def _change_vis(self, t_type):
# not good here,
next_part_socket = self.get_socket_list()[(t_type + 1) % 4]
# next_part_socket = self._sockets[(t_type + 1) % 4] # FIXME pzh: Help! @LQY What is in this part?
next_positive = next_part_socket.positive_road
next_negative = next_part_socket.negative_road
last_part_socket = self.get_socket_list()[(t_type + 3) % 4]
# last_part_socket = self._sockets[(t_type + 3) % 4] # FIXME pzh: Help! @LQY
last_positive = last_part_socket.positive_road
last_negative = last_part_socket.negative_road
if t_type == Goal.LEFT:
next_positive = next_part_socket.negative_road
next_negative = next_part_socket.positive_road
if t_type == Goal.RIGHT:
last_positive = last_part_socket.negative_road
last_negative = last_part_socket.positive_road
for i, road in enumerate([
Road(last_negative.end_node, next_positive.start_node),
Road(next_negative.end_node, last_positive.start_node)
]):
lanes = road.get_lanes(self.block_network)
outside_type = LineType.SIDE if i == 0 else LineType.NONE
for k, lane in enumerate(lanes):
line_types = [
LineType.BROKEN, LineType.BROKEN
] if k != len(lanes) - 1 else [LineType.BROKEN, outside_type]
lane.line_types = line_types
if k == 0:
lane.line_color = [LineColor.YELLOW, LineColor.GREY]
if i == 1:
lane.line_types[0] = LineType.NONE
def __init__(self, global_network: RoadNetwork, lane_width: float,
lane_num: int, render_root_np: NodePath,
pg_physics_world: PGPhysicsWorld, random_seed):
place_holder = BlockSocket(Road(Decoration.start, Decoration.end),
Road(Decoration.start, Decoration.end))
super(FirstBlock, self).__init__(0, place_holder, global_network,
random_seed)
basic_lane = StraightLane([0, lane_width * (lane_num - 1)],
[10, lane_width * (lane_num - 1)],
line_types=(LineType.STRIPED, LineType.SIDE),
width=lane_width)
ego_v_born_road = Road(self.NODE_1, self.NODE_2)
CreateRoadFrom(basic_lane, lane_num, ego_v_born_road,
self.block_network, self._global_network)
CreateAdverseRoad(ego_v_born_road, self.block_network,
self._global_network)
next_lane = ExtendStraightLane(basic_lane, 40,
[LineType.STRIPED, LineType.SIDE])
other_v_born_road = Road(self.NODE_2, self.NODE_3)
CreateRoadFrom(next_lane, lane_num, other_v_born_road,
self.block_network, self._global_network)
CreateAdverseRoad(other_v_born_road, self.block_network,
self._global_network)
self._create_in_world()
global_network += self.block_network
socket = self.create_socket_from_positive_road(other_v_born_road)
socket.index = 0
self.add_sockets(socket)
self.attach_to_pg_world(render_root_np, pg_physics_world)
self._reborn_roads = [other_v_born_road]
def _try_plug_into_previous_block(self) -> bool:
parameters = self.get_config()
basic_lane = self.positive_basic_lane
lane_num = self.positive_lane_num
# part 1
start_node = self._pre_block_socket.positive_road.end_node
end_node = self.add_road_node()
positive_road = Road(start_node, end_node)
length = parameters[Parameter.length]
direction = parameters[Parameter.dir]
angle = parameters[Parameter.angle]
radius = parameters[Parameter.radius]
curve, straight = sharpbend(basic_lane, length, radius,
np.deg2rad(angle), direction,
basic_lane.width,
(LineType.STRIPED, LineType.SIDE))
no_cross = CreateRoadFrom(curve, lane_num, positive_road,
self.block_network, self._global_network)
no_cross = CreateAdverseRoad(positive_road, self.block_network,
self._global_network) and no_cross
# part 2
start_node = end_node
end_node = self.add_road_node()
