Post clean assets (#482)

* publish process/fix asset missing

* format

* log system and depth cam fix

* add a version file

* check asset version automatically

* reload logger if it is None

* fix logger bug

* fix logger

* create folder legacy env

README.md

@@ -1,6 +1,6 @@
 <br>
 
-![](metadrive/assets/logo-horizon.png)
+![](documentation/source/figs/logo-horizon.png)
 
 <br>
 

documentation/source/index.rst

@@ -1,4 +1,4 @@
-.. image:: ../../metadrive/assets/logo-horizon.png
+.. image:: figs/logo-horizon.png
    :width: 1800
    :align: center
 

documentation/source/install.rst

@@ -68,7 +68,7 @@ Installation:
 
 #. After cloning the repo, use ``pip install -e .[cuda]`` to install, or ``pip install -e metadrive-simulator[cuda]`` if you are using pip.
 #. Install Torch: ``conda install pytorch==1.12.1 torchvision==0.13.1 torchaudio==0.12.1 cudatoolkit=11.6 -c pytorch -c conda-forge``
-#. Install CuPy: ``conda install -c conda-forge cupy``
+#. Install CuPy: ``pip install cupy-cuda11x``
 #. Install Cuda-Python: ``conda install -c nvidia cuda-python``
 #. For verifying your installation, cd ``metadrive/examples`` and run ``python verify_image_on_cuda.py``
 

metadrive/constants.py

@@ -4,10 +4,10 @@
 from panda3d.bullet import BulletWorld
 from panda3d.core import Vec3
 from panda3d.core import Vec4, BitMask32
-
+from metadrive.version import VERSION
 from metadrive.type import MetaDriveType
 
-EDITION = "MetaDrive v0.3.0.1"
+EDITION = "MetaDrive v{}".format(VERSION)
 DATA_VERSION = EDITION  # Use MetaDrive version to mark the data version
 DEFAULT_AGENT = "default_agent"
 RENDER_MODE_NONE = "none"  # Do not render

metadrive/engine/asset_loader.py

@@ -1,15 +1,16 @@
-import logging
 import os
+from metadrive.version import VERSION
 import pathlib
 import sys
-
+from metadrive.engine.logger import get_logger
 from metadrive.utils.utils import is_win
 
 
 class AssetLoader:
     """
     Load model for each element when render is needed.
     """
+    logger = get_logger("Asset")
     loader = None
     asset_path = pathlib.PurePosixPath(__file__).parent.parent.joinpath("assets") if not is_win(
     ) else pathlib.Path(__file__).resolve().parent.parent.joinpath("assets")
@@ -19,10 +20,23 @@ def init_loader(engine):
         """
         Due to the feature of Panda3d, keep reference of loader in static variable
         """
+        asset_version = os.path.join(AssetLoader.asset_path, "version.txt")
+        if not os.path.exists(asset_version):
+            AssetLoader.logger.fatal("Missing assets/version.txt file! Abort")
+            raise FileExistsError("Missing assets/version.txt file! Abort")
+        else:
+            with open(asset_version, "r") as file:
+                lines = file.readlines()
+            if lines[0] != VERSION:
+                AssetLoader.logger.warning(
+                    "Assets version mismatch! Current: {}, Expected: {}".format(lines[0], VERSION)
+                )
+            else:
+                AssetLoader.logger.info("Assets version: {}".format(VERSION))
         if engine.win is None:
-            logging.debug("Physics world mode")
+            AssetLoader.logger.debug("Physics world mode")
             return
-        logging.debug("Onscreen/Offscreen mode, Render/Load Elements")
+        AssetLoader.logger.debug("Onscreen/Offscreen mode, Render/Load Elements")
         AssetLoader.loader = engine.loader
 
     @classmethod
@@ -68,7 +82,7 @@ def initialize_asset_loader(engine):
     # load model file in utf-8
     os.environ["PYTHONUTF8"] = "on"
     if AssetLoader.initialized():
-        logging.warning(
+        AssetLoader.logger.warning(
             "AssetLoader is initialize to root path: {}! But you are initializing again!".format(
                 AssetLoader.asset_path
             )

metadrive/envs/base_env.py

@@ -1,4 +1,5 @@
 import logging
+from metadrive.version import VERSION
 import time
 from collections import defaultdict
 from typing import Union, Dict, AnyStr, Optional, Tuple, Callable
@@ -205,7 +206,7 @@
     multi_thread_render=True,
     multi_thread_render_mode="Cull",  # or "Cull/Draw"
     preload_models=True,  # preload pedestrian Object for avoiding lagging when creating it for the first time
-    log_level=None,
+    log_level=logging.INFO,
 
