logging: fix redundant tqdm updates and double-printing in console logs

scenarios/base.py

@@ -86,6 +86,29 @@ class ScenarioBase(ABC):
         Always call this in a finally block so CARLA stays clean.
         """
 
+    # ------------------------------------------------------------------
+    # Logging Utilities
+    # ------------------------------------------------------------------
+
+    def log_frame(self, frame: int, ego_vehicle, extra_msg: str = "", pbar=None) -> None:
+        """
+        Unified 1:1 logging for all scenarios.
+        This method ensures clean console output by manually managing tqdm state
+        to avoid redundant bar updates in redirected log files.
+        """
+        import math
+        vel = ego_vehicle.get_velocity()
+        speed = 3.6 * math.sqrt(vel.x**2 + vel.y**2 + vel.z**2)
+        
+        msg = f"[FRAME {frame:03d}] EGO (spd={speed:.1f}kph) {extra_msg}"
+        
+        if pbar:
+            # We assume pbar.n has been updated by the orchestrator (main.py)
+            # pbar.write prints the msg and refreshes the bar on a new line.
+            pbar.write(msg)
+        else:
+            print(msg)
+
     # ------------------------------------------------------------------
     # Optional hooks & Properties (default no-ops — override as needed)
     # ------------------------------------------------------------------

scenarios/braking.py

@@ -111,19 +111,13 @@ class BrakingScenario(ScenarioBase):
                 self._braked = True
                 print(f"[{self.name}] EMERGENCY BRAKE applied at frame {frame_count}.")
 
-        # Verbose Logging (Full frequency for 1:1 log mirroring)
-        e_vel = ego_vehicle.get_velocity()
-        e_speed = 3.6 * math.sqrt(e_vel.x**2 + e_vel.y**2 + e_vel.z**2)
-        
+        # Unified Verbose Logging
         l_dist = -1.0
         if self._lead_vehicle and self._lead_vehicle.is_alive:
             l_dist = ego_vehicle.get_location().distance(self._lead_vehicle.get_location())
             
-        msg = f"[FRAME {frame_count:03d}] EGO (spd={e_speed:.1f}kph) | LEAD DIST: {l_dist:.1f}m {'(BRAKING)' if self._braked else ''}"
-        if pbar:
-            pbar.write(msg)
-        else:
-            print(msg)
+        extra = f"| LEAD DIST: {l_dist:.1f}m {'(BRAKING)' if self._braked else ''}"
+        self.log_frame(frame_count, ego_vehicle, extra_msg=extra, pbar=pbar)
 
     def cleanup(self) -> None:
         self._destroy_actors()

scenarios/cutin.py

@@ -103,19 +103,13 @@ class CutInScenario(ScenarioBase):
                 self._cut_triggered = True
                 print(f"[{self.name}] Lane change triggered at frame {frame_count}.")
 
-        # Verbose Logging (Full frequency for 1:1 log mirroring)
-        e_vel = ego_vehicle.get_velocity()
-        e_speed = 3.6 * math.sqrt(e_vel.x**2 + e_vel.y**2 + e_vel.z**2)
-        
+        # Unified Verbose Logging
         n_dist = -1.0
         if self._npc and self._npc.is_alive:
             n_dist = ego_vehicle.get_location().distance(self._npc.get_location())
             
-        msg = f"[FRAME {frame_count:03d}] EGO (spd={e_speed:.1f}kph) | NPC DIST: {n_dist:.1f}m {'(CUT-IN)' if self._cut_triggered else ''}"
-        if pbar:
-            pbar.write(msg)
-        else:
-            print(msg)
+        extra = f"| NPC DIST: {n_dist:.1f}m {'(CUT-IN)' if self._cut_triggered else ''}"
+        self.log_frame(frame_count, ego_vehicle, extra_msg=extra, pbar=pbar)
 
     def cleanup(self) -> None:
         self._destroy_actors()

scenarios/obstacle.py

@@ -92,8 +92,8 @@ class ObstacleScenario(ScenarioBase):
         )
 
     def step(self, frame_count: int, ego_vehicle, pbar=None) -> None:
-        # Static scenario — no per-frame logic required
-        pass
+        # Static scenario — minimal logging every frame
+        self.log_frame(frame_count, ego_vehicle, extra_msg="(STATIC OBSTACLE)", pbar=pbar)
 
     def cleanup(self) -> None:
         self._destroy_actors()

scenarios/showcase.py

@@ -122,14 +122,9 @@ class ShowcaseScenario(ScenarioBase):
             self._npc.set_target_velocity(fwd * 9.72)
             self._npc.apply_control(carla.VehicleControl(throttle=1.0, steer=n_steer))
         
-        # Verbose Logging (Full frequency for 1:1 log mirroring)
-        e_vel = ego_vehicle.get_velocity()
-        e_speed = 3.6 * math.sqrt(e_vel.x**2 + e_vel.y**2 + e_vel.z**2)
-        msg = f"[FRAME {frame:03d}] EGO (spd={e_speed:.1f}kph) target={'MID' if not self._ego_reached_mid else 'P3'} | NPC target={'MID' if not self._npc_reached_mid else 'P3'}"
-        if pbar:
-            pbar.write(msg)
-        else:
-            print(msg)
+        # Unified Verbose Logging
+        extra = f"target={'MID' if not self._ego_reached_mid else 'P3'} | NPC target={'MID' if not self._npc_reached_mid else 'P3'}"
+        self.log_frame(frame, ego_vehicle, extra_msg=extra, pbar=pbar)
 
     def cleanup(self):
         self._destroy_actors()

src/main.py

@@ -246,7 +246,9 @@ def main():
             world.tick()
             frame_count += 1
             
-            pbar.update(1)
+            # Synchronize progress bar counter WITHOUT refreshing (which causes double-prints in logs)
+            if pbar:
+                pbar.n = frame_count
             
             cam, cam_tpp, radar, lidar = sensor_manager.get_data()