Merge 9623c37 into 43f2b0b

Project.toml

@@ -4,8 +4,8 @@ repo = "https://github.com/sisl/AutoUrban.jl"
 version = "0.2.4"
 
 [deps]
-AutoViz = "82aa6e0c-a491-5edf-8d4b-c16b98e4ea17"
-AutomotiveDrivingModels = "99497e54-f3d6-53d3-a3a9-fa9315a7f1ba"
+AutomotiveSimulator = "6aa42d20-6c96-11ea-1103-339224409280"
+AutomotiveVisualization = "0faf7fd0-6c98-11ea-1740-03605baa3b07"
 Cairo = "159f3aea-2a34-519c-b102-8c37f9878175"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
 EzXML = "8f5d6c58-4d21-5cfd-889c-e3ad7ee6a615"

README.md

@@ -2,7 +2,7 @@
 [![Build Status](https://travis-ci.org/sisl/AutoUrban.jl.svg)](https://travis-ci.org/sisl/AutoUrban.jl)
 [![Coverage Status](https://coveralls.io/repos/github/sisl/AutoUrban.jl/badge.svg?branch=master)](https://coveralls.io/github/sisl/AutoUrban.jl?branch=master)
 
-A Julia package expanding the [AutomotiveDrivingModels.jl](https://github.com/sisl/AutomotiveDrivingModels.jl) with intersections, enabling auto-converting roadway in AutomotiveDrivingModels.jl into [OpenDrive format (.xodr)](http://www.opendrive.org/) used in [VIRES VirtualTestDrive](https://vires.com/vtd-vires-virtual-test-drive/). It also contains some driver models.
+A Julia package expanding the [AutomotiveSimulator.jl](https://github.com/sisl/AutomotiveSimulator.jl) package with intersections, enabling auto-converting roadway in AutomotiveSimulator.jl into [OpenDrive format (.xodr)](http://www.opendrive.org/) used in [VIRES VirtualTestDrive](https://vires.com/vtd-vires-virtual-test-drive/). It also contains some driver models.
 