     # record/replay metadata
     record_episode=False,  # when replay_episode is not None ,this option will be useless
@@ -260,6 +261,7 @@ def __init__(self, config: dict = None):
     def _post_process_config(self, config):
         """Add more special process to merged config"""
         # Cancel interface panel
+        self.logger.info("MetaDrive version: {}".format(VERSION))
         if not config["show_interface"]:
             config["interface_panel"] = []
 
@@ -302,10 +304,11 @@ def _post_process_config(self, config):
                     config["vehicle_config"]["image_source"], config["sensors"])
 
         # show sensor lists
-        _str = "Sensors:"
+        _str = "Sensors: [{}]"
+        sensors_str = ""
         for _id, cfg in config["sensors"].items():
-            _str += "{}: {}, {}, ".format(_id, cfg[0] if isinstance(cfg[0], str) else cfg[0].__name__, cfg[1:])
-        self.logger.info(_str[:-2])
+            sensors_str += "{}: {}, {}, ".format(_id, cfg[0] if isinstance(cfg[0], str) else cfg[0].__name__, cfg[1:])
+        self.logger.info(_str.format(sensors_str[:-2]))
 
         # determine render mode automatically
         if config["use_render"]:
@@ -456,6 +459,11 @@ def reset(self, seed: Union[None, int] = None):
         :param seed: The seed to set the env.
         :return: 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
         self._reset_global_seed(seed)
         if self.engine is None:
@@ -548,6 +556,10 @@ def _get_step_return(self, actions, engine_info):
     def close(self):
         if self.engine is not None:
             close_engine()
+        if self.logger is not None:
+            self.logger.handlers.clear()
+            del self.logger
+        self.logger = None
 
     def force_close(self):
         print("Closing environment ... Please wait")

metadrive/tests/scripts/capture_obs.py

@@ -23,7 +23,7 @@
             "vehicle_config": dict(
                 mini_map=(168 * w_f * 6, 84 * h_f * 6, 270),  # buffer length, width
                 rgb_camera=(168 * w_f, 84 * h_f),  # buffer length, width
-                depth_camera=(168 * w_f, 84 * h_f, True),  # buffer length, width, view_ground
+                depth_camera=(168 * w_f, 84 * h_f),  # buffer length, width, view_ground
                 show_navi_mark=False,
                 increment_steering=False,
                 wheel_friction=0.6,

metadrive/tests/test_env/_test_remote_metadrive_env.py

@@ -2,7 +2,7 @@
 
 
 def _test_remote_metadrive_env():
-    from metadrive.envs.remote_env import RemoteMetaDrive
+    from metadrive.envs.legacy_envs.remote_env import RemoteMetaDrive
     # Test
     envs = [RemoteMetaDrive(dict(map=7)) for _ in range(3)]
     ret = [env.reset() for env in envs]

metadrive/tests/test_installation.py

@@ -20,7 +20,7 @@ def capture_headless_image(cuda, image_source="main_camera"):
             image_observation=True,
             sensors={
                 "rgb_camera": (RGBCamera, 84, 84),
-                "depth_camera": (DepthCamera, 512, 512, False)
+                "depth_camera": (DepthCamera, 512, 512)
             },
             interface_panel=[],
             vehicle_config={

metadrive/tests/vis_functionality/vis_cuda_profile_metadrive.py

@@ -16,7 +16,7 @@ def _test_depth_camera_as_obs(render=False):
             image_observation=True,
             image_on_cuda=True,
             use_render=False,
-            vehicle_config=dict(image_source="depth_camera", depth_camera=(800, 600, False)),
+            vehicle_config=dict(image_source="depth_camera", depth_camera=(800, 600)),
             show_interface=True,
             show_logo=False,
             show_fps=False,

metadrive/tests/vis_functionality/vis_depth_cam_no_ground.py

@@ -12,7 +12,7 @@
             "use_render": True,
             "image_observation": True,
             "rgb_clip": True,
-            "vehicle_config": dict(depth_camera=(200, 88, False), image_source="depth_camera"),
+            "vehicle_config": dict(depth_camera=(200, 88), image_source="depth_camera"),
             "map_config": {
                 BaseMap.GENERATE_TYPE: MapGenerateMethod.BIG_BLOCK_NUM,
                 BaseMap.GENERATE_CONFIG: 12,

metadrive/version.py

@@ -0,0 +1 @@
+VERSION = "0.3.0.1"

setup.py

@@ -1,16 +1,26 @@
 # Please don't change the order of following packages!
 import os
 import sys
+import urllib.request
+import zipfile
 from os import path
 
-import os
-import zipfile
-import urllib.request
 from setuptools import setup, find_namespace_packages  # This should be place at top!
 
