How to use the carla.client.make_carla_client function in carla

self.collision_cnt += 1
        else:
            self.collision_cnt = 0
        # self.collision_cnt = (self.collision_cnt + info['collision']) * info['collision']
        self.ignite = self.ignite or info['speed'] > 1
        stuck = int(info['speed'] < 1)
        self.stuck_cnt = (self.stuck_cnt + stuck) * stuck * int(bool(self.ignite) or self.testing)

        if info['offroad'] > 0.5:
            self.offroad_cnt += 1

        return (self.stuck_cnt > 30) or self.offroad_cnt > 30 or self.collision_cnt > 20


if __name__ == '__main__':
    with make_carla_client('localhost', 2018) as client:
        print('CarlaClient connected')
        env = carla_env(client)
        env.reset()
        for i in range(20):
            obs, seg, reward, done, info = env.step([1, 0])
            print(info)
        env.reset()
        for i in range(20):
            obs, seg, reward, done, info = env.step([1, 0])
            print(info)

self.collision_cnt += 1
        else:
            self.collision_cnt = 0
        # self.collision_cnt = (self.collision_cnt + info['collision']) * info['collision']
        self.ignite = self.ignite or info['speed'] > 1
        stuck = int(info['speed'] < 1)
        self.stuck_cnt = (self.stuck_cnt + stuck) * stuck * int(bool(self.ignite) or self.testing)

        if info['offroad'] > 0.5:
            self.offroad_cnt += 1

        return (self.stuck_cnt > 30 and self.ignite) or self.offroad_cnt > 30 or self.collision_cnt > 20


if __name__ == '__main__':
    with make_carla_client('localhost', 2018) as client:
        print('CarlaClient connected')
        env = carla_env(client)
        env.reset()
        for i in range(20):
            obs, seg, reward, done, info = env.step([1, 0])
            print(info)
        env.reset()
        for i in range(20):
            obs, seg, reward, done, info = env.step([1, 0])
            print(info)

def run_carla_client(args):
    # Here we will run 3 episodes with 300 frames each.
    number_of_episodes = 3
    frames_per_episode = 300

    # We assume the CARLA server is already waiting for a client to connect at
    # host:port. To create a connection we can use the `make_carla_client`
    # context manager, it creates a CARLA client object and starts the
    # connection. It will throw an exception if something goes wrong. The
    # context manager makes sure the connection is always cleaned up on exit.
    with make_carla_client(args.host, args.port) as client:
        print('CarlaClient connected')

        for episode in range(0, number_of_episodes):
            # Start a new episode.

            if args.settings_filepath is None:

                # Create a CarlaSettings object. This object is a wrapper around
                # the CarlaSettings.ini file. Here we set the configuration we
                # want for the new episode.
                settings = CarlaSettings()
                settings.set(
                    SynchronousMode=True,
                    SendNonPlayerAgentsInfo=True,
                    NumberOfVehicles=20,
                    NumberOfPedestrians=40,

help='plot the map of the current city (needs to match active map in '
             'server, options: Town01 or Town02)')
    args = argparser.parse_args()

    log_level = logging.DEBUG if args.debug else logging.INFO
    logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level)

    logging.info('listening to server %s:%s', args.host, args.port)

    print(__doc__)

    wrapper = Carla_Wrapper()
    while True:
        try:

            with make_carla_client(args.host, args.port, timeout=1000) as client:
                game = CarlaGame(client, args, wrapper)
                game.execute()
                break

        except TCPConnectionError as error:
            logging.error(error)
            time.sleep(1)

def run_carla_client(host, port):
    global frame
    with make_carla_client(host, port) as client:
        print('CarlaClient connected')
        settings = CarlaSettings()
        settings.set(
            SynchronousMode=True,
            SendNonPlayerAgentsInfo=True,
            NumberOfVehicles=0,
            NumberOfPedestrians=0,
            WeatherId=1)  # random.choice([1, 3, 7, 8, 14]))
        settings.randomize_seeds()

        camera0 = Camera('CameraRGB')
        camera0.set_image_size(800, 600)
        camera0.set_position(30, 0, 130)
        settings.add_sensor(camera0)

        camera1 = Camera('CameraDepth', PostProcessing='Depth')

def run_carla_client(host, port, far):
    # Here we will run a single episode with 300 frames.
    number_of_frames = 3000
    frame_step = 100  # Save one image every 100 frames
    output_folder = '_out'
    image_size = [800, 600]
    camera_local_pos = [0.3, 0.0, 1.3] # [X, Y, Z]
    camera_local_rotation = [0, 0, 0]  # [pitch(Y), yaw(Z), roll(X)]
    fov = 70

    # Connect with the server
    with make_carla_client(host, port) as client:
        print('CarlaClient connected')

        # Here we load the settings.
        settings = CarlaSettings()
        settings.set(
            SynchronousMode=True,
            SendNonPlayerAgentsInfo=False,
            NumberOfVehicles=20,
            NumberOfPedestrians=40,
            WeatherId=random.choice([1, 3, 7, 8, 14]))
        settings.randomize_seeds()

        camera1 = Camera('CameraDepth', PostProcessing='Depth', FOV=fov)
        camera1.set_image_size(*image_size)
        camera1.set_position(*camera_local_pos)
        camera1.set_rotation(*camera_local_rotation)

def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filename_format, settings_filepath):
    # Here we will run 3 episodes with 300 frames each.
    number_of_episodes = 3
    frames_per_episode = 300

    # We assume the CARLA server is already waiting for a client to connect at
    # host:port. To create a connection we can use the `make_carla_client`
    # context manager, it creates a CARLA client object and starts the
    # connection. It will throw an exception if something goes wrong. The
    # context manager makes sure the connection is always cleaned up on exit.
    with make_carla_client(host, port) as client:
        print('CarlaClient connected')

        for episode in range(0, number_of_episodes):
            # Start a new episode.

            if settings_filepath is None:

                # Create a CarlaSettings object. This object is a wrapper around
                # the CarlaSettings.ini file. Here we set the configuration we
                # want for the new episode.
                settings = CarlaSettings()
                settings.set(
                    SynchronousMode=True,
                    NumberOfVehicles=20,
                    NumberOfPedestrians=40,
                    WeatherId=random.choice([1, 3, 7, 8, 14]))