positive_road = Road(start_node, end_node)
no_cross = CreateRoadFrom(straight, lane_num, positive_road,
self.block_network,
self._global_network) and no_cross
no_cross = CreateAdverseRoad(positive_road, self.block_network,
self._global_network) and no_cross
# common properties
self.add_sockets(self.create_socket_from_positive_road(positive_road))
return no_cross
def set_route(self, start_road_node: str, end_road_node: str):
"""
Find a shorest path from start road to end road
:param start_road_node: start road node
:param end_road_node: end road node
:return: None
"""
self.checkpoints = self.map.road_network.shortest_path(
start_road_node, end_road_node)
assert len(
self.checkpoints) > 2, "Can not find a route from {} to {}".format(
start_road_node, end_road_node)
# update routing info
self.final_road = Road(self.checkpoints[-2], end_road_node)
final_lanes = self.final_road.get_lanes(self.map.road_network)
self.final_lane = final_lanes[-1]
self._target_checkpoints_index = [0, 1]
self._navi_info.fill(0.0)
target_road_1_start = self.checkpoints[0]
target_road_1_end = self.checkpoints[1]
self.current_ref_lanes = self.map.road_network.graph[
target_road_1_start][target_road_1_end]
self.current_road = Road(target_road_1_start, target_road_1_end)
if self._dest_node_path is not None:
ref_lane = final_lanes[0]
later_middle = (float(self.get_current_lane_num()) / 2 -
0.5) * self.get_current_lane_width()
check_point = ref_lane.position(ref_lane.length, later_middle)
self._dest_node_path.setPos(check_point[0], -check_point[1], 1.8)
def get_negative_lanes(self):
"""
In order to remain the lane index, ret is a 2-dim array structure like like [Road_lanes[lane_1, lane_2]]
"""
ret = []
for _from, _to_dict in self.graph:
for _to, lanes in _to_dict:
road = Road(_from, _to)
if road.is_negative_road() and road.is_valid_road():
ret.append(lanes)
return ret
def update_navigation_localization(self, ego_vehicle):
position = ego_vehicle.position
lane, lane_index = self.get_current_lane(ego_vehicle)
if lane is None:
lane, lane_index = ego_vehicle.lane, ego_vehicle.lane_index
ego_vehicle.on_lane = False
if self.FORCE_CALCULATE:
lane_index, _ = self.map.road_network.get_closest_lane_index(
position)
lane = self.map.road_network.get_lane(lane_index)
long, _ = lane.local_coordinates(position)
self._update_target_checkpoints(lane_index, long)
assert len(self.checkpoints) > 2
target_road_1_start = self.checkpoints[
self._target_checkpoints_index[0]]
target_road_1_end = self.checkpoints[self._target_checkpoints_index[0]
+ 1]
target_road_2_start = self.checkpoints[
self._target_checkpoints_index[1]]
target_road_2_end = self.checkpoints[self._target_checkpoints_index[1]
+ 1]
target_lanes_1 = self.map.road_network.graph[target_road_1_start][
target_road_1_end]
target_lanes_2 = self.map.road_network.graph[target_road_2_start][
target_road_2_end]
self.current_ref_lanes = target_lanes_1
self.current_road = Road(target_road_1_start, target_road_1_end)
self._navi_info.fill(0.0)
half = self.navigation_info_dim // 2
self._navi_info[:
half], lanes_heading1, checkpoint = self._get_info_for_checkpoint(
lanes_id=0,
lanes=target_lanes_1,
ego_vehicle=ego_vehicle)
self._navi_info[
half:], lanes_heading2, _ = self._get_info_for_checkpoint(
lanes_id=1, lanes=target_lanes_2, ego_vehicle=ego_vehicle)
if self._show_navi_info:
pos_of_goal = checkpoint
self._goal_node_path.setPos(pos_of_goal[0], -pos_of_goal[1], 1.8)
self._goal_node_path.setH(self._goal_node_path.getH() + 3)