 ROOT_DIR = os.path.dirname(__file__)
 
 
+def get_version():
+    context = {}
+    with open('./metadrive/version.py', 'r') as file:
+        exec(file.read(), context)
+    return context['VERSION']
+
+
+VERSION = get_version()
+ASSET_URL = "https://github.com/metadriverse/metadrive/releases/download/MetaDrive-{}/assets.zip".format(VERSION)
+
+
 def is_mac():
     return sys.platform == "darwin"
 
@@ -29,9 +39,6 @@ def is_win():
     exclude=("docs", "docs.*", "documentation", "documentation.*", "build.*"))
 print("We will install the following packages: ", packages)
 
-""" ===== Remember to modify the PG_EDITION at first ====="""
-version = "0.3.0.1"
-ASSET_URL = "https://github.com/metadriverse/metadrive/releases/download/MetaDrive-0.3.0.1/assets.zip"
 
 def post_install():
     TARGET_DIR = os.path.join(os.path.dirname(__file__), 'metadrive')
@@ -109,7 +116,7 @@ def post_install():
 setup(
     name="metadrive-simulator",
     python_requires='>=3.6, <3.12',  # do version check with assert
-    version=version,
+    version=VERSION,
     description="An open-ended driving simulator with infinite scenes",
     url="https://github.com/metadriverse/metadrive",
     author="MetaDrive Team",
@@ -132,35 +139,39 @@ def post_install():
 post_install()
 
 """
-How to publish to pypi?  Noted by Zhenghao in Dec 27, 2020.
+How to publish to pypi and Draft github Release?  Noted by Zhenghao and Quanyi in Dec 27, 2020.
 
-Note: make sure you have the assets dir locally. we will include the assets with the .wheel file
+Note: make sure you have the right assets dir locally. we will include the assets with the .wheel file
 
-0. Rename version in metadrive/constants.py and setup.py
+0. Rename VERSION in metadrive/version.py
 
-1. Remove old files and ext_modules from setup() to get a clean wheel for all platforms in py3-none-any.wheel
+1. Revise the version in metadrive/assets/version.txt
+
+2. Remove old files and ext_modules from setup() to get a clean wheel for all platforms in py3-none-any.wheel
     rm -rf dist/ build/ documentation/build/ metadrive_simulator.egg-info/ docs/build/
 
-2. Rename current version to X.Y.Z.rcA, where A is arbitrary value represent "release candidate A". 
+3. Rename current version to X.Y.Z.rcA, where A is arbitrary value represent "release candidate A". 
    This is really important since pypi do not support renaming and re-uploading. 
-   Rename version in metadrive/constants.py and setup.py 
+   Rename version in metadrive/versions.py 
 
-3. Get wheel
+4. Get wheel
     python setup.py sdist bdist_wheel
 
-    WARNING: when create wheels on windows, modifying MANIFEST.in to include assets by using
-    recursive-include metadrive\\assets\\ *
-    recursive-include metadrive\\examples\\ *
-
-4. Upload to test channel
+5. Upload to test channel
     twine upload --repository testpypi dist/*
 
-5. Test as next line. If failed, change the version name and repeat 1, 2, 3, 4, 5.
+6. Test as next line. If failed, change the version name and repeat 1, 2, 3, 4, 5.
     pip install --index-url https://test.pypi.org/simple/ metadrive
 
-6. Rename current version to X.Y.Z in setup.py, rerun 1, 3 steps.
+7. Rename current version to X.Y.Z in setup.py, rerun 1, 3 steps.
 
-7. Upload to production channel 
+8. Upload to production channel 
     twine upload dist/*
 
+9. Draft a release on github with new version number
+
+10. upload the generated .whl file and new assets folder compressed and named to assets.zip 
+
+!!!!!!!!!!!!! NOTE: please make sure that unzip assets.zip will generate a folder called assets instead of files  
+
 """