 ## Installation
 
@@ -19,8 +19,8 @@ Other way, by manually adding all the dependencies:
 using Pkg
 Pkg.add(PackageSpec(url="https://github.com/sisl/Vec.jl"))
 Pkg.add(PackageSpec(url="https://github.com/sisl/Records.jl"))
-Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveDrivingModels.jl"))
-Pkg.add(PackageSpec(url="https://github.com/sisl/AutoViz.jl"))
+Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveSimulator.jl"))
+Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveVisualization.jl"))
 Pkg.add(PackageSpec(url="https://github.com/sisl/AutoUrban.jl"))
 ```
 

deps/build.jl

@@ -6,10 +6,10 @@ end
 if !in("Records", packages)
     Pkg.add(PackageSpec(url="https://github.com/sisl/Records.jl.git"))
 end
-if !in("AutomotiveDrivingModels", packages)
-    Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveDrivingModels.jl.git"))
+if !in("AutomotiveSimulator", packages)
+    Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveSimulator.jl.git"))
 end
-if !in("AutoViz", packages)
-    Pkg.add(PackageSpec(url="https://github.com/sisl/AutoViz.jl.git"))
+if !in("AutomotiveVisualization", packages)
+    Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveVisualization.jl.git"))
 end
 

src/AutoUrban.jl

@@ -2,10 +2,11 @@ __precompile__()
 
 module AutoUrban
 
-using AutomotiveDrivingModels
-using AutoViz
+using AutomotiveSimulator
+using AutomotiveVisualization
 using EzXML
 using Printf
+import Records: QueueRecord, Frame
 using LinearAlgebra
 using Distributions
 import Cairo

src/actions.jl

@@ -12,7 +12,7 @@ function Base.copyto!(v::Vector{Float64}, a::LatLonAccelDirection)
     v[3] = convert(Float64,a.direction)
     v
 end
-function AutomotiveDrivingModels.propagate(veh::Entity{VehicleState, D, Int}, action::LatLonAccelDirection,  roadway::Roadway, Δt::Float64) where {D<:Union{VehicleDef, BicycleModel}}
+function AutomotiveSimulator.propagate(veh::Entity{VehicleState, D, Int}, action::LatLonAccelDirection,  roadway::Roadway, Δt::Float64) where {D<:Union{VehicleDef, BicycleModel}}
     previousInd = veh.state.posF.roadind
     a_lat = action.a_lat
     a_lon = action.a_lon
@@ -69,6 +69,16 @@ function AutomotiveDrivingModels.propagate(veh::Entity{VehicleState, D, Int}, ac
     end
 end
 
+"""
+    SceneRecord
+A SceneRecord is a specific instance of the QueueRecord type defined in Records.jl. It represents a collection of Scenes.
+# constructor
+    SceneRecord(capacity::Int, timestep::Float64, frame_capacity::Int=100)
+"""
+const SceneRecord = QueueRecord{VehicleDef}
+SceneRecord(capacity::Int, timestep::Float64, frame_capacity::Int=100) = QueueRecord(VehicleDef, capacity, timestep, frame_capacity)
+Base.show(io::IO, rec::SceneRecord) = print(io, "SceneRecord(nscenes=", nframes(rec), ")")
+
 function Base.get(::Type{LatLonAccelDirection}, rec::SceneRecord, roadway::Roadway, vehicle_index::Int, pastframe::Int=0)
     accel_lat = get(ACCFT, rec, roadway, vehicle_index, pastframe)
     accel_lon = get(ACCFS, rec, roadway, vehicle_index, pastframe)
@@ -95,7 +105,7 @@ function Base.copyto!(v::Vector{Float64}, a::AccelSteeringDirection)
     v
 end
 #function propagate(veh::Entity{VehicleState, BicycleModel, Int}, action::AccelSteeringAngle, roadway::Roadway, Δt::Float64)
-function AutomotiveDrivingModels.propagate(veh::Entity{VehicleState, D, Int}, action::AccelSteeringDirection, roadway::Roadway, Δt::Float64) where {D<:Union{VehicleDef, BicycleModel}}
+function AutomotiveSimulator.propagate(veh::Entity{VehicleState, D, Int}, action::AccelSteeringDirection, roadway::Roadway, Δt::Float64) where {D<:Union{VehicleDef, BicycleModel}}
     previousInd = veh.state.posF.roadind
 
     L = veh.def.a + veh.def.b
@@ -169,7 +179,7 @@ function NextState()
     return NextState(0.0,0.0,0.0,0.0,1)
 end
 
-function AutomotiveDrivingModels.propagate(veh::Entity{VehicleState, D, Int}, action::NextState,  roadway::Roadway, Δt::Float64) where {D<:Union{VehicleDef, BicycleModel}}
