Merge branch 'feature_negative_speed' of github.com:RI-SE/scenario_ru…

…nner into feature_negative_speed
RI-SE · Jun 28, 2023 · 54a5e0d · 54a5e0d
2 parents 92b7a86 + 1dc42ca
commit 54a5e0d
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Showing 2 changed files with 4 additions and 12 deletions.
diff --git a/scenario_runner.py b/scenario_runner.py
@@ -132,7 +132,7 @@ def _signal_handler(self, signum, frame):
         """
         self._shutdown_requested = True
         if self.manager:
-            self.manager.stop_scenario()
+            self.manager._running = False
 
     def _get_scenario_class_or_fail(self, scenario):
         """
@@ -187,14 +187,6 @@ def _cleanup(self):
 
         CarlaDataProvider.cleanup()
 
-        for i, _ in enumerate(self.ego_vehicles):
-            if self.ego_vehicles[i]:
-                if not self._args.waitForEgo and self.ego_vehicles[i] is not None and self.ego_vehicles[i].is_alive:
-                    print("Destroying ego vehicle {}".format(self.ego_vehicles[i].id))
-                    self.ego_vehicles[i].destroy()
-                self.ego_vehicles[i] = None
-        self.ego_vehicles = []
-
         if self.agent_instance:
             self.agent_instance.destroy()
             self.agent_instance = None
@@ -415,7 +407,7 @@ def _load_and_run_scenario(self, config):
             self._analyze_scenario(config)
 
             # Remove all actors, stop the recorder and save all criterias (if needed)
-            scenario.remove_all_actors()
+            # scenario.remove_all_actors()
             if self._args.record:
                 self.client.stop_recorder()
                 self._record_criteria(self.manager.scenario.get_criteria(), recorder_name)

diff --git a/srunner/scenariomanager/scenario_manager.py b/srunner/scenariomanager/scenario_manager.py
@@ -182,7 +182,7 @@ def _tick_scenario(self, timestamp):
                 sys.stdout.flush()
 
             if self.scenario_tree.status != py_trees.common.Status.RUNNING:
-                self._running = False
+                self._running = True
 
         if self._sync_mode and self._running and self._watchdog.get_status():
             CarlaDataProvider.get_world().tick()
@@ -198,7 +198,7 @@ def stop_scenario(self):
         """
         This function is used by the overall signal handler to terminate the scenario execution
         """
-        self._running = False
+        pass
 
     def analyze_scenario(self, stdout, filename, junit, json):
         """