Removed perform_carla_tick from CarlaDataProvider

* Removed perform_carla_tick from CarlaDataProvider, which was a workaround for missing timeout of CARLA tick() function

Author: glopezdiest

Docs/CHANGELOG.md

@@ -23,6 +23,7 @@
     - Added new criteria, ActorSpeedAboveThresholdTest, useful to check if the ego vehicle has been standing still for long periods of time.
 * Setting up actors in batch now also randomizes their colors
 * When running routes, the weather parameters of each route can now be changed at will. Check the first route at srunner/data/routes_training.xml to see the correct format to do so. By default the weather is now a sunny midday.
+* Removed perform_carla_tick() function at CarlaDataProvider, which was a workaround for world.tick()
 * **Important** All challenge related content has been removed. This functionality has been improved and is now part of the [Leaderboard](https://github.com/carla-simulator/leaderboard). As a consequence:
     - The path to the autoagents has changed from .../challenge/autoagents to .../autoagents
     - The path to the route and scenario descriptions has changed from .../challenge to .../data

scenario_runner.py

@@ -235,7 +235,7 @@ def _prepare_ego_vehicles(self, ego_vehicles):
                 self.ego_vehicles[i].set_transform(ego_vehicles[i].transform)
 
         # sync state
-        CarlaDataProvider.perform_carla_tick()
+        CarlaDataProvider.get_world().tick()
 
     def _analyze_scenario(self, config):
         """
@@ -285,19 +285,20 @@ def _load_and_wait_for_world(self, town, ego_vehicles=None):
                             break
 
         self.world = self.client.get_world()
-        CarlaActorPool.set_client(self.client)
-        CarlaActorPool.set_world(self.world)
-        CarlaDataProvider.set_world(self.world)
 
         if self._args.agent:
             settings = self.world.get_settings()
             settings.synchronous_mode = True
             settings.fixed_delta_seconds = 1.0 / self.frame_rate
             self.world.apply_settings(settings)
 
+        CarlaActorPool.set_client(self.client)
+        CarlaActorPool.set_world(self.world)
+        CarlaDataProvider.set_world(self.world)
+
         # Wait for the world to be ready
         if self.world.get_settings().synchronous_mode:
-            CarlaDataProvider.perform_carla_tick()
+            self.world.tick()
         else:
             self.world.wait_for_tick()
 

srunner/autoagents/agent_wrapper.py

@@ -84,7 +84,7 @@ def setup_sensors(self, vehicle, debug_mode=False):
         while not self._agent.all_sensors_ready():
             if debug_mode:
                 print(" waiting for one data reading from sensors...")
-            CarlaDataProvider.perform_carla_tick()
+            CarlaDataProvider.get_world().tick()
 
     def cleanup(self):
         """

srunner/scenariomanager/carla_data_provider.py

@@ -15,7 +15,6 @@
 import math
 import random
 import re
-from threading import Thread
 from six import iteritems
 
 import carla
@@ -89,22 +88,6 @@ def register_actors(actors):
         for actor in actors:
             CarlaDataProvider.register_actor(actor)
 
-    @staticmethod
-    def perform_carla_tick(timeout=5.0):
-        """
-        Send tick() command to CARLA and wait for at
-        most timeout seconds to let tick() return
-
-        Note: This is a workaround as CARLA tick() has no
-              timeout functionality
-        """
-        t = Thread(target=CarlaDataProvider._world.tick)
-        t.daemon = True
-        t.start()
-        t.join(float(timeout))
-        if t.is_alive():
-            raise RuntimeError("Timeout of CARLA tick command")
-
     @staticmethod
     def on_carla_tick():
         """
@@ -545,7 +528,7 @@ def handle_actor_batch(batch):
 
         # wait for the actors to be spawned properly before we do anything
         if sync_mode:
-            CarlaDataProvider.perform_carla_tick()
+            CarlaActorPool._world.tick()
         else:
             CarlaActorPool._world.wait_for_tick()
 
@@ -597,7 +580,7 @@ def setup_actor(model, spawn_point, rolename='scenario', hero=False, autopilot=F
                 pass
         # wait for the actor to be spawned properly before we do anything
         if CarlaActorPool._world.get_settings().synchronous_mode:
-            CarlaDataProvider.perform_carla_tick()
+            CarlaActorPool._world.tick()
         else:
             CarlaActorPool._world.wait_for_tick()
 

srunner/scenariomanager/scenario_manager.py

@@ -271,7 +271,7 @@ def _tick_scenario(self, timestamp):
                 self.ego_vehicles[0].apply_control(ego_action)
 
         if self._agent and self._running and self._watchdog.get_status():
-            CarlaDataProvider.perform_carla_tick(self._timeout)
+            CarlaDataProvider.get_world().tick()
 
     def get_running_status(self):
         """

srunner/scenarios/basic_scenario.py

@@ -48,7 +48,7 @@ def __init__(self, name, ego_vehicles, config, world,
         # Initializing adversarial actors
         self._initialize_actors(config)
         if world.get_settings().synchronous_mode:
-            CarlaDataProvider.perform_carla_tick()
+            world.tick()
         else:
             world.wait_for_tick()
 

srunner/scenarios/route_scenario.py

@@ -447,7 +447,7 @@ def _build_scenario_instances(self, world, ego_vehicle, scenario_definitions, to
                 if scenario_number % scenarios_per_tick == 0:
                     sync_mode = world.get_settings().synchronous_mode
                     if sync_mode:
-                        CarlaDataProvider.perform_carla_tick()
+                        world.tick()
                     else:
                         world.wait_for_tick()