Fix "task_delta_time" Not Defined Bug

[mchlswyr]

Issue

• The planners crash when running WISE Sim and GSS with the following:

  cd ~/anm_unreal_test_suite
  slaunch ring_road_ccw

• In the simulation, and in the GSS dashboard, the vehicles don't move since the planners have crashed
• In GeoScenarioServer.log:

  Process Process-6:$
  Traceback (most recent call last):$
  File "/usr/lib/python3.8/multiprocessing/process.py", line 315, in _bootstrap$
  self.run()$
  File "/usr/lib/python3.8/multiprocessing/process.py", line 108, in run$
  self._target(*self._args, **self._kwargs)$
  File "/opt/geoscenarioserver/sv/SDVPlanner.py", line 204, in run_planner_process$
  plan.start_time = state_time + task_delta_time$
  UnboundLocalError: local variable 'task_delta_time' referenced before assignment$

• However, this doesn't happen when running:

  cd ~/anm_unreal_sim/submodules/geoscenarioserver
  python3.8 GSServer.py -s scenarios/test_scenarios/gs_ringroad_stress_loop.osm

Solution

• The problem is that, in sv/SDVPlanner.py, task_delta_time depends on EVALUATION_MODE being set to True in SimConfig.py
• This change was made here as a fix for Issue #56
• But, I don't think the EVALUATION_MODE check is necessary for the fix; just the part that checks if self.last_plan was set is needed for the fix

Testing

• Modify ~/anm_unreal_sim/submodules/anm_sim_platform/scripts/launch.bash for testing:

replace

gsserver="source /opt/ros/lanelet2/setup.bash --extend && /opt/geoscenarioserver/GSServer.py"

with

gsserver="source /opt/ros/lanelet2/setup.bash --extend && ${HOME}/anm_unreal_sim/submodules/geoscenarioserver/GSServer.py"

• Run WISE Sim and GSS:

  cd ~/anm_unreal_test_suite
  bash ~/anm_unreal_sim/submodules/anm_sim_platform/scripts/launch.bash ring_road_ccw

• You should see the vehicles moving in the simulator and in the server

[mchlswyr]

• This change was made here as a fix for Issue #56
• But, I don't think the EVALUATION_MODE check is necessary for the fix; just the part that checks if self.last_plan was set is needed for the fix

@rodrigoqueiroz Is this correct?

[rodrigoqueiroz]

• This change was made here as a fix for Issue #56
• But, I don't think the EVALUATION_MODE check is necessary for the fix; just the part that checks if self.last_plan was set is needed for the fix

@rodrigoqueiroz Is this correct?

No. If not in evaluation mode, it should always block and use the target time. That workaround (non blocking) should only be used in evaluation mode

 if EVALUATION_MODE:
                (...)

else:
    sync_planner.end_task() #blocks if < target
    task_delta_time = sync_planner.get_task_time() %<<<<<<<<<<<<<<this is the missing line causing the bug