Fixed exception when using evaluation criteria with OSC

Using a delay value of '0.0' or '.0' caused an exception

Minor:
- Fixed pylint recommendations

Change-Id: Idb9cc2c01bd81f87c5ae8fc18bee8919040d8f24

Docs/CHANGELOG.md

@@ -29,6 +29,7 @@
 * Fixed bug at the Getting Started docs which caused an import error
 * Fixed neverending lane change maneuver in OpenSCENARIO
 * Fixed bug causing the spawning of an actor with `request_new_actor` to never activate the autopilot.
+* Fixed handling of evaluation criteria in OpenSCENARIO (using a delay value of .0 caused an exception)
 ### :ghost: Maintenance
 * Extended SimpleVehicleController (OSC) to handle traffic lights
 * Generalized visualizer attached to OSC controllers

scenario_runner.py

@@ -276,7 +276,7 @@ def _record_criteria(self, criteria, name):
         file_name = name[:-4] + ".json"
 
         # Filter the attributes that aren't JSON serializable
-        with open('temp.json', 'w') as fp:
+        with open('temp.json', 'w', encoding='utf-8') as fp:
 
             criteria_dict = {}
             for criterion in criteria:
@@ -296,7 +296,7 @@ def _record_criteria(self, criteria, name):
         os.remove('temp.json')
 
         # Save the criteria dictionary into a .json file
-        with open(file_name, 'w') as fp:
+        with open(file_name, 'w', encoding='utf-8') as fp:
             json.dump(criteria_dict, fp, sort_keys=False, indent=4)
 
     def _load_and_wait_for_world(self, town, ego_vehicles=None):
@@ -484,7 +484,7 @@ def _run_openscenario(self):
             self._cleanup()
             return False
 
-        openscenario_params = dict()
+        openscenario_params = {}
         if self._args.openscenarioparams is not None:
             for entry in self._args.openscenarioparams.split(','):
                 [key, val] = [m.strip() for m in entry.split(':')]

srunner/scenarioconfigs/openscenario_configuration.py

@@ -35,7 +35,7 @@ def __init__(self, filename, client, custom_params):
 
         self.xml_tree = ET.parse(filename)
         self.filename = filename
-        self._custom_params = custom_params if custom_params is not None else dict()
+        self._custom_params = custom_params if custom_params is not None else {}
 
         self._validate_openscenario_configuration()
         self.client = client
@@ -175,7 +175,7 @@ def _set_carla_town(self):
 
         if world is None or (wmap is not None and wmap.name != self.town):
             if ".xodr" in self.town:
-                with open(self.town) as od_file:
+                with open(self.town, 'r', encoding='utf-8') as od_file:
                     data = od_file.read()
                 index = data.find('<OpenDRIVE>')
                 data = data[index:]
@@ -236,7 +236,7 @@ def _set_actor_information(self):
         for entity in self.xml_tree.iter("Entities"):
             for obj in entity.iter("ScenarioObject"):
                 rolename = obj.attrib.get('name', 'simulation')
-                args = dict()
+                args = {}
                 for prop in obj.iter("Property"):
                     key = prop.get('name')
                     value = prop.get('value')

srunner/scenariomanager/carla_data_provider.py

@@ -46,11 +46,11 @@ class CarlaDataProvider(object):  # pylint: disable=too-many-public-methods
     In addition it provides access to the map and the transform of all traffic lights
     """
 
-    _actor_velocity_map = dict()
-    _actor_location_map = dict()
-    _actor_transform_map = dict()
-    _traffic_light_map = dict()
-    _carla_actor_pool = dict()
+    _actor_velocity_map = {}
+    _actor_location_map = {}
+    _actor_transform_map = {}
+    _traffic_light_map = {}
+    _carla_actor_pool = {}
     _client = None
     _world = None
     _map = None
@@ -797,7 +797,7 @@ def cleanup():
         CarlaDataProvider._world = None
         CarlaDataProvider._sync_flag = False
         CarlaDataProvider._ego_vehicle_route = None
-        CarlaDataProvider._carla_actor_pool = dict()
+        CarlaDataProvider._carla_actor_pool = {}
         CarlaDataProvider._client = None
         CarlaDataProvider._spawn_points = None
         CarlaDataProvider._spawn_index = 0

srunner/scenariomanager/result_writer.py

@@ -57,7 +57,7 @@ def write(self):
 
         output = self.create_output_text()
         if self._filename is not None:
-            with open(self._filename, 'w') as fd:
+            with open(self._filename, 'w', encoding='utf-8') as fd:
                 fd.write(output)
         if self._stdout:
             print(output)
@@ -203,7 +203,7 @@ def result_dict(name, actor, optional, expected, actual, success):
             "criteria": json_list
         }
 
-        with open(self._json, "w") as fp:
+        with open(self._json, "w", encoding='utf-8') as fp:
             json.dump(result_object, fp, indent=4)
 
     def _write_to_junit(self):
@@ -222,7 +222,7 @@ def _write_to_junit(self):
         if self._data.scenario_duration_game >= self._data.scenario.timeout:
             failure_count += 1
 
-        with open(self._junit, "w") as junit_file:
+        with open(self._junit, "w", encoding='utf-8') as junit_file:
 
             junit_file.write("<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n")
 

srunner/tools/openscenario_parser.py

@@ -111,7 +111,7 @@ class OpenScenarioParser(object):
         "OFF": carla.TrafficLightState.Off,
     }
 
-    global_osc_parameters = dict()
+    global_osc_parameters = {}
     use_carla_coordinate_system = False
     osc_filepath = None
 
@@ -182,7 +182,7 @@ def set_parameters(xml_tree, additional_parameter_dict=None):
             updated xml_tree, dictonary containing all parameters and their values
         """
 
-        parameter_dict = dict()
+        parameter_dict = {}
         parameters = xml_tree.find('ParameterDeclarations')
 
         if parameters is None and not parameter_dict:
@@ -254,7 +254,7 @@ def assign_catalog_parameters(entry_instance, catalog_reference):
             updated entry_instance with updated parameter values
         """
 
-        parameter_dict = dict()
+        parameter_dict = {}
         for elem in entry_instance.iter():
             if elem.find('ParameterDeclarations') is not None:
                 parameters = elem.find('ParameterDeclarations')
@@ -690,7 +690,7 @@ def convert_condition_to_atomic(condition, actor_list):
         delay_atomic = None
         condition_name = condition.attrib.get('name')
 
-        if condition.attrib.get('delay') is not None and str(condition.attrib.get('delay')) != '0':
+        if condition.attrib.get('delay') is not None and float(condition.attrib.get('delay')) != 0:
             delay = float(condition.attrib.get('delay'))
             delay_atomic = TimeOut(delay)
 

srunner/tools/route_parser.py

@@ -34,7 +34,7 @@ def parse_annotations_file(annotation_filename):
         :return:
         """
 
-        with open(annotation_filename, 'r') as f:
+        with open(annotation_filename, 'r', encoding='utf-8') as f:
             annotation_dict = json.loads(f.read())
 
         final_dict = {}

srunner/tools/scenario_helper.py

@@ -414,7 +414,7 @@ def choose_at_junction(current_waypoint, next_choices, direction=0):
             y=math.sin(math.radians(current_transform.rotation.yaw)))
     current_vector = vector(current_location, projected_location)
     cross_list = []
-    cross_to_waypoint = dict()
+    cross_to_waypoint = {}
     for waypoint in next_choices:
         waypoint = waypoint.next(10)[0]
         select_vector = vector(current_location, waypoint.transform.location)