self._update_navi_arrow([lanes_heading1, lanes_heading2])
dest_pos = self._dest_node_path.getPos()
self._draw_line_to_dest(pg_world=ego_vehicle.pg_world,
start_position=ego_vehicle.position,
end_position=(dest_pos[0], -dest_pos[1]))
return lane, lane_index
def _create_left_turn(self, radius, lane_num, attach_left_lane,
attach_road, intersect_nodes, part_idx):
left_turn_radius = radius + lane_num * attach_left_lane.width_at(0)
diff = self.lane_num_intersect - self.positive_lane_num # increase lane num
if ((part_idx == 1 or part_idx == 3) and diff > 0) or (
(part_idx == 0 or part_idx == 2) and diff < 0):
diff = abs(diff)
left_bend, extra_part = create_bend_straight(
attach_left_lane, self.lane_width * diff, left_turn_radius,
np.deg2rad(self.ANGLE), False, attach_left_lane.width_at(0),
(LineType.NONE, LineType.NONE))
left_road_start = intersect_nodes[2]
pre_left_road_start = left_road_start + self.EXTRA_PART
CreateRoadFrom(left_bend,
min(self.positive_lane_num,
self.lane_num_intersect),
Road(attach_road.end_node, pre_left_road_start),
self.block_network,
self._global_network,
toward_smaller_lane_index=False,
center_line_type=LineType.NONE,
side_lane_line_type=LineType.NONE,
inner_lane_line_type=LineType.NONE)
CreateRoadFrom(extra_part,
min(self.positive_lane_num,
self.lane_num_intersect),
Road(pre_left_road_start, left_road_start),
self.block_network,
self._global_network,
toward_smaller_lane_index=False,
center_line_type=LineType.NONE,
side_lane_line_type=LineType.NONE,
inner_lane_line_type=LineType.NONE)
else:
left_bend, _ = create_bend_straight(attach_left_lane,
self.EXIT_PART_LENGTH,
left_turn_radius,
np.deg2rad(self.ANGLE), False,
attach_left_lane.width_at(0),
(LineType.NONE, LineType.NONE))
left_road_start = intersect_nodes[2]
CreateRoadFrom(left_bend,
min(self.positive_lane_num,
self.lane_num_intersect),
Road(attach_road.end_node, left_road_start),
self.block_network,
self._global_network,
toward_smaller_lane_index=False,
center_line_type=LineType.NONE,
side_lane_line_type=LineType.NONE,
inner_lane_line_type=LineType.NONE)
def generate(self, scene_manager, pg_world: PGWorld):
"""
Generate an accident scene or construction scene on block
:param scene_manager: SceneManager used to access other managers
:param pg_world: PGWorld class
:return: None
"""
accident_prob = self.accident_prob
if abs(accident_prob - 0.0) < 1e-2:
return
for block in scene_manager.map.blocks:
if type(block) not in [Straight, Curve, InRampOnStraight, OutRampOnStraight]:
# blocks with exists do not generate accident scene
continue
if self.np_random.rand() > accident_prob:
# prob filter
continue
road_1 = Road(block.pre_block_socket.positive_road.end_node, block.road_node(0, 0))
road_2 = Road(block.road_node(0, 0), block.road_node(0, 1)) if not isinstance(block, Straight) else None
accident_road = self.np_random.choice([road_1, road_2]) if not isinstance(block, Curve) else road_2
accident_road = road_1 if accident_road is None else accident_road
is_ramp = isinstance(block, InRampOnStraight) or isinstance(block, OutRampOnStraight)
on_left = True if self.np_random.rand() > 0.5 or (accident_road is road_2 and is_ramp) else False
accident_lane_idx = 0 if on_left else -1
_debug = pg_world.world_config["_debug_crash_object"]
if _debug:
on_left = True
lane = accident_road.get_lanes(scene_manager.map.road_network)[accident_lane_idx]
longitude = lane.length - self.ACCIDENT_AREA_LEN
if lane.length < self.ACCIDENT_LANE_MIN_LEN:
