Merge pull request #108 from inverted-ai/update-jan-06

Update jan 06

invertedai_cpp/.bazelrc

@@ -1,2 +1,3 @@
 startup --output_base=/home/user/.cache/bazel_docker/base
 startup --output_user_root=/home/user/.cache/bazel_docker/root
+build --cxxopt='-std=c++17'

invertedai_cpp/README.md

@@ -13,6 +13,7 @@ docker compose run --rm dev
 - [Bazel](https://bazel.build/install)
 - Opencv (`sudo apt-get install -y libopencv-dev`)
 - Boost (`sudo apt install openssl libssl-dev libboost-all-dev`)
+- [Rules Boost](https://github.com/nelhage/rules_boost) (Please update the [latest commit](https://github.com/nelhage/rules_boost/commits/master) in the `WORKSPACE`)
 - [JSON for Modern C++](https://json.nlohmann.me/) (under `invertedai/externals/json.hpp`)
 
 ## Usage

invertedai_cpp/WORKSPACE

@@ -1,10 +1,9 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
-_RULES_BOOST_COMMIT = "652b21e35e4eeed5579e696da0facbe8dba52b1f"
+_RULES_BOOST_COMMIT = "a96f8482a80c875a020cd9ed590b30b44e67785d"
 
 http_archive(
     name = "com_github_nelhage_rules_boost",
-    sha256 = "c1b8b2adc3b4201683cf94dda7eef3fc0f4f4c0ea5caa3ed3feffe07e1fb5b15",
     strip_prefix = "rules_boost-%s" % _RULES_BOOST_COMMIT,
     urls = [
         "https://github.com/nelhage/rules_boost/archive/%s.tar.gz" % _RULES_BOOST_COMMIT,

invertedai_cpp/docker-compose.yml

@@ -13,13 +13,13 @@ services:
     # restart: always
     environment:
       DISPLAY: $DISPLAY
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: 1
-              capabilities: [ gpu ]
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: 1
+    #           capabilities: [ gpu ]
     privileged: true
     # stdin_open: true # docker run -i
     # tty: true        # docker run -t

invertedai_cpp/examples/client_example.cc

@@ -32,7 +32,7 @@ int main(int argc, char **argv) {
     invertedai::LocationInfoRequest loc_info_req(
         "{\"location\": \"" + location +
         "\", "
-        "\"include_map_source\": true}");
+        "\"include_map_source\": false}");
     // get response of location information
     invertedai::LocationInfoResponse loc_info_res =
         invertedai::location_info(loc_info_req, &session);
@@ -61,6 +61,7 @@ int main(int argc, char **argv) {
     // construct request for stepping the simulation (driving the NPCs)
     invertedai::DriveRequest drive_req(
         invertedai::read_file("examples/drive_body.json"));
+    drive_req.set_location(location);
     drive_req.update(init_res);
 
     for (int t = 0; t < timestep; t++) {

invertedai_cpp/examples/drive_body.json

@@ -19,4 +19,4 @@
   "get_infractions": true,
   "traffic_lights_states": null,
   "random_seed": null
-}
+}

invertedai_cpp/examples/initialize_body.json

@@ -7,6 +7,10 @@
   "get_birdview": true,
   "get_infractions": true,
   "random_seed": null,
-  "conditional_agent_states": [[1,1,1,1], [1,1,1,1]],
-  "conditional_agent_attributes": [[1,1,1], [1,1,1]]
-}
+  "location_of_interest": [
+    100,
+    100
+  ],
+  "conditional_agent_states": null,
+  "conditional_agent_attributes": null
+}

invertedai_cpp/invertedai/data_utils.h

@@ -2,7 +2,9 @@
 #define DATA_UTILS_H
 
 #include <map>
+#include <optional>
 #include <string>
+#include <vector>
 
 namespace invertedai {
 
@@ -96,7 +98,7 @@ struct StaticMapActor {
   /**
    * Not currently used, there may be more traffic signals in the future.
    */
-  int agent_type;
+  std::string agent_type;
   /**
    * The position of the stop line.
    */
@@ -109,8 +111,8 @@ struct StaticMapActor {
   /**
    * Size of the stop line, in meters, along its orientation.
    */
-  double length, width;
-  int dependant;
+  std::optional<double> length, width;
+  std::vector<int> dependant;
 };
 
