Fix vis block (#528)

* fix bug

* remove destroy in __del__

* fix del infor

* format

* fix arrow

---------

Co-authored-by: pengzhenghao <pzh@cs.ucla.edu>

metadrive/base_class/base_object.py

@@ -245,13 +245,13 @@ def destroy(self):
         """
         Fully delete this element and release the memory
         """
+        super(BaseObject, self).destroy()
         try:
             from metadrive.engine.engine_utils import get_engine
         except ImportError:
             pass
         else:
             engine = get_engine()
-
             if engine is not None:
                 self.detach_from_world(engine.physics_world)
                 if self._body is not None and hasattr(self.body, "object"):

metadrive/base_class/nameable.py

@@ -18,11 +18,9 @@ def class_name(self):
 
     def __del__(self):
         try:
-            str(self)
-        except AttributeError:
-            pass
-        else:
             logging.debug("{} is destroyed".format(str(self)))
+        except:
+            pass
 
     def __repr__(self):
         return "{}".format(str(self))

metadrive/component/block/base_block.py

@@ -338,9 +338,9 @@ def destroy(self):
         self._global_network = None
         super(BaseBlock, self).destroy()
 
-    def __del__(self):
-        self.destroy()
-        logger.debug("{} is being deleted.".format(type(self)))
+    # def __del__(self):
+    # self.destroy()
+    # logger.debug("{} is being deleted.".format(type(self)))
 
     @property
     def bounding_box(self):

metadrive/component/lane/abs_lane.py

@@ -412,9 +412,6 @@ def destroy(self):
         else:
             clear_node_list(self._node_path_list)
 
-    def __del__(self):
-        self.destroy()
-
     def get_polyline(self, interval=2, lateral=0):
         """
         This method will return the center line of this Lane in a discrete vector representation

metadrive/component/nuplan_block/nuplan_block.py

@@ -187,11 +187,6 @@ def destroy(self):
         self.nuplan_map_data = None
         super(NuPlanBlock, self).destroy()
 
-    def __del__(self):
-        self.destroy()
-        super(NuPlanBlock, self).__del__()
-        # print("NuPlan Block is being deleted.")
-
     @staticmethod
     def _get_points_from_boundary(boundary, center):
         path = boundary.discrete_path

metadrive/component/road_network/base_road_network.py

@@ -86,6 +86,11 @@ def remove_bounding_box(self):
             np.removeNode()
 
     def destroy(self):
+        """
+        Destroy all lanes in this network
+        Returns: None
+
+        """
         self.bounding_box = None
 
     def has_connection(self, lane_index_1, lane_index_2):

metadrive/component/road_network/edge_road_network.py

@@ -96,11 +96,17 @@ def get_peer_lanes_from_index(self, lane_index):
         return ret
 
     def destroy(self):
+        """
+        Destroy all lanes in this road network
+        Returns: None
+
+        """
         super(EdgeRoadNetwork, self).destroy()
-        for k, v in self.graph.items():
-            v.lane.destroy()
-            self.graph[k]: lane_info = None
-        self.graph = None
+        if self.graph is not None:
+            for k, v in self.graph.items():
+                v.lane.destroy()
+                self.graph[k]: lane_info = None
+            self.graph = None
 
     def __del__(self):
         logging.debug("{} is released".format(self.__class__.__name__))

metadrive/component/road_network/node_road_network.py

@@ -319,3 +319,17 @@ def get_all_lanes(self):
             for _to, lanes in _to_dict.items():
                 ret += lanes
         return ret
+
+    def destroy(self):
+        """
+        Destroy all lanes in this network
+        Returns: None
+
+        """
+        super(NodeRoadNetwork, self).destroy()
+        if self.graph is not None:
+            for from_, _to_dict in self.graph.items():
+                for _to, lanes in _to_dict.items():
+                    for lane in lanes:
+                        lane.destroy()
+            self.graph = None

metadrive/component/scenario_block/scenario_block.py

@@ -169,7 +169,3 @@ def destroy(self):
         self.map_index = None
         # self.map_data = None
         super(ScenarioBlock, self).destroy()
-
-    def __del__(self):
-        self.destroy()
-        super(ScenarioBlock, self).__del__()

metadrive/component/vehicle_navigation_module/base_navigation.py

@@ -187,7 +187,6 @@ def set_force_calculate_lane_index(self, force: bool):
         self.FORCE_CALCULATE = force
 
     def __del__(self):
-        self.destroy()
         logging.debug("{} is destroyed".format(self.__class__.__name__))
 
     def get_current_lateral_range(self, current_position, engine) -> float:

metadrive/engine/interface.py

@@ -196,7 +196,7 @@ def _update_navi_arrow(self, lanes_heading):
             dir_0 = np.array([math.cos(lane_0_heading), math.sin(lane_0_heading), 0])
             dir_1 = np.array([math.cos(lane_1_heading), math.sin(lane_1_heading), 0])
             cross_product = np.cross(dir_1, dir_0)
-            left = False if cross_product[-1] < 0 else True
+            left = True if cross_product[-1] < 0 else False
             if not self._is_showing_arrow:
                 self._is_showing_arrow = True
             if left:

metadrive/tests/vis_block/vis_bottleneck.py

@@ -11,7 +11,7 @@
     initialize_asset_loader(test)
 
     global_network = NodeRoadNetwork()
-    b = FirstPGBlock(global_network, 3.0, 1, test.render, test.world, 1)
+    b = FirstPGBlock(global_network, 3.0, 2, test.render, test.world, 1)
     for i in range(1, 13):
         tp = Merge if i % 3 == 0 else Split
         b = tp(i, b.get_socket(0), global_network, i)

metadrive/tests/vis_block/vis_curve_block.py

@@ -14,10 +14,10 @@
     curve = FirstPGBlock(global_network, 3.0, 1, test.render, test.world, 1)
     for i in range(1, 13):
         curve = Curve(i, curve.get_socket(0), global_network, i)
-        # print(i)
+        print(i)
         while True:
             success = curve.construct_block(test.render, test.world)
-            # print(success)
+            print(success)
             if success:
                 break
             curve.destruct_block(test.world)

metadrive/tests/vis_block/vis_intersection.py

@@ -12,7 +12,8 @@
     global_network = NodeRoadNetwork()
     first = FirstPGBlock(global_network, 3.0, 2, test.render, test.world, 20)
     intersection = InterSection(3, first.get_socket(0), global_network, 1)
-    intersection.construct_block(test.render, test.world)
+    # print(intersection.construct_block(test.render, test.world))
+
     id = 4
     for socket_idx in range(intersection.SOCKET_NUM):
         block = Curve(id, intersection.get_socket(socket_idx), global_network, id)

metadrive/tests/vis_block/vis_yy.py

@@ -42,7 +42,7 @@
     )
 
     o, _ = env.reset()
-    # print("vehicle num", len(env.engine.traffic_manager.vehicles))
+    print("vehicle num", len(env.engine.traffic_manager.vehicles))
     for i in range(1, 100000):
         o, r, tm, tc, info = env.step([0, 1])
         info["fuel"] = env.vehicle.energy_consumption
@@ -54,6 +54,6 @@
             }
         )
         if tm or tc:
-            # print("Reset")
+            print("Reset")
             env.reset()
     env.close()