continue
# generate scene
block.PROHIBIT_TRAFFIC_GENERATION = True
# TODO(pzh) This might not worked in MARL envs when the route is also has changeable lanes.
lateral_len = scene_manager.map.config[scene_manager.map.LANE_WIDTH]
lane = scene_manager.map.road_network.get_lane(accident_road.lane_index(accident_lane_idx))
if self.np_random.rand() > 0.5 or _debug:
self.prohibit_scene(
scene_manager, pg_world, lane, accident_road.lane_index(accident_lane_idx), longitude, lateral_len,
on_left
)
else:
accident_lane_idx = self.np_random.randint(scene_manager.map.config[scene_manager.map.LANE_NUM])
self.break_down_scene(
scene_manager, pg_world, lane, accident_road.lane_index(accident_lane_idx), longitude
)
def update(self,
map: Map,
current_lane_index,
final_road_node=None,
random_seed=False):
start_road_node = current_lane_index[0]
self.map = map
if start_road_node is None:
start_road_node = FirstBlock.NODE_1
if final_road_node is None:
current_road_negative = Road(
*current_lane_index[:-1]).is_negative_road()
random_seed = random_seed if random_seed is not False else map.random_seed
# choose first block when born on negative road
block = map.blocks[0] if current_road_negative else map.blocks[-1]
sockets = block.get_socket_list()
while True:
socket = get_np_random(random_seed).choice(sockets)
if not socket.is_socket_node(start_road_node):
break
else:
sockets.remove(socket)
if len(sockets) == 0:
raise ValueError("Can not set a destination!")
# choose negative road end node when current road is negative road
final_road_node = socket.negative_road.end_node if current_road_negative else socket.positive_road.end_node
self.set_route(start_road_node, final_road_node)
def create_socket_from_positive_road(road: Road) -> BlockSocket:
"""
We usually create road from positive road, thus this func can get socket easily.
Note: it is not recommended to generate socket from negative road
"""
assert road.start_node[0] != Road.NEGATIVE_DIR and road.end_node[0] != Road.NEGATIVE_DIR, \
"Socket can only be created from positive road"
positive_road = Road(road.start_node, road.end_node)
return BlockSocket(positive_road, -positive_road)
def __init__(self,
global_network: RoadNetwork,
lane_width: float,
lane_num: int,
render_root_np: NodePath,
pg_physics_world: PGPhysicsWorld,
random_seed,
length: float = 50):
place_holder = BlockSocket(Road(Decoration.start, Decoration.end),
Road(Decoration.start, Decoration.end))
super(FirstBlock, self).__init__(0, place_holder, global_network,
random_seed)
assert length > self.ENTRANCE_LENGTH
basic_lane = StraightLane(
[0, lane_width * (lane_num - 1)],
[self.ENTRANCE_LENGTH, lane_width * (lane_num - 1)],
line_types=(LineType.BROKEN, LineType.SIDE),
width=lane_width)
ego_v_spawn_road = Road(self.NODE_1, self.NODE_2)
CreateRoadFrom(basic_lane, lane_num, ego_v_spawn_road,
self.block_network, self._global_network)
CreateAdverseRoad(ego_v_spawn_road, self.block_network,
self._global_network)
next_lane = ExtendStraightLane(basic_lane,
length - self.ENTRANCE_LENGTH,
[LineType.BROKEN, LineType.SIDE])
other_v_spawn_road = Road(self.NODE_2, self.NODE_3)
CreateRoadFrom(next_lane, lane_num, other_v_spawn_road,
self.block_network, self._global_network)
CreateAdverseRoad(other_v_spawn_road, self.block_network,
self._global_network)
self._create_in_world()
# global_network += self.block_network
global_network.add(self.block_network)
socket = self.create_socket_from_positive_road(other_v_spawn_road)
socket.set_index(self._block_name, 0)
self.add_sockets(socket)
self.attach_to_pg_world(render_root_np, pg_physics_world)
self._respawn_roads = [other_v_spawn_road]
def out_direction_parking_space(road: Road):
"""
Give a parking space in in-direction, return out-direction road
