ICCV2025-RealADSim-ClosedLoop-SubmissionDemo / navsim /planning /script /builders /worker_pool_builder.py
| import logging | |
| from hydra.utils import instantiate | |
| from omegaconf import DictConfig | |
| from nuplan.planning.script.builders.utils.utils_type import is_target_type, validate_type | |
| from nuplan.planning.utils.multithreading.worker_pool import WorkerPool | |
| from nuplan.planning.utils.multithreading.worker_parallel import SingleMachineParallelExecutor | |
| from nuplan.planning.utils.multithreading.worker_sequential import Sequential | |
| logger = logging.getLogger(__name__) | |
| def build_worker(cfg: DictConfig) -> WorkerPool: | |
| """ | |
| Builds the worker. | |
| :param cfg: DictConfig. Configuration that is used to run the experiment. | |
| :return: Instance of WorkerPool. | |
| """ | |
| logger.info('Building WorkerPool...') | |
| worker: WorkerPool = ( | |
| instantiate(cfg.worker) | |
| if ( | |
| is_target_type(cfg.worker, SingleMachineParallelExecutor) | |
| or is_target_type(cfg.worker, Sequential) | |
| ) | |
| else instantiate(cfg.worker, output_dir=cfg.output_dir) | |
| ) | |
| validate_type(worker, WorkerPool) | |
| logger.info('Building WorkerPool...DONE!') | |
| return worker | |