Fix unit test and code check actions

.github/workflows/static_code_check.yml

@@ -20,15 +20,9 @@ jobs:
         sudo apt-get install pep8 python3-autopep8 python3-pep8 python-is-python3
 
     - name: Check Code Format
-      run: |
-        autopep8 srunner/scenariomanager/*.py --in-place --max-line-length=120 --ignore=E731
-        autopep8 srunner/scenariomanager/scenarioatomics/*.py --in-place --max-line-length=120
-        autopep8 srunner/scenarios/*.py --in-place --max-line-length=120
-        autopep8 srunner/tools/*.py --in-place --max-line-length=120
-        autopep8 srunner/scenarioconfigs/*.py --in-place --max-line-length=120
-        autopep8 scenario_runner.py --in-place --max-line-length=120
-        autopep8 srunner/autoagents/*.py --in-place --max-line-length=120
-        git diff --quiet HEAD --; if [ ! $? -eq 0 ]; then echo "Code is not autopep8 compliant. Please run code_check_and_formatting.sh"; git diff HEAD --; exit 1; fi
+      uses: peter-evans/autopep8@v2
+      with:
+        args: --max-line-length=120 --ignore=E731 --recursive --in-place .
 
   qualityJob:
     name: Check Code Quality
@@ -58,4 +52,4 @@ jobs:
         score=`pylint --rcfile=.pylintrc --disable=I srunner/tools | grep -i "rated at" | awk '{print $7}'`; if [ "$score" != "10.00/10" ]; then static_code_quality_passed=0; fi
         score=`pylint --rcfile=.pylintrc --disable=I srunner/scenarioconfigs | grep -i "rated at" | awk '{print $7}'`; if [ "$score" != "10.00/10" ]; then static_code_quality_passed=0; fi
         score=`pylint --rcfile=.pylintrc --disable=I scenario_runner.py | grep -i "rated at" | awk '{print $7}'`; if [ "$score" != "10.00/10" ]; then static_code_quality_passed=0; fi
-        if [ $static_code_quality_passed -eq 0 ]; then echo "Code is not pylint compliant. Please run code_check_and_formatting.sh"; exit 1; fi
+        if [ $static_code_quality_passed -eq 0 ]; then echo "Code is not pylint compliant. Please run code_check_and_formatting.sh"; exit 1; fi

manual_control.py

@@ -213,6 +213,7 @@ def destroy(self):
 
 class KeyboardControl(object):
     """Class that handles keyboard input."""
+
     def __init__(self, world, start_in_autopilot):
         self._autopilot_enabled = start_in_autopilot
         self._control = carla.VehicleControl()
@@ -277,7 +278,7 @@ def parse_events(self, client, world, clock):
                     self._control.manual_gear_shift = not self._control.manual_gear_shift
                     self._control.gear = world.player.get_control().gear
                     world.hud.notification('%s Transmission' %
-                                            ('Manual' if self._control.manual_gear_shift else 'Automatic'))
+                                           ('Manual' if self._control.manual_gear_shift else 'Automatic'))
                 elif self._control.manual_gear_shift and event.key == K_COMMA:
                     self._control.gear = max(-1, self._control.gear - 1)
                 elif self._control.manual_gear_shift and event.key == K_PERIOD:
@@ -321,13 +322,13 @@ def parse_events(self, client, world, clock):
             # Set automatic control-related vehicle lights
             if self._control.brake:
                 current_lights |= carla.VehicleLightState.Brake
-            else: # Remove the Brake flag
+            else:  # Remove the Brake flag
                 current_lights &= ~carla.VehicleLightState.Brake
             if self._control.reverse:
                 current_lights |= carla.VehicleLightState.Reverse
-            else: # Remove the Reverse flag
+            else:  # Remove the Reverse flag
                 current_lights &= ~carla.VehicleLightState.Reverse
-            if current_lights != self._lights: # Change the light state only if necessary
+            if current_lights != self._lights:  # Change the light state only if necessary
                 self._lights = current_lights
                 world.player.set_light_state(carla.VehicleLightState(self._lights))
             world.player.apply_control(self._control)
@@ -536,6 +537,7 @@ def render(self, display):
 
 class HelpText(object):
     """Helper class to handle text output using pygame"""
+
     def __init__(self, font, width, height):
         lines = __doc__.split('\n')
         self.font = font
@@ -709,7 +711,7 @@ def __init__(self, parent_actor):
         bound_y = 0.5 + self._parent.bounding_box.extent.y
         bound_z = 0.5 + self._parent.bounding_box.extent.z
 