"""
start_node = copy.deepcopy(road.start_node)
end_node = copy.deepcopy(road.end_node)
assert start_node[-2] == "1" and end_node[-2] == "2", "It is not in-direction of this parking space"
start_node = start_node[:-2] + "5" + Block.DASH
end_node = end_node[:-2] + "6" + Block.DASH
return Road(start_node, end_node)
def _create_part(self, attach_lanes, attach_road: Road, radius: float,
intersect_nodes: deque, part_idx) -> (StraightLane, bool):
lane_num = self.lane_num_intersect if part_idx == 0 or part_idx == 2 else self.positive_lane_num
non_cross = True
attach_left_lane = attach_lanes[0]
# first left part
assert isinstance(
attach_left_lane, StraightLane
), "Can't create a intersection following a circular lane"
self._create_left_turn(radius, lane_num, attach_left_lane, attach_road,
intersect_nodes, part_idx)
# u-turn
if self.enable_u_turn:
adverse_road = -attach_road
self._create_u_turn(attach_road, part_idx)
# go forward part
lanes_on_road = copy.deepcopy(attach_lanes)
straight_lane_len = 2 * radius + (2 * lane_num -
1) * lanes_on_road[0].width_at(0)
for l in lanes_on_road:
next_lane = ExtendStraightLane(l, straight_lane_len,
(LineType.NONE, LineType.NONE))
self.block_network.add_lane(attach_road.end_node,
intersect_nodes[1], next_lane)
# right part
length = self.EXIT_PART_LENGTH
right_turn_lane = lanes_on_road[-1]
assert isinstance(
right_turn_lane, StraightLane
), "Can't create a intersection following a circular lane"
right_bend, right_straight = create_bend_straight(
right_turn_lane, length, radius, np.deg2rad(self.ANGLE), True,
right_turn_lane.width_at(0), (LineType.NONE, LineType.SIDE))
non_cross = (not check_lane_on_road(self._global_network, right_bend,
1)) and non_cross
CreateRoadFrom(right_bend,
min(self.positive_lane_num, self.lane_num_intersect),
Road(attach_road.end_node, intersect_nodes[0]),
self.block_network,
self._global_network,
toward_smaller_lane_index=True,
side_lane_line_type=LineType.SIDE,
inner_lane_line_type=LineType.NONE,
center_line_type=LineType.NONE)
intersect_nodes.rotate(-1)
right_straight.line_types = [LineType.BROKEN, LineType.SIDE]
return right_straight, non_cross
def remove_all_roads(self, start_node: str, end_node: str):
"""
Remove all road between two road nodes
:param start_node: start node name
:param end_node: end node name
:return: roads removed
"""
ret = []
paths = self.bfs_paths(start_node, end_node)
for path in paths:
for next_idx, node in enumerate(path[:-1], 1):
road_removed = self.remove_road(Road(node, path[next_idx]))
ret += road_removed
return ret
class MultiAgentIntersectionEnv(MultiAgentPGDrive):
spawn_roads = [
Road(FirstBlock.NODE_2, FirstBlock.NODE_3),
-Road(InterSection.node(1, 0, 0), InterSection.node(1, 0, 1)),
-Road(InterSection.node(1, 1, 0), InterSection.node(1, 1, 1)),
-Road(InterSection.node(1, 2, 0), InterSection.node(1, 2, 1)),
]
@staticmethod
def default_config() -> PGConfig:
return MultiAgentPGDrive.default_config().update(MAIntersectionConfig,
allow_overwrite=True)
def _update_map(self, episode_data: dict = None, force_seed=None):
if episode_data is not None:
raise ValueError()
map_config = self.config["map_config"]
map_config.update({"seed": self.current_seed})
if self.current_map is None:
self.current_seed = 0
new_map = MAIntersectionMap(self.pg_world, map_config)
self.maps[self.current_seed] = new_map
self.current_map = self.maps[self.current_seed]
def _update_destination_for(self, vehicle_id):
vehicle = self.vehicles[vehicle_id]
# when agent re-joined to the game, call this to set the new route to destination
end_roads = copy.deepcopy(self.spawn_roads)
end_road = -get_np_random(self._DEBUG_RANDOM_SEED).choice(
end_roads) # Use negative road!
