Sumo integration (#598)

* add time me prefix

* let's have a base agent manager

* rename vehicle in base_env to agent

* env.vehicle -> env.agent

* self.vehicles -> self.agents and self.vehicle -> self.agent

* format

* format

* finish -> _finish

* check agent manager

* show lines for traffic light

* refactor agent manager

* add before_step

* move the get_Action_space to agentManager

* runnable return dict

* update drawer and lights

* format

* light

* cull

* new sensor creation

* wise sensor creation and multi rendering

* update sensor creation

* fix test

* fix

* optimize

* format

* fix bug

* format

* fix test

* fix bug

* format

* fix bug

* fix bug

* format

* fix bug

bridges/ros_bridge/ros_socket_server.py

@@ -55,7 +55,7 @@ def run(self, test=False):
 
             env.reset()
             print(HELP_MESSAGE)
-            env.vehicle.expert_takeover = False
+            env.agent.expert_takeover = False
             while True:
                 o = env.step([0, 0])
                 if test:
@@ -79,17 +79,17 @@ def run(self, test=False):
                         print(msg)
                 del image_data  # explicit delete to free memory
 
-                lidar_data, objs = env.vehicle.lidar.perceive(
-                    env.vehicle,
+                lidar_data, objs = env.agent.lidar.perceive(
+                    env.agent,
                     env.engine.physics_world.dynamic_world,
-                    env.vehicle.config["lidar"]["num_lasers"],
-                    env.vehicle.config["lidar"]["distance"],
+                    env.agent.config["lidar"]["num_lasers"],
+                    env.agent.config["lidar"]["distance"],
                     height=1.0,
                 )
 
-                ego_x = env.vehicle.position[0]
-                ego_y = env.vehicle.position[1]
-                ego_theta = np.arctan2(env.vehicle.heading[1], env.vehicle.heading[0])
+                ego_x = env.agent.position[0]
+                ego_y = env.agent.position[1]
+                ego_theta = np.arctan2(env.agent.heading[1], env.agent.heading[0])
 
                 num_data = struct.pack('i', len(objs))
                 obj_data = []
@@ -123,9 +123,9 @@ def run(self, test=False):
                 del obj_data  # explicit delete to free memory
 
                 # convert lidar data to xyz
-                lidar_data = np.array(lidar_data) * env.vehicle.config["lidar"]["distance"]
-                lidar_range = env.vehicle.lidar._get_lidar_range(
-                    env.vehicle.config["lidar"]["num_lasers"], env.vehicle.lidar.start_phase_offset
+                lidar_data = np.array(lidar_data) * env.agent.config["lidar"]["distance"]
+                lidar_range = env.agent.lidar._get_lidar_range(
+                    env.agent.config["lidar"]["num_lasers"], env.agent.lidar.start_phase_offset
                 )
                 point_x = lidar_data * np.cos(lidar_range)
                 point_y = lidar_data * np.sin(lidar_range)

documentation/source/action.ipynb

@@ -597,7 +597,7 @@
     "        extra = random.randint(0, 9)\n",
     "        action={\"action\": [0., 0.], \"extra\": extra}\n",
     "        _,_,_,_,info = env.step(action)\n",
-    "        extra_ = env.engine.get_policy(env.vehicle.id).extra_input\n",
+    "        extra_ = env.engine.get_policy(env.agent.id).extra_input\n",
     "        assert extra == extra_\n",
     "        print(\"Extra info this step is: {}\".format(extra))\n",
     "finally:\n",

documentation/source/points_and_lines.ipynb

@@ -131,7 +131,7 @@
    "source": [
     "env.reset() # launch the simulation\n",
     "try:\n",
-    "    drawer = env.engine.make_line_drawer(env.vehicle.origin, thickness=5)\n",
+    "    drawer = env.engine.make_line_drawer(env.agent.origin, thickness=5)\n",
     "    # rotate the drawer by 90 degree, as +x is at the right side of the car.\n",
     "    drawer.setH(90) \n",
     "    for i in range(100):\n",