+function AutomotiveSimulator.propagate(veh::Entity{VehicleState, D, Int}, action::NextState,  roadway::Roadway, Δt::Float64) where {D<:Union{VehicleDef, BicycleModel}}
     previousInd = veh.state.posF.roadind
 
     posG = VecSE2(action.x, action.y, action.theta)

src/drivermodels/IDMDriver.jl

@@ -1,4 +1,4 @@
-import AutomotiveDrivingModels.observe!
+import AutomotiveSimulator.observe!
 
 mutable struct IDMDriver <: LaneFollowingDriver
     a::Float64 # predicted acceleration
@@ -43,13 +43,13 @@ mutable struct IDMDriver <: LaneFollowingDriver
         retval
     end
 end
-get_name(::IDMDriver) = "IDM"
+
 function set_desired_speed!(model::IDMDriver, v_des::Float64)
     model.v_des = v_des
     model
 end
 
-function AutomotiveDrivingModels.observe!(model::IDMDriver, scene::Frame{Entity{VehicleState, BicycleModel, Int}}, roadway::Roadway, egoid::Int)
+function AutomotiveSimulator.observe!(model::IDMDriver, scene::Frame{Entity{VehicleState, BicycleModel, Int}}, roadway::Roadway, egoid::Int)
     vehicle_index = findfirst(scene, egoid)
 
     fore = get_neighbor_fore_along_lane(scene, vehicle_index, roadway, VehicleTargetPointFront(), VehicleTargetPointRear(), VehicleTargetPointFront(),max_distance_fore=model.max_horizon)
@@ -68,7 +68,7 @@ function AutomotiveDrivingModels.observe!(model::IDMDriver, scene::Frame{Entity{
     return model
 end
 
-function AutomotiveDrivingModels.observe!(model::IDMDriver, scene::Scene, roadway::Roadway, egoid::Int)
+function AutomotiveSimulator.observe!(model::IDMDriver, scene::Scene, roadway::Roadway, egoid::Int)
     vehicle_index = findfirst(scene, egoid)
 
     fore = get_neighbor_fore_along_lane(scene, vehicle_index, roadway, VehicleTargetPointFront(), VehicleTargetPointRear(), VehicleTargetPointFront(),max_distance_fore=model.max_horizon)

src/drivermodels/MOBILDriver.jl

@@ -1,4 +1,4 @@
-import AutomotiveDrivingModels.observe!
+import AutomotiveSimulator.observe!
 
 mutable struct MOBILDriver <: LaneChangeModel{LaneChangeChoice}
 
@@ -31,15 +31,15 @@ mutable struct MOBILDriver <: LaneChangeModel{LaneChangeChoice}
         retval
     end
 end
-get_name(::MOBILDriver) = "MOBILDriver"
+
 function set_desired_speed!(model::MOBILDriver, v_des::Float64)
     set_desired_speed!(model.mlon, v_des)
     model
 end
-function AutomotiveDrivingModels.observe!(model::MOBILDriver, scene::Scene, roadway::Roadway, egoid::Int)
+function AutomotiveSimulator.observe!(model::MOBILDriver, scene::Scene, roadway::Roadway, egoid::Int)
     observe_helper!(model,scene,roadway,egoid)
 end
-function AutomotiveDrivingModels.observe!(model::MOBILDriver, scene::Frame{Entity{VehicleState, BicycleModel, Int}}, roadway::Roadway, egoid::Int)
+function AutomotiveSimulator.observe!(model::MOBILDriver, scene::Frame{Entity{VehicleState, BicycleModel, Int}}, roadway::Roadway, egoid::Int)
     observe_helper!(model,scene,roadway,egoid)
 end
 

src/drivermodels/acc_steer_drivers.jl

@@ -10,9 +10,7 @@ function AccSteerDriver(acc::Float64, steer::Float64)
     return AccSteerDriver(acc, steer, 1)
 end
 
-AutomotiveDrivingModels.get_name(model::AccSteerDriver) = "AccSteerDriver"
-
-function AutomotiveDrivingModels.observe!(model::AccSteerDriver, scene::Scene, roadway::Roadway, egoid::Int)
+function AutomotiveSimulator.observe!(model::AccSteerDriver, scene::Scene, roadway::Roadway, egoid::Int)
     model
 end
 Base.rand(model::AccSteerDriver) = AccelSteeringDirection(model.acc,model.steer,model.direction)

src/drivermodels/multiPtsTurning_driver.jl

@@ -22,8 +22,6 @@ mutable struct MultiPtsTurningDriver <: MultiPtsDriver
     MultiPtsTurningDriver(Δt::Float64; siji::AccSteerDriver=AccSteerDriver(0.0,0.0),N::Int=20,Pts::Matrix{Float64}=zeros(2,20),steermax::Float64=pi/4,steerdotmax::Float64=20.0,accmax::Float64=10.0,commands::Array{Float64}=zeros(4),index::Int=0,subindex::Int=0,laneNum_desire::Int=1,acc_desire::Float64=0.0,v_desire::Float64=0.0,v_max::Float64=20.0,v_min::Float64=0.0,turning_direction::Int=1,color::Colorant=RGB(1, 0, 0))=new(Δt,siji,N,Pts,steermax,steerdotmax,accmax,commands,index,subindex,laneNum_desire,acc_desire,v_desire,v_max,v_min,turning_direction,color)
