Merge pull request #122 from inverted-ai/develop

Develop

examples/region_drive.py

@@ -0,0 +1,62 @@
+import argparse
+import invertedai as iai
+from simulation.simulator import Simulation, SimulationConfig
+import pathlib
+import pygame
+from tqdm import tqdm
+from time import perf_counter
+path = pathlib.Path(__file__).parent.resolve()
+
+
+parser = argparse.ArgumentParser(description="Simulation Parameters.")
+parser.add_argument("--api_key", type=str, default=None)
+parser.add_argument("--fov", type=float, default=500)
+parser.add_argument("--location", type=str,  default="carla:Town10HD")
+parser.add_argument("--center", type=str,  default="carla:Town10HD")
+parser.add_argument("-l", "--episode_length", type=int, default=300)
+parser.add_argument("-cap", "--quadtree_capacity", type=int, default=15)
+parser.add_argument("-ad", "--agent_density", type=int, default=10)
+parser.add_argument("-ri", "--re_initialization", type=int, default=30)
+parser.add_argument("-len", "--simulation_length", type=int, default=10000)
+args = parser.parse_args()
+
+
+if args.api_key is not None:
+    iai.add_apikey(args.api_key)
+response = iai.location_info(location=args.location)
+if response.birdview_image is not None:
+    rendered_static_map = response.birdview_image.decode()
+
+cfg = SimulationConfig(location=args.location, map_center=(response.map_center.x, response.map_center.y),
+                       map_fov=response.map_fov, rendered_static_map=rendered_static_map,
+                       map_width=response.map_fov+200, map_height=response.map_fov+200, agent_density=args.agent_density,
+                       initialize_stride=50, quadtree_capacity=args.quadtree_capacity,
+                       re_initialization_period=args.re_initialization)
+simulation = Simulation(cfg=cfg)
+
+fps = 100
+clock = pygame.time.Clock()
+run = True
+start = perf_counter()
+fram_counter = 0
+for _ in tqdm(range(args.simulation_length)):
+    # ----- HANDLE EVENTS ------
+    for event in pygame.event.get():
+        if event.type == pygame.QUIT:
+            run = False
+        if event.type == pygame.KEYUP:
+            if event.key in [pygame.K_q, pygame.K_ESCAPE]:
+                run = False
+            if event.key == pygame.K_t:
+                simulation.show_quadtree = not simulation.show_quadtree
+            if event.key == pygame.K_l:
+                for npc in simulation.npcs:
+                    npc.show_agent_neighbors = not npc.show_agent_neighbors
+    if not run:
+        break
+    # -----------------------------
+    simulation.drive()
+    clock.tick(fps)
+
+pygame.quit()
+print(f"Speed: {(perf_counter()-start)/simulation.timer} secs/frame")

invertedai/simulation/car.py → examples/simulation/car.py

@@ -4,7 +4,7 @@
 from pydantic import validate_arguments
 from invertedai.common import AgentState, AgentAttributes, RecurrentState
 from collections import deque
-from invertedai.simulation.utils import MAX_HISTORY_LEN, AGENT_FOV, Rectangle
+from simulation.utils import MAX_HISTORY_LEN, AGENT_FOV, Rectangle
 from uuid import uuid1 as UUID
 
 

invertedai/simulation/regions.py → examples/simulation/regions.py

@@ -1,9 +1,9 @@
 from pygame.math import Vector2
-from invertedai.simulation.utils import Rectangle, RE_INITIALIZATION_PERIOD, DEBUG
+from simulation.utils import Rectangle, RE_INITIALIZATION_PERIOD, DEBUG
 from typing import List, Optional, Callable
 from random import randint
 from invertedai import drive, async_drive
-from invertedai.simulation.car import Car
+from simulation.car import Car
 
 
 class Region:

invertedai/simulation/simulator.py → examples/simulation/simulator.py

@@ -8,9 +8,9 @@
 
 import invertedai as iai
 from invertedai.common import Point
-from invertedai.simulation.utils import MAX_HISTORY_LEN, Rectangle, get_pygame_convertors, DEBUG
-from invertedai.simulation.regions import QuadTree
-from invertedai.simulation.car import Car
+from simulation.utils import MAX_HISTORY_LEN, Rectangle, get_pygame_convertors, DEBUG
+from simulation.regions import QuadTree
+from simulation.car import Car
 
 Color1 = (1, 1, 1)
 

invertedai/__init__.py

@@ -6,8 +6,6 @@
 from invertedai.api.initialize import initialize, async_initialize
 from invertedai.api.drive import drive, async_drive
 from invertedai.cosimulation import BasicCosimulation
-from invertedai.simulation.simulator import Simulation
-from invertedai import simulation
 from invertedai.utils import Jupyter_Render, IAILogger, Session
 
 dev = strtobool(os.environ.get("IAI_DEV", "false"))
@@ -45,7 +43,6 @@
     "initialize",
     "location_info",
     "light",
-    "Simulation",
     "async_initialize",
     "async_drive",
 ]

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "invertedai"
-version = "0.0.8"
+version = "0.0.8.post1"
 description = "Client SDK for InvertedAI"
 authors = ["Inverted AI <info@inverted.ai>"]
 readme = "README.md"
@@ -14,6 +14,7 @@ python = ">=3.8,<3.11"
 requests = "^2.28.1"
 pydantic = "^1.10.2"
 matplotlib = "^3.6.2"
+tqdm = "^4.65.0"
 
 [tool.poetry.group.dev.dependencies]
 numpy = "^1.17.0"
@@ -41,6 +42,10 @@ sphinx-autobuild = "^2021.3.14"
 nbsphinx = "^0.8.9"
 breathe = "^4.34.0"
 
+
+[tool.poetry.group.tests.dependencies]
+pytest = "^7.2.2"
+
 [build-system]
 requires = ["poetry-core>=1.0.0"]
 build-backend = "poetry.core.masonry.api"

tests/run_tests.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Install the package using Poetry
+poetry install --without dev,docs
+
+# Source the .env file for API keys
+# source .env 
+
+# Activate the virtual environment
+source "$(poetry env info --path)/bin/activate"
+
+# Run pytest
+pytest
+
+# Deactivate the virtual environment
+deactivate
+
+# Remove the virtual environment
+rm -rf "$(poetry env info --path)"