documentation/source/reward_cost_done.ipynb

@@ -344,7 +344,7 @@
       "        TerminationState.SUCCESS: \u001b[36mself\u001b[39;49;00m._is_arrive_destination(vehicle),\n",
       "        TerminationState.MAX_STEP: max_step,\n",
       "        TerminationState.ENV_SEED: \u001b[36mself\u001b[39;49;00m.current_seed,\n",
-      "        \u001b[37m# TerminationState.CURRENT_BLOCK: self.vehicle.navigation.current_road.block_ID(),\u001b[39;49;00m\n",
+      "        \u001b[37m# TerminationState.CURRENT_BLOCK: self.agent.navigation.current_road.block_ID(),\u001b[39;49;00m\n",
       "        \u001b[37m# crash_vehicle=False, crash_object=False, crash_building=False, out_of_road=False, arrive_dest=False,\u001b[39;49;00m\n",
       "    }\n",
       "\n",

documentation/source/rl_environments.ipynb

@@ -179,10 +179,10 @@
     "    training_env.reset(seed=env_seed)\n",
     "    lane_nums.add(training_env.current_map.config[\"lane_num\"]) \n",
     "    lane_widths.add(training_env.current_map.config[\"lane_width\"])\n",
-    "    vehicle_models.add(training_env.vehicle.__class__.__name__)\n",
+    "    vehicle_models.add(training_env.agent.__class__.__name__)\n",
     "    traffic_models = set([obj.__class__ for obj in training_env.engine.traffic_manager.spawned_objects.values()])\n",
     "    traffic_vehicle_models = traffic_vehicle_models.union(traffic_models)\n",
-    "    assert vehicle_type[training_env.vehicle.config[\"vehicle_model\"]] is training_env.vehicle.__class__\n",
+    "    assert vehicle_type[training_env.agent.config[\"vehicle_model\"]] is training_env.agent.__class__\n",
     "    \n",
     "training_env.close()\n",
     "\n",
@@ -761,14 +761,14 @@
     "    training_env.reset(seed=env_seed)\n",
     "    lane_nums.add(training_env.current_map.config[\"lane_num\"]) \n",
     "    lane_widths.add(training_env.current_map.config[\"lane_width\"])\n",
-    "    vehicle_models.add(training_env.vehicle.__class__.__name__)\n",
+    "    vehicle_models.add(training_env.agent.__class__.__name__)\n",
     "    traffic_models = set([obj.__class__ for obj in training_env.engine.traffic_manager.spawned_objects.values()])\n",
     "    traffic_vehicle_models = traffic_vehicle_models.union(traffic_models)\n",
-    "    assert vehicle_type[training_env.vehicle.config[\"vehicle_model\"]] is training_env.vehicle.__class__\n",
+    "    assert vehicle_type[training_env.agent.config[\"vehicle_model\"]] is training_env.agent.__class__\n",
     "    \n",
     "    # collect more\n",
     "    for k, v in to_collect_set.items():\n",
-    "        v.add(training_env.vehicle.config[k])\n",
+    "        v.add(training_env.agent.config[k])\n",
     "    \n",
     "training_env.close()\n",
     "\n",
@@ -912,7 +912,7 @@
       "        TerminationState.SUCCESS: \u001b[36mself\u001b[39;49;00m._is_arrive_destination(vehicle),\n",
       "        TerminationState.MAX_STEP: max_step,\n",
       "        TerminationState.ENV_SEED: \u001b[36mself\u001b[39;49;00m.current_seed,\n",
-      "        \u001b[37m# TerminationState.CURRENT_BLOCK: self.vehicle.navigation.current_road.block_ID(),\u001b[39;49;00m\n",
+      "        \u001b[37m# TerminationState.CURRENT_BLOCK: self.agent.navigation.current_road.block_ID(),\u001b[39;49;00m\n",
       "        \u001b[37m# crash_vehicle=False, crash_object=False, crash_building=False, out_of_road=False, arrive_dest=False,\u001b[39;49;00m\n",
       "    }\n",
       "\n",
@@ -1085,7 +1085,7 @@
     "    cone=env.engine.spawn_object(TrafficCone, position=[20, 7], heading_theta=0)\n",
     "    for _ in range(100):\n",
     "        o,r,d,_,info = env.step([0, 1])\n",
-    "        if env.vehicle.crash_object:\n",
+    "        if env.agent.crash_object:\n",
     "            assert info[\"cost\"] == -5\n",
     "            break\n",
     "    env.engine.clear_objects([cone.id])\n",
@@ -1240,7 +1240,7 @@
     "try:\n",
     "    while True:\n",
     "        last_o=o\n",
-    "        o,r,tm,_,i=env.step({agent_id: [0, 1] for agent_id in env.vehicles.keys()})\n",
+    "        o,r,tm,_,i=env.step({agent_id: [0, 1] for agent_id in env.agents.keys()})\n",
     "        m = env.render(mode=\"topdown\", \n",
     "                   film_size = (1000, 1000),\n",
     "                   screen_size = (1000, 1000),\n",
@@ -1250,7 +1250,7 @@
     "            break\n",
     "            \n",
     "        # for test only\n",
-    "        assert len(env.vehicles)<=env.config[\"num_agents\"]\n",
+    "        assert len(env.agents)<=env.config[\"num_agents\"]\n",
     "        if not env.config[\"allow_respawn\"]:\n",
     "            assert len(o)<=len(last_o)\n",
     "finally:\n",
@@ -1465,7 +1465,7 @@
    "metadata": {},
    "source": [
     "## GymWrapper\n",
-    "Some legacy training frameworks may use the `openai.gym` interface whose `step()` function returns `obs`, `reward`, `termination`, and `info`. For making MetaDrive compatible with these training code, we provide an official wrapper for **all** environments of MetaDrive. The wrapped environment will have an `openai.gym` style APIs. Also, you can access all properties and methods of wrapped env using the same syntax. For example, we can still access the ego car via `env.vehicle`, even if the env is wrapped on top of `MetaDriveEnv`. "
+    "Some legacy training frameworks may use the `openai.gym` interface whose `step()` function returns `obs`, `reward`, `termination`, and `info`. For making MetaDrive compatible with these training code, we provide an official wrapper for **all** environments of MetaDrive. The wrapped environment will have an `openai.gym` style APIs. Also, you can access all properties and methods of wrapped env using the same syntax. For example, we can still access the ego car via `env.agent`, even if the env is wrapped on top of `MetaDriveEnv`. "
    ]
   },
   {
@@ -1531,7 +1531,7 @@
     "    o = gym_env.reset()\n",
     "    o,r,d,i = gym_env.step([0,0])\n",
     "    assert gym_env.config[\"accident_prob\"] == 1.0\n",
-    "    print(\"Vehicle id:\", gym_env.vehicle.id)\n",
+    "    print(\"Vehicle id:\", gym_env.agent.id)\n",
     "    ret=gym_env.render(mode=\"topdown\", \n",
     "                       window=False,\n",
     "                       camera_position=(50, -70))\n",