 end
 
-AutomotiveDrivingModels.get_name(model::MultiPtsTurningDriver) = "MultiPtsTurningDriver"
-
 Base.rand(model::MultiPtsTurningDriver) = rand(model.siji)
 Distributions.pdf(model::MultiPtsTurningDriver, a::Float64) = a == model.siji.acc ? Inf : 0.0
 Distributions.logpdf(model::MultiPtsTurningDriver, a::Float64) = a == model.siji.acc ? Inf : -Inf
@@ -46,7 +44,7 @@ function set_pts!(model::MultiPtsTurningDriver,PtsIn::Matrix{Float64})
     model
 end
 
-function AutomotiveDrivingModels.observe!(model::MultiPtsTurningDriver, scene::Union{Scene,Frame{Entity{VehicleState, BicycleModel, Int}}}, roadway::Roadway, egoid::Int)
+function AutomotiveSimulator.observe!(model::MultiPtsTurningDriver, scene::Union{Scene,Frame{Entity{VehicleState, BicycleModel, Int}}}, roadway::Roadway, egoid::Int)
     ego_index = findfirst(scene, egoid)
     get_acc_steer!(model,scene,roadway,ego_index)
     model

src/drivermodels/render_drivers.jl

@@ -1,5 +1,5 @@
-import AutoViz.render
-import AutoViz.render!
+import AutomotiveVisualization.render
+import AutomotiveVisualization.render!
 
 function render_multipoint_drivers!(
     rendermodel::RenderModel,
@@ -57,11 +57,10 @@ function render(ctx::Cairo.CairoContext, scene::Union{Scene,Frame{Entity{Vehicle
     for (i,veh) in enumerate(scene)
         if haskey(models,veh.id)
             model = models[veh.id]
-            name = AutomotiveDrivingModels.get_name(model)
-            if  name == "MultiPtsTurningDriver"
+            if model <: MultiPtsTurningDriver
                 render_multipoint_drivers!(rendermodel,model,veh.id,car_colors)
             end
-            if name == "UrbanDriver"
+            if model <: UrbanDriver
                 render_urban_drivers!(rendermodel,model,veh.id,car_colors)
             end
         end

src/drivermodels/urban_drivers.jl

@@ -37,11 +37,10 @@ mutable struct UrbanDriver <: DriverModel{LatLonAccelDirection}
         retval
     end
 end
-AutomotiveDrivingModels.get_name(::UrbanDriver) = "UrbanDriver"
 
 function set_desired_speed!(model::UrbanDriver, v_des::Float64)
-    AutomotiveDrivingModels.set_desired_speed!(model.mlon, v_des)
-    AutomotiveDrivingModels.set_desired_speed!(model.mlane, v_des)
+    AutomotiveSimulator.set_desired_speed!(model.mlon, v_des)
+    AutomotiveSimulator.set_desired_speed!(model.mlane, v_des)
     model
 end
 
@@ -55,12 +54,12 @@ function track_longitudinal!(driver::LaneFollowingDriver, scene::Union{Scene,Fra
     return track_longitudinal!(driver, v_ego, v_oth, headway)
 end
 
-function AutomotiveDrivingModels.observe!(driver::UrbanDriver, scene2::Union{Scene,Frame{Entity{VehicleState, BicycleModel, Int}}}, roadway::Roadway, egoid::Int)
+function AutomotiveSimulator.observe!(driver::UrbanDriver, scene2::Union{Scene,Frame{Entity{VehicleState, BicycleModel, Int}}}, roadway::Roadway, egoid::Int)
     scene = Scene()
     for veh in scene2
         push!(scene,Vehicle(veh.state,veh.def.def,veh.id))
     end
-    AutomotiveDrivingModels.update!(driver.rec, scene)
+    AutomotiveSimulator.update!(driver.rec, scene)
     observe!(driver.mlane, scene, roadway, egoid)
     lane_change_action = rand(driver.mlane)
 
@@ -82,8 +81,8 @@ function AutomotiveDrivingModels.observe!(driver::UrbanDriver, scene2::Union{Sce
     end
 
 
-    AutomotiveDrivingModels.track_lateral!(driver.mlat, laneoffset, lateral_speed)
-    #AutomotiveDrivingModels.track_longitudinal!(driver.mlon, scene, roadway, vehicle_index, fore.ind)
+    AutomotiveSimulator.track_lateral!(driver.mlat, laneoffset, lateral_speed)
+    #AutomotiveSimulator.track_longitudinal!(driver.mlon, scene, roadway, vehicle_index, fore.ind)
     roadind = scene[vehicle_index].state.posF.roadind
     max_k,distance = get_max_curvature(roadind, roadway, 25.0,direction = driver.direction)
     #println(max_k,distance)

test/runtests.jl

@@ -1,6 +1,6 @@
 using Test
 
-using AutomotiveDrivingModels
+using AutomotiveSimulator
 using EzXML
 using AutoUrban