-        self.velocity_range = 7.5 # m/s
+        self.velocity_range = 7.5  # m/s
         world = self._parent.get_world()
         self.debug = world.debug
         bp = world.get_blueprint_library().find('sensor.other.radar')
@@ -718,7 +720,7 @@ def __init__(self, parent_actor):
         self.sensor = world.spawn_actor(
             bp,
             carla.Transform(
-                carla.Location(x=bound_x + 0.05, z=bound_z+0.05),
+                carla.Location(x=bound_x + 0.05, z=bound_z + 0.05),
                 carla.Rotation(pitch=5)),
             attach_to=self._parent)
         # We need a weak reference to self to avoid circular reference.
@@ -752,7 +754,7 @@ def _Radar_callback(weak_self, radar_data):
             def clamp(min_v, max_v, value):
                 return max(min_v, min(value, max_v))
 
-            norm_velocity = detect.velocity / self.velocity_range # range [-1, 1]
+            norm_velocity = detect.velocity / self.velocity_range  # range [-1, 1]
             r = int(clamp(0.0, 1.0, 1.0 - norm_velocity) * 255.0)
             g = int(clamp(0.0, 1.0, 1.0 - abs(norm_velocity)) * 255.0)
             b = int(abs(clamp(- 1.0, 0.0, - 1.0 - norm_velocity)) * 255.0)
@@ -781,11 +783,13 @@ def __init__(self, parent_actor, hud):
         Attachment = carla.AttachmentType
 
         self._camera_transforms = [
-            (carla.Transform(carla.Location(x=-2.0*bound_x, y=+0.0*bound_y, z=2.0*bound_z), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
-            (carla.Transform(carla.Location(x=+0.8*bound_x, y=+0.0*bound_y, z=1.3*bound_z)), Attachment.Rigid),
-            (carla.Transform(carla.Location(x=+1.9*bound_x, y=+1.0*bound_y, z=1.2*bound_z)), Attachment.SpringArm),
-            (carla.Transform(carla.Location(x=-2.8*bound_x, y=+0.0*bound_y, z=4.6*bound_z), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
-            (carla.Transform(carla.Location(x=-1.0, y=-1.0*bound_y, z=0.4*bound_z)), Attachment.Rigid)]
+            (carla.Transform(carla.Location(x=-2.0 * bound_x, y=+0.0 * bound_y,
+             z=2.0 * bound_z), carla.Rotation(pitch=8.0)), Attachment.SpringArm),
+            (carla.Transform(carla.Location(x=+0.8 * bound_x, y=+0.0 * bound_y, z=1.3 * bound_z)), Attachment.Rigid),
+            (carla.Transform(carla.Location(x=+1.9 * bound_x, y=+1.0 * bound_y, z=1.2 * bound_z)), Attachment.SpringArm),
+            (carla.Transform(carla.Location(x=-2.8 * bound_x, y=+0.0 * bound_y,
+             z=4.6 * bound_z), carla.Rotation(pitch=6.0)), Attachment.SpringArm),
+            (carla.Transform(carla.Location(x=-1.0, y=-1.0 * bound_y, z=0.4 * bound_z)), Attachment.Rigid)]
 
         self.transform_index = 1
         self.sensors = [['sensor.camera.rgb', cc.Raw, 'Camera RGB']]
@@ -894,7 +898,7 @@ def game_loop(args):
         display = pygame.display.set_mode(
             (args.width, args.height),
             pygame.HWSURFACE | pygame.DOUBLEBUF)
-        display.fill((0,0,0))
+        display.fill((0, 0, 0))
         pygame.display.flip()
 
         hud = HUD(args.width, args.height)

metrics_manager.py

@@ -130,10 +130,11 @@ def main():
     """
 