vehicle.routing_localization.set_route(vehicle.lane_index[0],
end_road.end_node)
def get_single_observation(
self, vehicle_config: "PGConfig") -> "ObservationType":
return LidarStateObservationMARound(vehicle_config)
def prepare_step(self, scene_mgr, pg_world: PGWorld):
"""
All traffic vehicles make driving decision here
:param scene_mgr: access other elements in scene
:param pg_world: World
:return: None
"""
if self.mode != TrafficMode.Reborn:
ego_lane_idx = self.ego_vehicle.lane_index[:-1]
ego_road = Road(ego_lane_idx[0], ego_lane_idx[1])
if len(self.block_triggered_vehicles) > 0 and ego_road == self.block_triggered_vehicles[-1].trigger_road:
block_vehicles = self.block_triggered_vehicles.pop()
self.traffic_vehicles += block_vehicles.vehicles
for v in self.traffic_vehicles:
v.prepare_step(scene_mgr=scene_mgr)
def get_roads(self, *, direction="all", lane_num=None) -> List:
"""
Return all roads in road_network
:param direction: "positive"/"negative"
:param lane_num: only roads with lane_num lanes will be returned
:return: List[Road]
"""
assert direction in ["positive", "negative", "all"], "incorrect road direction"
ret = []
for _from, _to_dict in self.graph.items():
if direction == "all" or (direction == "positive" and _from[0] != "-") or (direction == "negative"
and _from[0] == "-"):
for _to, lanes in _to_dict.items():
if lane_num is None or len(lanes) == lane_num:
ret.append(Road(_from, _to))
return ret
def prepare_step(self):
"""
All traffic vehicles make driving decision here
:return: None
"""
# trigger vehicles
scene_manager = self._scene_mgr
if self.mode != TrafficMode.Respawn:
for v in scene_manager.agent_manager.active_objects.values():
ego_lane_idx = v.lane_index[:-1]
ego_road = Road(ego_lane_idx[0], ego_lane_idx[1])
if len(self.block_triggered_vehicles) > 0 and \
ego_road == self.block_triggered_vehicles[-1].trigger_road:
block_vehicles = self.block_triggered_vehicles.pop()
self._traffic_vehicles += block_vehicles.vehicles
for v in self._traffic_vehicles:
v.prepare_step(scene_manager=scene_manager)
def _try_plug_into_previous_block(self) -> bool:
self.set_part_idx(0) # only one part in simple block like straight, and curve
para = self.get_config()
length = para[Parameter.length]
basic_lane = self.positive_basic_lane
assert isinstance(basic_lane, StraightLane), "Straight road can only connect straight type"
new_lane = ExtendStraightLane(basic_lane, length, [LineType.STRIPED, LineType.SIDE])
start = self._pre_block_socket.positive_road.end_node
end = self.add_road_node()
socket = Road(start, end)
_socket = -socket
# create positive road
no_cross = CreateRoadFrom(new_lane, self.positive_lane_num, socket, self.block_network, self._global_network)
# create negative road
no_cross = CreateAdverseRoad(socket, self.block_network, self._global_network) and no_cross
self.add_sockets(BlockSocket(socket, _socket))
return no_cross
def _respawn_single_vehicle(self, randomize_position=False):
"""
Exclude destination parking space
"""
safe_places_dict = self._spawn_manager.get_available_respawn_places(
self.pg_world, self.current_map, randomize=randomize_position
)
# ===== filter spawn places =====
filter_ret = {}
for id, config in safe_places_dict.items():
spawn_l_index = config["config"]["spawn_lane_index"]
spawn_road = Road(spawn_l_index[0], spawn_l_index[1])
if spawn_road in self.in_spawn_roads and len(self.current_map.parking_space_manager.parking_space_available
) > 0:
filter_ret[id] = config
continue
spawn_road = self.current_map.parking_lot.in_direction_parking_space(spawn_road)
if spawn_road in self.current_map.parking_space_manager.parking_space_available:
# not other vehicle's destination
filter_ret[id] = config
# ===== same as super() =====
safe_places_dict = filter_ret
if len(safe_places_dict) == 0 or not self.agent_manager.allow_respawn:
