File size: 1,612 Bytes
36a4110 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 | # Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the BSD-style license found in the
# LICENSE file in the root directory of this source tree.
"""
FastAPI server for CARLA environment.
Exposes OpenEnv-compatible HTTP/WebSocket endpoints.
"""
import os
from openenv.core.env_server import create_app
from ..models import CarlaAction, CarlaObservation, CarlaState
from .carla_environment import CarlaEnvironment
# Configuration from environment variables
SCENARIO_NAME = os.getenv("CARLA_SCENARIO", "trolley_saves")
MODE = os.getenv("CARLA_MODE", "mock") # "mock" or "real"
HOST = os.getenv("CARLA_HOST", "localhost")
PORT = int(os.getenv("CARLA_PORT", "2000"))
# Environment factory function
def create_environment():
"""Factory function to create CarlaEnvironment instances."""
return CarlaEnvironment(
scenario_name=SCENARIO_NAME,
host=HOST,
port=PORT,
mode=MODE,
)
# Create FastAPI app with environment factory
# Uses create_app which enables web interface when ENABLE_WEB_INTERFACE=true
app = create_app(
create_environment,
CarlaAction,
CarlaObservation,
env_name="carla_env",
state_cls=CarlaState,
)
def main():
"""
Entry point for direct execution via uv run or python -m.
This function enables running the server without Docker:
uv run --project . server
python -m carla_env.server.app
openenv serve carla_env
"""
import uvicorn
uvicorn.run(app, host="0.0.0.0", port=8000)
if __name__ == "__main__":
main()
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