     # pylint: disable=line-too-long
-    description = ("Scenario Runner's metrics module. Evaluate the execution of a specific scenario by developing your own metric.\n")
+    description = (
+        "Scenario Runner's metrics module. Evaluate the execution of a specific scenario by developing your own metric.\n")
 
     parser = argparse.ArgumentParser(description=description,
-                                    formatter_class=RawTextHelpFormatter)
+                                     formatter_class=RawTextHelpFormatter)
     parser.add_argument('--host', default='127.0.0.1',
                         help='IP of the host server (default: localhost)')
     parser.add_argument('--port', '-p', default=2000,
@@ -150,5 +151,6 @@ def main():
 
     MetricsManager(args)
 
+
 if __name__ == "__main__":
     sys.exit(main())

no_rendering_mode.py

@@ -1415,6 +1415,7 @@ def game_loop(args):
         if world_module is not None:
             world_module.destroy()
 
+
 def exit_game():
     module_manager.clear_modules()
     pygame.quit()
@@ -1490,5 +1491,6 @@ def main():
 
     game_loop(args)
 
+
 if __name__ == '__main__':
     main()

scenario_runner.py

@@ -23,7 +23,7 @@
 try:
     from packaging.version import Version
 except ImportError:
-    from distutils.version import LooseVersion as Version # Python 2 fallback
+    from distutils.version import LooseVersion as Version  # Python 2 fallback
 import importlib
 import inspect
 import os
@@ -35,12 +35,18 @@
 try:
     # requires Python 3.8+
     from importlib.metadata import metadata
+
     def get_carla_version():
+        """get the version of the CARLA package
+        """
         return Version(metadata("carla")["Version"])
 except ModuleNotFoundError:
     # backport checking for older Python versions; module is deprecated
     import pkg_resources
+
     def get_carla_version():
+        """same but for older Python versions
+        """
         return Version(pkg_resources.get_distribution("carla").version)
 
 import carla
@@ -106,7 +112,8 @@ def __init__(self, args):
         self.client.set_timeout(self.client_timeout)
         carla_version = get_carla_version()
         if carla_version < Version(MIN_CARLA_VERSION):
-            raise ImportError("CARLA version {} or newer required. CARLA version found: {}".format(MIN_CARLA_VERSION, carla_version))
+            raise ImportError("CARLA version {} or newer required. CARLA version found: {}".format(
+                MIN_CARLA_VERSION, carla_version))
 
         # Load agent if requested via command line args
         # If something goes wrong an exception will be thrown by importlib (ok here)
@@ -660,4 +667,4 @@ def main():
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    sys.exit(main())

srunner/metrics/examples/basic_metric.py

@@ -10,6 +10,7 @@
 This module provide BasicMetric, the basic class of all the metrics.
 """
 
+
 class BasicMetric(object):
     """
     Base class of all the metrics.

srunner/metrics/examples/criteria_filter.py

@@ -34,13 +34,13 @@ def _create_metric(self, town_map, log, criteria):
         for criterion_name in criteria:
             criterion = criteria[criterion_name]
             results.update({criterion_name:
-                {
-                    "test_status": criterion["test_status"],
-                    "actual_value": criterion["actual_value"],
-                    "success_value": criterion["success_value"]
-                }
-            }
-        )
+                            {
+                                "test_status": criterion["test_status"],
+                                "actual_value": criterion["actual_value"],
+                                "success_value": criterion["success_value"]
+                            }
+                            }
+                           )
 
         with open('srunner/metrics/data/CriteriaFilter_results.json', 'w') as fw:
             json.dump(results, fw, sort_keys=False, indent=4)

srunner/metrics/examples/distance_to_lane_center.py

@@ -50,7 +50,7 @@ def _create_metric(self, town_map, log, criteria):
             b_norm = math.sqrt(b.x * b.x + b.y * b.y + b.z * b.z)
 
             ab_dot = a.x * b.x + a.y * b.y + a.z * b.z
-            dist_v = ab_dot/(b_norm*b_norm)*b
+            dist_v = ab_dot / (b_norm * b_norm) * b
             dist = math.sqrt(dist_v.x * dist_v.x + dist_v.y * dist_v.y + dist_v.z * dist_v.z)
 
             # Get the sign of the distance (left side is positive)

srunner/metrics/tools/metrics_log.py

@@ -17,6 +17,7 @@
 import fnmatch
 from srunner.metrics.tools.metrics_parser import MetricsParser
 
