Merge cdb8729 into ecefe3a

docs/Project.toml

@@ -1,5 +1,9 @@
 [deps]
+AutoViz = "82aa6e0c-a491-5edf-8d4b-c16b98e4ea17"
+AutomotiveDrivingModels = "99497e54-f3d6-53d3-a3a9-fa9315a7f1ba"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 
 [compat]
+AutoViz = "^0.8.0"
+AutomotiveDrivingModels = "^0.7.12"
 Documenter = "0.24"

docs/make.jl

@@ -3,8 +3,20 @@ using AutoViz
 
 makedocs(
     modules = [AutoViz],
-    sitename="AutoViz.jl",
-    format = Documenter.HTML()
+    format = Documenter.HTML(),
+    sitename = "AutoViz.jl",
+    pages = [
+        "Home" => "index.md",
+        "Examples" => [
+            "examples/basics.md",
+            "examples/cameras.md",
+            # "examples/tutorial.md",
+            # "examples/overlay_tutorial.md",
+        ],
+        "Manual" => [
+            "api.md"
+        ]
+    ]
 )
 
 deploydocs(

docs/src/examples/basics.md

@@ -0,0 +1,206 @@
+# AutoViz Basics
+
+The core function of the `AutoViz.jl` package is `AutoViz.render()`
+
+```@docs
+render
+```
+
+In its simplest form, the `render` function only takes one argument:
+an iterable collection of renderable objects, `renderables`.
+In order for an object to be renderable, it needs to implement the
+`add_renderable!()` function.
+
+By default, the `render()` function will do its best to make all the contents of
+the scene fit to the canvas of dimensions `canvas_width` x `canvas_height`.
+More fine-grained control over camera positioning can be achieved by providing
+the `camera` keyword.
+In case a custom camera is used, it is important to call
+`update_camera!(camera, scene)` before rendering.
+
+The Cairo surface to be used for plotting can be specified using the `surface` keyword.
+The `render()` function applies the rendering instructions to the `surface` and
+returns it. In the tutorials, we will denote the returned `surface` as a
+`snapshot` of the scene. Such snapshots can be saved to file using the command
+
+```julia
+write("snapshot.svg", snapshot)
+```
+
+
+## Basic rendering
+
+We start our example by rendering an empty roadway
+
+```@example intro
+using AutomotiveDrivingModels
+using AutoViz
+
+roadway = gen_straight_roadway(3, 100.0)
+
+snapshot = render([roadway], canvas_height=120)
+write("empty_roadway.svg", snapshot) # hide
+```
+![empty roadway](empty_roadway.svg)
+
+We can change the background color and render again
+
+```@example intro
+AutoViz.colortheme["background"] = colorant"white"
+snapshot = render([roadway], canvas_height=120)
+write("empty_roadway_whitebg.svg", snapshot) # hide
+```
+![empty roadway](empty_roadway_whitebg.svg)
+
+
+Let's add some vehicles
+
+```@example intro
+car_len = 4.8
+car_width = 1.8
+def = VehicleDef(AgentClass.CAR, car_len, car_width)
+w = DEFAULT_LANE_WIDTH
+scene = Scene(4)  # allocate a scene for 4 agents
+
+# add three cars
+push!.(Ref(scene), [
+    Vehicle(VehicleState(VecSE2(10.0,   w, 0.0), roadway, 4.0 + 2.0randn()), def, 1),
+    Vehicle(VehicleState(VecSE2(40.0, 0.0, 0.0), roadway, 4.0 + 2.0randn()), def, 2),
+    Vehicle(VehicleState(VecSE2(70.0,   w, 0.0), roadway, 4.0 + 2.0randn()), def, 3),
+])
+
+# add a pedestrian
+push!(scene, Vehicle(
+    VehicleState(VecSE2(80.0, 0., π/2), roadway, 2.0),
+    VehicleDef(AgentClass.PEDESTRIAN, 1., 1.),
+    42
+))
+snapshot = render([roadway, scene], canvas_height=120)
+write("roadway_with_cars.svg", snapshot) # hide
+```
+![roadway with cars](roadway_with_cars.svg)
+
+
+## TODO: Colorthemes
+
+
+## Vehicle Shapes
+