 /**

invertedai_cpp/invertedai/drive_request.cc

@@ -35,9 +35,10 @@ DriveRequest::DriveRequest(const std::string &body_str) {
   this->get_infractions_ = this->body_json_["get_infractions"].is_boolean()
                                ? this->body_json_["get_infractions"].get<bool>()
                                : false;
-  this->random_seed_ = this->body_json_["random_seed"].is_number_integer()
-                           ? this->body_json_["random_seed"].get<int>()
-                           : 0;
+  this->random_seed_ =
+      this->body_json_["random_seed"].is_number_integer()
+          ? std::optional<int>{this->body_json_["random_seed"].get<int>()}
+          : std::nullopt;
 }
 
 void DriveRequest::refresh_body_json_() {
@@ -71,7 +72,12 @@ void DriveRequest::refresh_body_json_() {
   }
   this->body_json_["get_birdview"] = this->get_birdview_;
   this->body_json_["get_infractions"] = this->get_infractions_;
-  this->body_json_["random_seed"] = this->random_seed_;
+  if (this->random_seed_.has_value()) {
+    this->body_json_["random_seed"] = this->random_seed_.value();
+
+  } else {
+    this->body_json_["random_seed"] = nullptr;
+  }
 }
 
 void DriveRequest::update(const InitializeResponse &init_res) {
@@ -112,7 +118,9 @@ bool DriveRequest::get_birdview() const { return this->get_birdview_; }
 
 bool DriveRequest::get_infractions() const { return this->get_infractions_; }
 
-int DriveRequest::random_seed() const { return this->random_seed_; }
+std::optional<int> DriveRequest::random_seed() const {
+  return this->random_seed_;
+}
 
 void DriveRequest::set_location(const std::string &location) {
   this->location_ = location;
@@ -146,7 +154,7 @@ void DriveRequest::set_get_infractions(bool get_infractions) {
   this->get_infractions_ = get_infractions;
 }
 
-void DriveRequest::set_random_seed(int random_seed) {
+void DriveRequest::set_random_seed(std::optional<int> random_seed) {
   this->random_seed_ = random_seed;
 }
 

invertedai_cpp/invertedai/drive_request.h

@@ -1,6 +1,7 @@
 #ifndef DRIVE_REQUEST_H
 #define DRIVE_REQUEST_H
 
+#include <optional>
 #include <string>
 #include <vector>
 
@@ -23,7 +24,7 @@ class DriveRequest {
   std::vector<std::vector<double>> recurrent_states_;
   bool get_birdview_;
   bool get_infractions_;
-  int random_seed_;
+  std::optional<int> random_seed_;
   json body_json_;
 
   void refresh_body_json_();
@@ -82,7 +83,7 @@ class DriveRequest {
   /**
    * Get random_seed.
    */
-  int random_seed() const;
+  std::optional<int> random_seed() const;
 
   // setters
   /**
@@ -128,7 +129,7 @@ class DriveRequest {
    * Set random_seed, which controls the stochastic aspects of agent behavior
    * for reproducibility.
    */
-  void set_random_seed(int random_seed);
+  void set_random_seed(std::optional<int> random_seed);
 };
 
 } // namespace invertedai

invertedai_cpp/invertedai/initialize_request.cc

@@ -22,7 +22,7 @@ InitializeRequest::InitializeRequest(const std::string &body_str) {
     AgentAttributes agent_attribute = {element[0], element[1], element[2]};
     this->conditional_agent_attributes_.push_back(agent_attribute);
   }
-  
+
   this->states_history_.clear();
   for (const auto &elements : this->body_json_["states_history"]) {
     std::vector<AgentState> agent_states;
@@ -48,15 +48,21 @@ InitializeRequest::InitializeRequest(const std::string &body_str) {
     }
     this->traffic_light_state_history_.push_back(traffic_light_states);
   }
+  this->location_of_interest_ =
+      this->body_json_["location_of_interest"].is_null()
+          ? std::nullopt
+          : std::optional<std::pair<double, double>>{
+                this->body_json_["location_of_interest"]};
   this->get_birdview_ = this->body_json_["get_birdview"].is_boolean()
                             ? this->body_json_["get_birdview"].get<bool>()
                             : false;
   this->get_infractions_ = this->body_json_["get_infractions"].is_boolean()
                                ? this->body_json_["get_infractions"].get<bool>()
                                : false;
-  this->random_seed_ = this->body_json_["random_seed"].is_number_integer()
-                           ? this->body_json_["random_seed"].get<int>()
-                           : 0;
+  this->random_seed_ =
+      this->body_json_["random_seed"].is_number_integer()
+          ? std::optional<int>{this->body_json_["random_seed"].get<int>()}
+          : std::nullopt;
 }
 