+
 class MetricsLog(object):  # pylint: disable=too-many-public-methods
     """
     Utility class to query the log.

srunner/metrics/tools/metrics_parser.py

@@ -26,6 +26,7 @@ def parse_actor(info):
     }
     return actor
 
+
 def parse_transform(info):
     """Parses a list into a carla.Transform"""
     transform = carla.Transform(
@@ -36,12 +37,13 @@ def parse_transform(info):
         ),
         carla.Rotation(
             roll=float(info[7][1:-1]),
-            pitch=float(info[8][:-1]), 
+            pitch=float(info[8][:-1]),
             yaw=float(info[9][:-1])
         )
     )
     return transform
 
+
 def parse_control(info):
     """Parses a list into a carla.VehicleControl"""
     control = carla.VehicleControl(
@@ -55,6 +57,7 @@ def parse_control(info):
     )
     return control
 
+
 def parse_vehicle_lights(info):
     """Parses a list into a carla.VehicleLightState"""
     srt_to_vlight = {
@@ -78,6 +81,7 @@ def parse_vehicle_lights(info):
 
     return lights
 
+
 def parse_traffic_light(info):
     """Parses a list into a dictionary with all the traffic light's information"""
     number_to_state = {
@@ -94,6 +98,7 @@ def parse_traffic_light(info):
     }
     return traffic_light
 
+
 def parse_velocity(info):
     """Parses a list into a carla.Vector3D with the velocity"""
     velocity = carla.Vector3D(
@@ -103,6 +108,7 @@ def parse_velocity(info):
     )
     return velocity
 
+
 def parse_angular_velocity(info):
     """Parses a list into a carla.Vector3D with the angular velocity"""
     velocity = carla.Vector3D(
@@ -112,6 +118,7 @@ def parse_angular_velocity(info):
     )
     return velocity
 
+
 def parse_scene_lights(info):
     """Parses a list into a carla.VehicleLightState"""
 
@@ -127,6 +134,7 @@ def parse_scene_lights(info):
     )
     return scene_light
 
+
 def parse_bounding_box(info):
     """
     Parses a list into a carla.BoundingBox.
@@ -136,24 +144,25 @@ def parse_bounding_box(info):
         location = carla.Location()
     else:
         location = carla.Location(
-            float(info[3][1:-1])/100,
-            float(info[4][:-1])/100,
-            float(info[5][:-1])/100,
+            float(info[3][1:-1]) / 100,
+            float(info[4][:-1]) / 100,
+            float(info[5][:-1]) / 100,
         )
 
     if 'inf' in info[7]:
         extent = carla.Vector3D()
     else:
         extent = carla.Vector3D(
-            float(info[7][1:-1])/100,
-            float(info[8][:-1])/100,
-            float(info[9][:-1])/100,
+            float(info[7][1:-1]) / 100,
+            float(info[8][:-1]) / 100,
+            float(info[9][:-1]) / 100,
         )
 
     bbox = carla.BoundingBox(location, extent)
 
     return bbox
 
+
 def parse_state_times(info):
     """Parses a list into a dict containing the state times of the traffic lights"""
     state_times = {
@@ -163,18 +172,20 @@ def parse_state_times(info):
     }
     return state_times
 
+
 def parse_vector_list(info):
     """Parses a list of string into a list of Vector2D"""
     vector_list = []
     for i in range(0, len(info), 2):
         vector = carla.Vector2D(
             x=float(info[i][1:-1]),
-            y=float(info[i+1][:-1]),
+            y=float(info[i + 1][:-1]),
         )
         vector_list.append(vector)
 
     return vector_list
 
+
 def parse_gears_control(info):
     """Parses a list into a GearPhysicsControl"""
     gears_control = carla.GearPhysicsControl(
@@ -184,6 +195,7 @@ def parse_gears_control(info):
     )
     return gears_control
 
+
 def parse_wheels_control(info):
     """Parses a list into a WheelsPhysicsControl"""
     wheels_control = carla.WheelPhysicsControl(
@@ -283,7 +295,7 @@ def parse_recorder_info(self):
                     "platform_time": None
                 },
                 "actors": {},
-                "events":{
+                "events": {
                     "scene_lights": {},
                     "physics_control": {},
                     "traffic_light_state_time": {},