metadrive/base_class/base_runnable.py

@@ -48,7 +48,7 @@ def before_step(self, *args, **kwargs):
         """
         Do Information fusion and then analyze and wait for decision
         """
-        pass
+        return {}
 
     def set_action(self, *args, **kwargs):
         """
@@ -63,12 +63,13 @@ def step(self, *args, **kwargs):
         time. However some runnable instances who don't belong to the physics world and their actions are not force need
         to implement this function to get the action accumulated result respect to time.
         """
-        pass
+        return {}
 
     def after_step(self, *args, **kwargs):
         """
         After advancing all objects for a time period, their state should be updated for statistic or other purpose
         """
+        return {}
 
     def reset(self, random_seed=None, *args, **kwargs):
         """

metadrive/component/sensors/rgb_camera.py

@@ -41,7 +41,7 @@ def _setup_effect(self):
         fbprops.float_color = True
         fbprops.set_rgba_bits(16, 16, 16, 16)
         fbprops.set_depth_bits(24)
-        fbprops.set_multisamples(self.engine.pbrpipe.msaa_samples)
+        fbprops.set_multisamples(16)
         self.scene_tex = p3d.Texture()
         self.scene_tex.set_format(p3d.Texture.F_rgba16)
         self.scene_tex.set_component_type(p3d.Texture.T_float)

