From bd9e75500c9c20b45a0609c701387a96492bd60f Mon Sep 17 00:00:00 2001
From: glopezdiest <58212725+glopezdiest@users.noreply.github.com>
Date: Wed, 22 Jul 2020 01:11:18 +0200
Subject: [PATCH] Increased timeouts (#55)

Co-authored-by: germanros1987 <38517452+germanros1987@users.noreply.github.com>
---
 leaderboard/leaderboard_evaluator.py      | 10 +++++++---
 leaderboard/scenarios/route_scenario.py   |  6 ++----
 leaderboard/scenarios/scenario_manager.py |  7 +++++--
 leaderboard/utils/route_parser.py         |  2 +-
 4 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/leaderboard/leaderboard_evaluator.py b/leaderboard/leaderboard_evaluator.py
index 7ffcb733..7ac5173f 100644
--- a/leaderboard/leaderboard_evaluator.py
+++ b/leaderboard/leaderboard_evaluator.py
@@ -288,9 +288,11 @@ def _load_and_run_scenario(self, args, config):
             crash_message = "Simulation crashed"
             entry_status = "Crashed"
 
+            self._register_statistics(config, args.checkpoint, entry_status, crash_message)
+
             if args.record:
                 self.client.stop_recorder()
-            self._register_statistics(config, args.checkpoint, entry_status, crash_message)
+
             self._cleanup()
             sys.exit(-1)
 
@@ -319,9 +321,11 @@ def _load_and_run_scenario(self, args, config):
         # Stop the scenario
         try:
             self.manager.stop_scenario()
-            self.client.stop_recorder()
             self._register_statistics(config, args.checkpoint, entry_status, crash_message)
 
+            if args.record:
+                self.client.stop_recorder()
+
             # Remove all actors
             scenario.remove_all_actors()
 
@@ -375,7 +379,7 @@ def main():
     parser.add_argument('--debug', type=int, help='Run with debug output', default=0)
     parser.add_argument('--record', type=str, default='',
                         help='Use CARLA recording feature to create a recording of the scenario')
-    parser.add_argument('--timeout', default="30.0",
+    parser.add_argument('--timeout', default="60.0",
                         help='Set the CARLA client timeout value in seconds')
 
     # simulation setup
diff --git a/leaderboard/scenarios/route_scenario.py b/leaderboard/scenarios/route_scenario.py
index a0ad0e5e..35350222 100644
--- a/leaderboard/scenarios/route_scenario.py
+++ b/leaderboard/scenarios/route_scenario.py
@@ -48,10 +48,8 @@
 
 ROUTESCENARIO = ["RouteScenario"]
 
-MAX_ALLOWED_RADIUS_SENSOR = 5.0
-SECONDS_GIVEN_PER_METERS = 0.4
+SECONDS_GIVEN_PER_METERS = 0.8
 INITIAL_SECONDS_DELAY = 5.0
-MAX_CONNECTION_ATTEMPTS = 5
 
 NUMBER_CLASS_TRANSLATION = {
     "Scenario1": ControlLoss,
@@ -548,7 +546,7 @@ def _create_test_criteria(self):
 
         blocked_criterion = ActorSpeedAboveThresholdTest(self.ego_vehicles[0],
                                                          speed_threshold=0.1,
-                                                         below_threshold_max_time=90.0,
+                                                         below_threshold_max_time=180.0,
                                                          terminate_on_failure=True,
                                                          name="AgentBlockedTest")
 
diff --git a/leaderboard/scenarios/scenario_manager.py b/leaderboard/scenarios/scenario_manager.py
index d1d8b09c..7236dd15 100644
--- a/leaderboard/scenarios/scenario_manager.py
+++ b/leaderboard/scenarios/scenario_manager.py
@@ -43,6 +43,7 @@ class ScenarioManager(object):
     4. If needed, cleanup with manager.stop_scenario()
     """
 
+
     def __init__(self, debug_mode=False):
         """
         Setups up the parameters, which will be filled at load_scenario()
@@ -57,9 +58,11 @@ def __init__(self, debug_mode=False):
         self._agent = None
         self._running = False
         self._timestamp_last_run = 0.0
+        self._timeout = float(timeout)
 
         # Used to detect the simulation is down, but doesn't create any exception
-        self._watchdog = Watchdog(5)
+        watchdog_timeout = max(5, self._timeout - 2)
+        self._watchdog = Watchdog(watchdog_timeout)
 
         self.scenario_duration_system = 0.0
         self.scenario_duration_game = 0.0
@@ -165,7 +168,7 @@ def _tick_scenario(self, timestamp):
             self.ego_vehicles[0].apply_control(ego_action)
 
         if self._running and self.get_running_status():
-            CarlaDataProvider.get_world().tick()
+            CarlaDataProvider.get_world().tick(self._timeout)
 
     def get_running_status(self):
         """
diff --git a/leaderboard/utils/route_parser.py b/leaderboard/utils/route_parser.py
index 78513e79..56c3cbc1 100644
--- a/leaderboard/utils/route_parser.py
+++ b/leaderboard/utils/route_parser.py
@@ -88,7 +88,7 @@ def parse_weather(route):
         route_weather = route.find("weather")
         if route_weather is None:
 
-            weather = carla.WeatherParameters(sun_altitude_angle = 70)
+            weather = carla.WeatherParameters(sun_altitude_angle=70, cloudiness=70)
 
         else:
             weather = carla.WeatherParameters()