cut_in_lane must be either 'left' or 'right'") + raise ValueError("cut_in_lane must be either 'left' or 'right'") other_side_location = other_side_waypoint.transform.location - super(InTimeToArrivalToVehicleSideLane, self).__init__( + super().__init__( actor, time, other_side_location, comparison_operator, name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) @@ -1047,7 +1047,7 @@ def update(self): elif self._side_lane == 'left': other_side_waypoint = other_waypoint.get_right_lane() else: - raise Exception("cut_in_lane must be either 'left' or 'right'") + raise ValueError("cut_in_lane must be either 'left' or 'right'") if other_side_waypoint is None: return new_status @@ -1056,7 +1056,7 @@ def update(self): if self._target_location is None: return new_status - new_status = super(InTimeToArrivalToVehicleSideLane, self).update() + new_status = super().update() return new_status @@ -1078,7 +1078,7 @@ def __init__(self, actor, other_actor, factor=1, check_distance=True, name="Wait """ Init """ - super(WaitUntilInFront, self).__init__(name) + super().__init__(name) self._actor = actor self._other_actor = other_actor self._distance = 10 @@ -1177,10 +1177,10 @@ def update(self): in_front = actor_dir.dot(self._ref_vector) > 0.0 # Is the actor close-by? - if not self._check_distance or location.distance(self._ref_location) < self._distance: - close_by = True - else: - close_by = False + close_by = ( + not self._check_distance + or location.distance(self._ref_location) < self._distance + ) if in_front and close_by: new_status = py_trees.common.Status.SUCCESS @@ -1204,7 +1204,7 @@ def __init__(self, actor, distance, name="DriveDistance"): """ Setup parameters """ - super(DriveDistance, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._target_distance = distance self._distance = 0 @@ -1213,7 +1213,7 @@ def __init__(self, actor, distance, name="DriveDistance"): def initialise(self): self._location = CarlaDataProvider.get_location(self._actor) - super(DriveDistance, self).initialise() + super().initialise() def update(self): """ @@ -1250,7 +1250,7 @@ def __init__(self, actor, name="AtRightmostLane"): """ Setup parameters """ - super(AtRightmostLane, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor self._map = CarlaDataProvider.get_map() @@ -1294,7 +1294,7 @@ def __init__(self, actor, state, name="WaitForTrafficLightState"): """ Setup traffic_light """ - super(WaitForTrafficLightState, self).__init__(name) + super().__init__(name) self.logger.debug("%s.__init__()" % (self.__class__.__name__)) self._actor = actor if "traffic_light" in actor.type_id else None self._state = state @@ -1334,7 +1334,7 @@ def __init__(self, traffic_signal_id, state, duration, delay=None, ref_id=None, """ Init """ - super(WaitForTrafficLightControllerState, self).__init__(name) + super().__init__(name) self.actor_id = traffic_signal_id self._actor = None self._start_time = None @@ -1362,6 +1362,7 @@ def initialise(self): self.duration_time = self.timeout else: return py_trees.common.Status.FAILURE + return None def update(self): """ @@ -1392,7 +1393,7 @@ class WaitEndIntersection(AtomicCondition): """ def __init__(self, actor, junction_id=None, debug=False, name="WaitEndIntersection"): - super(WaitEndIntersection, self).__init__(name) + super().__init__(name) self.actor = actor self.debug = debug self._junction_id = junction_id @@ -1434,7 +1435,7 @@ class WaitForBlackboardVariable(AtomicCondition): def __init__(self, variable_name, variable_value, var_init_value=None, debug=False, name="WaitForBlackboardVariable"): - super(WaitForBlackboardVariable, self).__init__(name) + super().__init__(name) self._debug = debug self._variable_name = variable_name self._variable_value = variable_value @@ -1465,7 +1466,7 @@ class CheckParameter(AtomicCondition): """ def __init__(self, parameter_ref, value, comparison_operator, debug=False, name="CheckParameter"): - super(CheckParameter, self).__init__(name) + super().__init__(name) self._parameter_ref = parameter_ref self._value = value self._comparison_operator = comparison_operator diff --git a/srunner/tools/py_trees_port.py b/srunner/tools/py_trees_port.py index cc06bc06d..eb41ccb36 100644 --- a/srunner/tools/py_trees_port.py +++ b/srunner/tools/py_trees_port.py @@ -97,7 +97,7 @@ def tip(self): if self.decorated.status != py_trees.common.Status.INVALID: return self.decorated.tip() - return super(Decorator, self).tip() + return super().tip() def oneshot_behavior(variable_name, behaviour, name=None): diff --git a/srunner/tools/scenario_helper.py b/srunner/tools/scenario_helper.py index 484115f7d..cd77eae72 100644 --- a/srunner/tools/scenario_helper.py +++ b/srunner/tools/scenario_helper.py @@ -270,7 +270,8 @@ def generate_target_waypoint_list(waypoint, turn=0): plan[-3][0].transform.location, plan[-2][0].transform.location) angle_wp = math.acos( - np.dot(v_1, v_2) / abs((np.linalg.norm(v_1) * np.linalg.norm(v_2)))) + np.dot(v_1, v_2) / abs(np.linalg.norm(v_1) * np.linalg.norm(v_2)) + ) if angle_wp < threshold: break elif reached_junction and not plan[-1][0].is_intersection: @@ -678,8 +679,7 @@ def get_troad_from_transform(actor_transform): closest_road_edge = min(distance_from_lm_lane_edge, distance_from_rm_lane_edge) if closest_road_edge == distance_from_lm_lane_edge: t_road = -1*t_road - else: - if c_wp.lane_id < 0: + elif c_wp.lane_id < 0: t_road = -1*t_road return t_road