def _prepare_sensors_for_agent_control(self, sim, vehicle_id, agent_id,
agent_interface, bubble):
plan = Plan(sim.road_map, None, find_route=False)
vehicle = sim.vehicle_index.start_agent_observation(
sim,
vehicle_id,
agent_id,
agent_interface,
plan,
boid=bubble.is_boid,
)
# Setup mission (also used for observations)
# XXX: this is not quite right. route may not be what the agent wants to take.
route = sim.traffic_sim.vehicle_route(vehicle_id=vehicle.id)
if len(route) > 0:
goal = PositionalGoal.from_road(route[-1], sim.scenario.road_map)
else:
goal = EndlessGoal()
mission = Mission(start=Start(vehicle.position[:2], vehicle.heading),
goal=goal)
plan.create_route(mission)
def attach_sensors_to_vehicles(self, sim, agent_interface, vehicle_ids):
"""Attach the interface required sensors to the given vehicles"""
for sv_id in vehicle_ids:
if sv_id in self._vehicle_with_sensors:
continue
plan = Plan(sim.road_map, None)
agent_id = f"Agent-{sv_id}"
self._vehicle_with_sensors[sv_id] = agent_id
self._agent_interfaces[agent_id] = agent_interface
sim.vehicle_index.attach_sensors_to_vehicle(
sim, sv_id, agent_interface, plan)
def test_waypoints_sensor(scenarios):
scenario = next(scenarios)
sim = mock.Mock()
vehicle = mock.Mock()
vehicle.pose = Pose(
position=np.array([33, -65, 0]),
orientation=np.array([0, 0, 0, 0]),
heading_=Heading(0),
)
mission = scenario.missions[AGENT_ID]
plan = Plan(scenario.road_map, mission)
sensor = WaypointsSensor(vehicle, plan)
waypoints = sensor()
assert len(waypoints) == 3
def add_trap_for_agent(self, agent_id: str, mission: Mission,
road_map) -> bool:
"""Add a new trap to capture an actor for the given agent."""
if mission is None:
mission = Mission.random_endless_mission(road_map)
if not mission.entry_tactic:
mission = replace(mission, entry_tactic=default_entry_tactic())
if (not isinstance(mission.entry_tactic, TrapEntryTactic)
and mission.entry_tactic):
return False
plan = Plan(road_map, mission)
trap = self._mission2trap(road_map, plan.mission)
self._traps[agent_id] = trap
return True
def _make_vehicle(sim, agent_id, mission, initial_speed):
agent_interface = sim.agent_manager.agent_interface_for_agent_id(
agent_id)
plan = Plan(sim.road_map, mission)
# 3. Apply agent vehicle association.
vehicle = sim.vehicle_index.build_agent_vehicle(
sim,
agent_id,
agent_interface,
plan,
sim.scenario.vehicle_filepath,
sim.scenario.tire_parameters_filepath,
True,
sim.scenario.surface_patches,
initial_speed=initial_speed,
boid=False,
)
return vehicle
def _add_agent(self,
agent_id,
agent_interface,
agent_model,
sim,
boid=False,
trainable=True):
# TODO: Disentangle what is entangled below into:
# 1. AgentState initialization,
# 2. Agent vehicle initialization, which should live elsewhere, and
# 3. Provider related state initialization, which does not belong here.
#
# A couple of things forced the current unhappy state --
#
# 1. SMARTS internal coordinate system should be 100% unified. Coordinate
# transformation should happen only at the interface between SMARTS and
# its providers. For example, mission start pose should just be vehicle
# initial pose.
# 2. AgentState should be allowed to fully initialized (setup) without vehicle
# information. We currently rely on the creation of the Vehicle instance to
# do the coordinate transformation. :-(
# 3. Providers should not be creating vehicles. They do need to get notified
# about new vehicles entering their territory through the VehicleState
# message. But that does not need to happen at Agent instantiation.
assert isinstance(agent_id, str) # SUMO expects strings identifiers
scenario = sim.scenario
mission = scenario.mission(agent_id)
plan = Plan(sim.road_map, mission)
vehicle = sim.vehicle_index.build_agent_vehicle(
sim,
agent_id,
agent_interface,
plan,
scenario.vehicle_filepath,
scenario.tire_parameters_filepath,
trainable,
scenario.surface_patches,
agent_model.initial_speed,
boid=boid,
)
matching_providers = [
provider for provider in sim.providers
if agent_interface.action_space in provider.action_spaces
]
if matching_providers:
assert (
len(matching_providers) == 1
), f"Found {matching_providers} for action space {agent_interface.action_space}"
provider = matching_providers[0]
provider.create_vehicle(
VehicleState(
vehicle_id=vehicle.id,
vehicle_type=vehicle.vehicle_type,
vehicle_config_type=
"passenger", # XXX: vehicles in history missions will have a type
pose=vehicle.pose,
dimensions=vehicle.chassis.dimensions,
source="NEW-AGENT",
))
self._agent_interfaces[agent_id] = agent_interface
self._social_agent_data_models[agent_id] = agent_model