metadrive/component/traffic_light/base_traffic_light.py

@@ -1,3 +1,5 @@
+import numpy as np
+
 from metadrive.base_class.base_object import BaseObject
 from metadrive.constants import CamMask
 from metadrive.scenario.scenario_description import ScenarioDescription
@@ -21,12 +23,23 @@ class BaseTrafficLight(BaseObject):
     PLACE_LONGITUDE = 5
 
     def __init__(
-        self, lane, position=None, name=None, random_seed=None, config=None, escape_random_seed_assertion=False
+        self,
+        lane,
+        position=None,
+        name=None,
+        random_seed=None,
+        config=None,
+        escape_random_seed_assertion=False,
+        draw_line=False,
+        show_model=True,
     ):
         super(BaseTrafficLight, self).__init__(name, random_seed, config, escape_random_seed_assertion)
         self.set_metadrive_type(MetaDriveType.TRAFFIC_LIGHT)
         self.lane = lane
         self.status = MetaDriveType.LIGHT_UNKNOWN
+        self._draw_line = draw_line
+        self._show_model = show_model
+        self._lane_center_line = None
 
         self.lane_width = lane.width_at(0) if lane else 4
         air_wall = generate_static_box_physics_body(
@@ -48,7 +61,7 @@ def __init__(
         self.current_light = None
 
         if self.render:
-            if len(BaseTrafficLight.TRAFFIC_LIGHT_MODEL) == 0:
+            if len(BaseTrafficLight.TRAFFIC_LIGHT_MODEL) == 0 and self._show_model:
                 for color in ["green", "red", "yellow", "unknown"]:
                     model = self.loader.loadModel(
                         AssetLoader.file_path("models", "traffic_light", "{}.gltf".format(color))
@@ -58,44 +71,65 @@ def __init__(
                     model.hide(CamMask.Shadow)
                     BaseTrafficLight.TRAFFIC_LIGHT_MODEL[color] = model
             self.origin.setScale(0.5, 1.2, 1.2)
+            if self._draw_line:
+                self._line_drawer = self.engine.make_line_drawer(thickness=2)
+                self._lane_center_line = np.array([[p[0], p[1], 0.4] for p in self.lane.get_polyline()])
+
+    def before_step(self, *args, **kwargs):
+        self.set_status(*args, **kwargs)
 
     def set_status(self, status):
         """
         People should overwrite this method to parse traffic light status and to determine which traffic light to set
         """
         pass
 
+    def _try_draw_line(self, color):
+        if self._draw_line:
+            self._line_drawer.reset()
+            self._line_drawer.draw_lines([self._lane_center_line], [[color for _ in self._lane_center_line]])
+
     def set_green(self):
         if self.render:
             if self.current_light is not None:
                 self.current_light.detachNode()
-            self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["green"].instanceTo(self.origin)
+            if self._show_model:
+                self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["green"].instanceTo(self.origin)
+            self._try_draw_line([3 / 255, 255 / 255, 3 / 255])
         self.status = MetaDriveType.LIGHT_GREEN
 
     def set_red(self):
         if self.render:
             if self.current_light is not None:
                 self.current_light.detachNode()
-            self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["red"].instanceTo(self.origin)
+            if self._show_model:
+                self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["red"].instanceTo(self.origin)
+            self._try_draw_line([252 / 255, 0 / 255, 0 / 255])
         self.status = MetaDriveType.LIGHT_RED
 
     def set_yellow(self):
         if self.render:
             if self.current_light is not None:
                 self.current_light.detachNode()
-            self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["yellow"].instanceTo(self.origin)
+            if self._show_model:
+                self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["yellow"].instanceTo(self.origin)
+            self._try_draw_line([252 / 255, 227 / 255, 3 / 255])
         self.status = MetaDriveType.LIGHT_YELLOW
 
     def set_unknown(self):
         if self.render:
             if self.current_light is not None:
                 self.current_light.detachNode()
-            self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["unknown"].instanceTo(self.origin)
+            if self._show_model:
+                self.current_light = BaseTrafficLight.TRAFFIC_LIGHT_MODEL["unknown"].instanceTo(self.origin)
         self.status = MetaDriveType.LIGHT_UNKNOWN
 
     def destroy(self):
         super(BaseTrafficLight, self).destroy()
         self.lane = None
+        if self._draw_line:
+            self._line_drawer.reset()
+            self._line_drawer.removeNode()
 