 void InitializeRequest::refresh_body_json_() {
@@ -90,9 +96,19 @@ void InitializeRequest::refresh_body_json_() {
     }
     this->body_json_["traffic_light_state_history"].push_back(elements);
   }
+  if (this->location_of_interest_.has_value()) {
+    this->body_json_["location_of_interest"] =
+        this->location_of_interest_.value();
+  } else {
+    this->body_json_["location_of_interest"] = nullptr;
+  }
   this->body_json_["get_birdview"] = this->get_birdview_;
   this->body_json_["get_infractions"] = this->get_infractions_;
-  this->body_json_["random_seed"] = this->random_seed_;
+  if (this->random_seed_.has_value()) {
+    this->body_json_["random_seed"] = this->random_seed_.value();
+  } else {
+    this->body_json_["random_seed"] = nullptr;
+  }
 };
 
 std::string InitializeRequest::body_str() {
@@ -114,7 +130,8 @@ std::vector<AgentState> InitializeRequest::conditional_agent_states() const {
   return this->conditional_agent_states_;
 }
 
-std::vector<AgentAttributes> InitializeRequest::conditional_agent_attributes() const {
+std::vector<AgentAttributes>
+InitializeRequest::conditional_agent_attributes() const {
   return this->conditional_agent_attributes_;
 }
 
@@ -127,13 +144,20 @@ InitializeRequest::traffic_light_state_history() const {
   return this->traffic_light_state_history_;
 }
 
+std::optional<std::pair<double, double>>
+InitializeRequest::location_of_interest() const {
+  return this->location_of_interest_;
+}
+
 bool InitializeRequest::get_birdview() const { return this->get_birdview_; }
 
 bool InitializeRequest::get_infractions() const {
   return this->get_infractions_;
 }
 
-int InitializeRequest::random_seed() const { return this->random_seed_; }
+std::optional<int> InitializeRequest::random_seed() const {
+  return this->random_seed_;
+}
 
 void InitializeRequest::set_location(const std::string &location) {
   this->location_ = location;
@@ -143,14 +167,16 @@ void InitializeRequest::set_num_agents_to_spawn(int num_agents_to_spawn) {
   this->num_agents_to_spawn_ = num_agents_to_spawn;
 }
 
-void InitializeRequest::set_conditional_agent_states(const std::vector<AgentState> &conditional_agent_states) {
+void InitializeRequest::set_conditional_agent_states(
+    const std::vector<AgentState> &conditional_agent_states) {
   this->conditional_agent_states_ = conditional_agent_states;
 }
-
-void InitializeRequest::set_conditional_agent_attributes(const std::vector<AgentAttributes> &conditional_agent_attributes) {
+
+void InitializeRequest::set_conditional_agent_attributes(
+    const std::vector<AgentAttributes> &conditional_agent_attributes) {
   this->conditional_agent_attributes_ = conditional_agent_attributes;
 }
- 
+
 void InitializeRequest::set_states_history(
     const std::vector<std::vector<AgentState>> &states_history) {
   this->states_history_ = states_history;
@@ -167,6 +193,11 @@ void InitializeRequest::set_traffic_light_state_history(
   this->traffic_light_state_history_ = traffic_light_state_history;
 }
 
+void InitializeRequest::set_location_of_interest(
+    const std::optional<std::pair<double, double>> &location_of_interest) {
+  this->location_of_interest_ = location_of_interest;
+}
+
 void InitializeRequest::set_get_birdview(bool get_birdview) {
   this->get_birdview_ = get_birdview;
 }
@@ -175,7 +206,7 @@ void InitializeRequest::set_get_infractions(bool get_infractions) {
   this->get_infractions_ = get_infractions;
 }
 
-void InitializeRequest::set_random_seed(int random_seed) {
+void InitializeRequest::set_random_seed(std::optional<int> random_seed) {
   this->random_seed_ = random_seed;
 }