Sync Linux Update (#488)

* update logger/pip requirement

* linux use old model

* fix bug

* unify logger

* update logger

* format

* navi color

* update color

* release new version

* force pull asset

.github/workflows/main.yml

@@ -36,6 +36,7 @@ jobs:
           pip install cython
           pip install numpy
           pip install -e .
+          python -m metadrive.pull_asset
           pip install pytest
           pip install pytest-cov
           pip install ray
@@ -56,6 +57,7 @@ jobs:
           pip install numpy
           pip install gym
           pip install -e .
+          python -m metadrive.pull_asset
           pip install pytest
           pip install pytest-cov
           pip install ray
@@ -75,6 +77,7 @@ jobs:
           pip install cython
           pip install numpy
           pip install -e .
+          python -m metadrive.pull_asset
           pip install pytest
           pip install pytest-cov
           pip install ray
@@ -94,6 +97,7 @@ jobs:
           pip install cython
           pip install numpy
           pip install -e .
+          python -m metadrive.pull_asset
           pip install pytest
           pip install pytest-cov
           pip install ray
@@ -113,6 +117,7 @@ jobs:
           pip install cython
           pip install numpy
           pip install -e .
+          python -m metadrive.pull_asset
           pip install pytest
           pip install pytest-cov
           pip install ray

MANIFEST.in

@@ -1,3 +1,7 @@
 recursive-include metadrive/examples/ *
 recursive-include metadrive\\examples\\ *
-recursive-include metadrive\examples\ *
+recursive-include metadrive\examples\ *
+
+recursive-include metadrive/render_pipeline/ *
+recursive-include metadrive\\render_pipeline\\ *
+recursive-include metadrive\render_pipeline\ *

metadrive/component/vehicle/vehicle_type.py

@@ -2,6 +2,7 @@
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.component.pg_space import ParameterSpace, VehicleParameterSpace
 from metadrive.component.vehicle.base_vehicle import BaseVehicle
+import platform
 
 
 def convert_path(pth):
@@ -146,7 +147,7 @@ class SVehicle(BaseVehicle):
 
     @property
     def path(self):
-        if self.use_render_pipeline:
+        if self.use_render_pipeline and platform.system() != "Linux":
             # vfs = VirtualFileSystem.get_global_ptr()
             # vfs.mount(convert_path(AssetLoader.file_path("models", "beetle")), "/$$beetle_model", 0)
             return ['beetle/vehicle.bam', (0.0077, 0.0077, 0.0077), (0.04512, -0.24 - 0.04512, 1.77), (-90, -90, 0)]

metadrive/component/vehicle_navigation_module/trajectory_navigation.py

@@ -1,18 +1,15 @@
-import logging
 from collections import deque
 
 import numpy as np
 from panda3d.core import NodePath, Material
-
+from metadrive.engine.logger import get_logger
 from metadrive.component.vehicle_navigation_module.base_navigation import BaseNavigation
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.utils.coordinates_shift import panda_vector
 from metadrive.utils.math import norm, clip
 from metadrive.utils.math import panda_vector
 from metadrive.utils.math import wrap_to_pi
 
-logger = logging.getLogger(__file__)
-
 
 class TrajectoryNavigation(BaseNavigation):
     """
@@ -34,7 +31,7 @@ def __init__(
         vehicle_config=None
     ):
         if show_dest_mark or show_line_to_dest:
-            logging.warning("show_dest_mark and show_line_to_dest are not supported in TrajectoryNavigation")
+            get_logger().warning("show_dest_mark and show_line_to_dest are not supported in TrajectoryNavigation")
         super(TrajectoryNavigation, self).__init__(
             show_navi_mark=False,
             random_navi_mark_color=random_navi_mark_color,
@@ -61,9 +58,9 @@ def __init__(
                     self._navi_point_model.setScale(0.5)
                     if self.engine.use_render_pipeline:
                         material = Material()
-                        material.setBaseColor((1, 1, 1, 1))
-                        material.setShininess(128)
-                        material.setEmission((1, 1, 1, 1))
+                        material.setBaseColor((19 / 255, 212 / 255, 237 / 255, 1))
+                        material.setShininess(16)
+                        material.setEmission((0.2, 0.2, 0.2, 0.2))
                         self._navi_point_model.setMaterial(material, True)
                 self._navi_point_model.instanceTo(model)
                 model.reparentTo(self.origin)

metadrive/engine/asset_loader.py

@@ -11,7 +11,7 @@ class AssetLoader:
     """
     Load model for each element when render is needed.
     """
-    logger = get_logger("Asset")
+    logger = get_logger()
     loader = None
     asset_path = pathlib.PurePosixPath(__file__).parent.parent.joinpath("assets") if not is_win(
     ) else pathlib.Path(__file__).resolve().parent.parent.joinpath("assets")

metadrive/engine/core/image_buffer.py

@@ -33,7 +33,7 @@ def __init__(
         setup_pbr=False,
         engine=None
     ):
-        self.logger = get_logger(self.__class__.__name__)
+        self.logger = get_logger()
         self._node_path_list = []
 