     @property
     def top_down_color(self):

metadrive/engine/base_engine.py

@@ -11,7 +11,7 @@
 from metadrive.engine.core.engine_core import EngineCore
 from metadrive.engine.interface import Interface
 from metadrive.engine.logger import get_logger, reset_logger
-from metadrive.manager.base_manager import BaseManager
+
 from metadrive.pull_asset import pull_asset
 from metadrive.utils import concat_step_infos
 from metadrive.utils.utils import is_map_related_class
@@ -530,7 +530,7 @@ def _stop_replay(self):
             return
         self.STOP_REPLAY = not self.STOP_REPLAY
 
-    def register_manager(self, manager_name: str, manager: BaseManager):
+    def register_manager(self, manager_name: str, manager):
         """
         Add a manager to BaseEngine, then all objects can communicate with this class
         :param manager_name: name shouldn't exist in self._managers and not be same as any class attribute
@@ -595,9 +595,9 @@ def current_map(self):
                 return None
 
     @property
-    def current_track_vehicle(self):
+    def current_track_agent(self):
         if self.main_camera is not None:
-            return self.main_camera.current_track_vehicle
+            return self.main_camera.current_track_agent
         elif "default_agent" in self.agents:
             return self.agents["default_agent"]
         else:
@@ -661,7 +661,7 @@ def _object_clean_check(self):
         children = self.worldNP.getChildren()
         assert len(children) == 0, "NodePath are not cleaned thoroughly. Remaining NodePath: {}".format(children)
 
-    def update_manager(self, manager_name: str, manager: BaseManager, destroy_previous_manager=True):
+    def update_manager(self, manager_name: str, manager, destroy_previous_manager=True):
         """
         Update an existing manager with a new one
         :param manager_name: existing manager name

metadrive/engine/core/draw.py

@@ -24,10 +24,13 @@ def draw_lines(self, lineList, colorList=None):
             for pointList, lineColor in zip(lineList, colorList):
                 self.moveTo(*pointList[0])
                 for point, seg_color, in zip(pointList[1:], lineColor):
-                    assert len(seg_color) == 4, "color vector should have 4 component, get {} instead".format(
+                    assert 3 <= len(seg_color) <= 4, "color vector should have 3 or 4 component, get {} instead".format(
                         len(seg_color)
                     )
-                    self.setColor(LVecBase4f(*seg_color))
+                    if len(seg_color) == 4:
+                        self.setColor(LVecBase4f(*seg_color))
+                    else:
+                        self.setColor(LVecBase4f(*seg_color, 1.0))
                     self.drawTo(*point)
         self.create()
 

metadrive/engine/core/engine_core.py

@@ -107,6 +107,13 @@ def __init__(self, global_config):
         #     #     "No allowed to change ptr of global config, which may cause issue"
         #     pass
         # else:
+        config = global_config
+        self.main_window_disabled = False
+        if "main_camera" not in global_config["sensors"]:
+            # reduce size as we don't use the main camera content for improving efficiency
+            config["window_size"] = (1, 1)
+            self.main_window_disabled = True
+
         self.pid = os.getpid()
         EngineCore.global_config = global_config
         self.mode = global_config["_render_mode"]
@@ -182,7 +189,7 @@ def __init__(self, global_config):
 
         super(EngineCore, self).__init__(windowType=self.mode)
         logger.info("Known Pipes: {}".format(*GraphicsPipeSelection.getGlobalPtr().getPipeTypes()))
-        if self.global_config["window_size"] == (1, 1):
+        if self.main_window_disabled and self.mode != RENDER_MODE_NONE:
             self.win.setActive(False)
 
         self._all_panda_tasks = self.taskMgr.getAllTasks()