+The `render` function provides some defaults for rendering basic building blocks
+such as entities or roadways.
+If the value of `AutoViz.rendermode` is set to `:basic`, entities are simply
+rendered as rectangles with arrows indicating their velocities.
+This can also be done explicitly via
+
+```@example intro
+renderables = [
+    roadway,
+    (EntityRectangle(entity=x) for x in scene)...,
+    (VelocityArrow(entity=x) for x in scene)...,
+]
+snapshot = render(renderables, canvas_height=120)
+write("roadway_basic_manual.svg", snapshot) # hide
+```
+![roadway basic manual](roadway_basic_manual.svg)
+
+The result remains the same. The velocity arrows point to the location at which
+the vehicle would be 1 second in the future.
+
+Setting `AutoViz.rendermode` to `:fancy`, the rectangles are replaced by SVG
+images of cars (or pedestrians). 
+
+```@example intro
+# AutoViz.rendermode = :fancy # cannot assign variables in other modules
+@eval(AutoViz, rendermode = :fancy)
+snapshot = render([roadway, scene], canvas_height=120)
+write("roadway_fancy.svg", snapshot) # hide
+```
+![roadway fancy](roadway_fancy.svg)
+
+Which is shorthand for
+
+```@example intro
+renderables = [
+    roadway, (FancyCar(car=scene[i]) for i in 1:3)..., FancyPedestrian(ped=scene[4])
+]
+snapshot = render(renderables, canvas_height=120)
+write("roadway_fancy_manual.svg", snapshot) # hide
+```
+![roadway fancy manual](roadway_fancy_manual.svg)
+
+A third visualization mode is available in the form of arrow cars, in which the
+arrow indicates the heading direction of the car but does not scale with speed.
+
+```@example intro
+renderables = [
+    roadway, (ArrowCar(car=scene[i]) for i in 1:3)..., FancyPedestrian(ped=scene[4])
+]
+snapshot = render(renderables, canvas_height=120)
+write("roadway_arrow.svg", snapshot) # hide
+```
+![roadway arrow](roadway_arrow.svg)
+
+
+## Vehicle Colors
+
+By default, the `render` function generates a random color for each entity based
+on its ID using the `id_to_color()` function.
+However, vehicle colors can also be assigned explicitly:
+
+```@example intro
+colors = [colorant"red", colorant"blue", colorant"green"]
+renderables = [
+    roadway,
+    (FancyCar(car=scene[i], color=colors[i]) for i in 1:3)...,
+    FancyPedestrian(ped=scene[4], color=colorant"yellow")
+]
+snapshot = render(renderables, canvas_height=120)
+write("scene_custom_colors.svg", snapshot) # hide
+```
+![cars with custom colors](scene_custom_colors.svg)
+
+
+
+## Simulation and Animations
+
+We can simulate the scenario over time and visualize the results using `Reel`
+(based on `ffmpeg`).
+
+```@example intro
+using Reel
+
+timestep = 0.1
+nticks = 50
+
+models = Dict((i => Tim2DDriver(timestep) for i in 1:3))  # car models
+# TODO: use a different model for pedestrian
+models[42] = Tim2DDriver(timestep)  # pedestrian model
+
+scenes = simulate(scene, roadway, models, nticks, timestep)
+
+animation = roll(fps=1.0/timestep, duration=nticks*timestep) do t, dt
+    i = Int(floor(t/dt)) + 1
+    render([roadway, scenes[i]])
+end
+
+write("roadway_animated.gif", animation)
+```
+![animated roadway](roadway_animated.gif)
+
+Alternatively, the scene can also be visualized interactively using `Interact`
+
+```julia
+using Interact
+using Reel
+using Blink
+
+w = Window()
+viz = @manipulate for step in 1 : length(scenes)
+    render([roadway, scenes[step]])
+end
+body!(w, viz)
+```
+
+You can use Reactive to have them endlessly drive in real time in your browser.
+
+### TODO: is this a thing? If yes, provide snippet