         # from metadrive.engine.engine_utils import get_engine

metadrive/engine/logger.py

@@ -1,13 +1,16 @@
 import logging
 
+global_logger = None
+
 
 class CustomFormatter(logging.Formatter):
     grey = "\x1b[38;20m"
     yellow = "\x1b[33;20m"
     red = "\x1b[31;20m"
     bold_red = "\x1b[31;1m"
     reset = "\x1b[0m"
-    format = "[%(levelname)s] %(message)s (%(name)s %(filename)s:%(lineno)d)"
+    # format = "[%(levelname)s] %(message)s (%(name)s %(filename)s:%(lineno)d)"
+    format = "[%(levelname)s] %(message)s (%(filename)s:%(lineno)d)"
     simple_format = "[%(levelname)s] %(message)s"
 
     FORMATS = {
@@ -24,13 +27,17 @@ def format(self, record):
         return formatter.format(record)
 
 
-def get_logger(name, level=logging.INFO, propagate=False):
-    logger = logging.getLogger(name)
-    logger.setLevel(level)
-    logger.propagate = propagate
-    # create console handler with a higher log level
-    ch = logging.StreamHandler()
-    # create formatter and add it to the handlers
-    ch.setFormatter(CustomFormatter())
-    logger.addHandler(ch)
-    return logger
+def get_logger(level=logging.INFO, propagate=False):
+    global global_logger
+    if global_logger is None:
+        logger = logging.getLogger("MetaDrive")
+        logger.propagate = propagate
+        # create console handler with a higher log level
+        ch = logging.StreamHandler()
+        # create formatter and add it to the handlers
+        ch.setFormatter(CustomFormatter())
+        logger.addHandler(ch)
+        global_logger = logger
+    if global_logger.level != level:
+        global_logger.setLevel(level)
+    return global_logger

metadrive/envs/base_env.py

@@ -229,9 +229,7 @@ def default_config(cls) -> Config:
     def __init__(self, config: dict = None):
         if config is None:
             config = {}
-        self.logger = get_logger(
-            self.logger_name, config.get("log_level", logging.DEBUG if config.get("debug", False) else logging.INFO)
-        )
+        self.logger = get_logger(config.get("log_level", logging.DEBUG if config.get("debug", False) else logging.INFO))
         merged_config = self.default_config().update(config, False, ["target_vehicle_configs", "sensors"])
         global_config = self._post_process_config(merged_config)
         global_config["vehicle_config"]["main_camera"] = global_config["window_size"]
@@ -286,13 +284,16 @@ def _post_process_config(self, config):
 
         # Merge vehicle_panel config with sensors
         to_use = []
-        for panel in config["interface_panel"]:
-            if panel == "dashboard":
-                config["sensors"]["dashboard"] = (VehiclePanel, )
-            if panel not in config["sensors"]:
-                self.logger.warning("Fail to add sensor: {} to the interface. Remove it from panel list!".format(panel))
-            else:
-                to_use.append(panel)
+        if not config["render_pipeline"]:
+            for panel in config["interface_panel"]:
+                if panel == "dashboard":
+                    config["sensors"]["dashboard"] = (VehiclePanel, )
+                if panel not in config["sensors"]:
+                    self.logger.warning(
+                        "Fail to add sensor: {} to the interface. Remove it from panel list!".format(panel)
+                    )
+                else:
+                    to_use.append(panel)
         config["interface_panel"] = to_use
 
         # Check sensor existence
@@ -461,7 +462,6 @@ def reset(self, seed: Union[None, int] = None):
         """
         if self.logger is None:
             self.logger = get_logger(
-                self.logger_name,
                 self.config.get("log_level", logging.DEBUG if self.config.get("debug", False) else logging.INFO)
             )
         self.lazy_init()  # it only works the first time when reset() is called to avoid the error when render

metadrive/envs/scenario_env.py

@@ -1,8 +1,6 @@
 """
 This environment can load all scenarios exported from other environments via env.export_scenarios()
 """
-import logging
-
 import numpy as np
 
 from metadrive.component.sensors.vehicle_panel import VehiclePanel
@@ -169,13 +167,13 @@ def next_seed_reset(self):
         if self.current_seed + 1 < self.config["start_scenario_index"] + self.config["num_scenarios"]:
             self.reset(self.current_seed + 1)
         else:
-            logging.warning("Can't load next scenario! current seed is already the max scenario index")
+            self.logger.warning("Can't load next scenario! current seed is already the max scenario index")
 
     def last_seed_reset(self):
         if self.current_seed - 1 >= self.config["start_scenario_index"]:
             self.reset(self.current_seed - 1)
         else:
-            logging.warning("Can't load last scenario! current seed is already the min scenario index")
+            self.logger.warning("Can't load last scenario! current seed is already the min scenario index")
 
     def step(self, actions):
         ret = super(ScenarioEnv, self).step(actions)
@@ -204,42 +202,42 @@ def msg(reason):
 
         if self._is_arrive_destination(vehicle):
             done = True
-            logging.info(msg("arrive_dest"))
+            self.logger.info(msg("arrive_dest"))
             done_info[TerminationState.SUCCESS] = True
 
         elif self._is_out_of_road(vehicle) or route_completion < -0.1:
             done = True
-            logging.info(msg("out_of_road"))
+            self.logger.info(msg("out_of_road"))
             done_info[TerminationState.OUT_OF_ROAD] = True
         elif vehicle.crash_human and self.config["crash_human_done"]:
             done = True
-            logging.info(msg("crash human"))
+            self.logger.info(msg("crash human"))
             done_info[TerminationState.CRASH_HUMAN] = True
         elif vehicle.crash_vehicle and self.config["crash_vehicle_done"]:
             done = True
-            logging.info(msg("crash vehicle"))
+            self.logger.info(msg("crash vehicle"))
             done_info[TerminationState.CRASH_VEHICLE] = True
         elif vehicle.crash_object and self.config["crash_object_done"]:
             done = True
             done_info[TerminationState.CRASH_OBJECT] = True
-            logging.info(msg("crash object"))
+            self.logger.info(msg("crash object"))
         elif vehicle.crash_building and self.config["crash_object_done"]:
             done = True
             done_info[TerminationState.CRASH_BUILDING] = True
-            logging.info(msg("crash building"))
+            self.logger.info(msg("crash building"))
 
         elif self.config["horizon"] is not None and \
                 self.episode_lengths[vehicle_id] >= self.config["horizon"] and not self.is_multi_agent:
             done = True
             done_info[TerminationState.MAX_STEP] = True
-            logging.info(msg("max step"))
+            self.logger.info(msg("max step"))
 
         elif self.config["allowed_more_steps"] is not None and \
                 self.episode_lengths[vehicle_id] >= self.engine.data_manager.current_scenario_length + self.config[
             "allowed_more_steps"] and not self.is_multi_agent:
             done = True
             done_info[TerminationState.MAX_STEP] = True
-            logging.info(msg("more step than original episode"))
+            self.logger.info(msg("more step than original episode"))
 
         # for compatibility
         # crash almost equals to crashing with vehicles

metadrive/pull_asset.py

@@ -30,7 +30,7 @@ def __call__(self, block_num, block_size, total_size):
 
 
 def pull_asset(update):
-    logger = get_logger("Asset", propagate=False)
+    logger = get_logger(propagate=False)
     logger.handlers.pop()
     TARGET_DIR = os.path.join(os.path.dirname(__file__))
     if os.path.exists(os.path.join(TARGET_DIR, "assets")):
@@ -57,7 +57,7 @@ def pull_asset(update):
     zip_path = os.path.join(TARGET_DIR, 'assets.zip')
 
     # Fetch the zip file
-    logger.info("Pull the assets from {}".format(ASSET_URL))
+    logger.info("Pull assets from {}".format(ASSET_URL))
     urllib.request.urlretrieve(ASSET_URL, zip_path, MyProgressBar())
 
     # Extract the zip file to the desired location

metadrive/register.py

@@ -85,8 +85,8 @@
         envs.append(env_name)
         gym.register(id=env_name, entry_point=entry, kwargs=dict(config={}))
 
-if len(envs) > 0:
-    get_logger("Gym").info("Successfully registered the following environments: {}.".format(envs))
+# if len(envs) > 0:
+#     get_logger("Gym").info("Successfully registered the following environments: {}.".format(envs))
 
 if __name__ == '__main__':
     # Test purpose only

metadrive/version.py

@@ -1,6 +1,6 @@
 import os
 
-VERSION = "0.4.1.1"
+VERSION = "0.4.1.2"
 
 
 def asset_version():

setup.py

@@ -53,7 +53,6 @@ def is_win():
     "panda3d-gltf==0.13",  # 0.14 will bring some problems
     "panda3d-simplepbr",
     "pillow",
-    "protobuf==3.20.3",
     "pytest",
     "opencv-python",
     "lxml",
@@ -122,7 +121,7 @@ def is_win():
 
 1. Rename VERSION in metadrive/version.py to x.y.z
 
-2. Revise the version in metadrive/assets/version.txt, and compress the folder into assets.zip
+2. Revise the version in metadrive/assets/version.txt, and compress the folder: zip -r assets.zip assets
 
 3. commit changes and push this branch to remote