# No more run, just wait!
return None, None
assert len(safe_places_dict) > 0
bp_index = get_np_random(self._DEBUG_RANDOM_SEED).choice(list(safe_places_dict.keys()), 1)[0]
new_spawn_place = safe_places_dict[bp_index]
if new_spawn_place[self._spawn_manager.FORCE_AGENT_NAME] is not None:
if new_spawn_place[self._spawn_manager.FORCE_AGENT_NAME] != self.agent_manager.next_agent_id():
return None, None
new_agent_id, vehicle = self.agent_manager.propose_new_vehicle()
new_spawn_place_config = new_spawn_place["config"]
vehicle.vehicle_config.update(new_spawn_place_config)
vehicle.reset(self.current_map)
self._update_destination_for(new_agent_id)
vehicle.update_state(detector_mask=None)
self.dones[new_agent_id] = False # Put it in the internal dead-tracking dict.
new_obs = self.observations[new_agent_id].observe(vehicle)
return new_agent_id, new_obs
def _try_plug_into_previous_block(self) -> bool:
para = self.get_config()
decrease_increase = -1 if para[Parameter.decrease_increase] == 0 else 1
if self.positive_lane_num <= 1:
decrease_increase = 1
elif self.positive_lane_num >= 4:
decrease_increase = -1
self.lane_num_intersect = self.positive_lane_num + decrease_increase * para[
Parameter.change_lane_num]
no_cross = True
attach_road = self.pre_block_socket.positive_road
_attach_road = self.pre_block_socket.negative_road
attach_lanes = attach_road.get_lanes(self._global_network)
# right straight left node name, rotate it to fit different part
intersect_nodes = deque([
self.road_node(0, 0),
self.road_node(1, 0),
self.road_node(2, 0), _attach_road.start_node
])
for i in range(4):
right_lane, success = self._create_part(attach_lanes, attach_road,
para[Parameter.radius],
intersect_nodes, i)
no_cross = no_cross and success
if i != 3:
lane_num = self.positive_lane_num if i == 1 else self.lane_num_intersect
exit_road = Road(self.road_node(i, 0), self.road_node(i, 1))
no_cross = CreateRoadFrom(right_lane, lane_num, exit_road,
self.block_network,
self._global_network) and no_cross
no_cross = CreateAdverseRoad(exit_road, self.block_network,
self._global_network) and no_cross
socket = BlockSocket(exit_road, -exit_road)
self.add_respawn_roads(socket.negative_road)
self.add_sockets(socket)
attach_road = -exit_road
attach_lanes = attach_road.get_lanes(self.block_network)
return no_cross
def _create_u_turn(self, attach_road, part_idx):
# set to CONTINUOUS to debug
line_type = LineType.NONE
lanes = attach_road.get_lanes(
self.block_network) if part_idx != 0 else self.positive_lanes
attach_left_lane = lanes[0]
lane_num = len(lanes)
left_turn_radius = self.lane_width / 2
left_bend, _ = create_bend_straight(attach_left_lane,
0.1, left_turn_radius,
np.deg2rad(180), False,
attach_left_lane.width_at(0),
(LineType.NONE, LineType.NONE))
left_road_start = (-attach_road).start_node
CreateRoadFrom(left_bend,
lane_num,
Road(attach_road.end_node, left_road_start),
self.block_network,
self._global_network,
toward_smaller_lane_index=False,
center_line_type=line_type,
side_lane_line_type=line_type,
inner_lane_line_type=line_type)
def _try_plug_into_previous_block(self) -> bool:
acc_lane_len = self.get_config()[Parameter.length]
no_cross = True
fork_lane_num = self.get_config()[Parameter.lane_num] + 1
# extend road and acc raod part, part 0
self.set_part_idx(0)
sin_angle = np.sin(np.deg2rad(self.ANGLE))
cos_angle = np.cos(np.deg2rad(self.ANGLE))
longitude_len = sin_angle * self.RADIUS * 2 + cos_angle * self.CONNECT_PART_LEN + self.RAMP_LEN
extend_lane = ExtendStraightLane(
self.positive_basic_lane, longitude_len + self.EXTRA_PART,
[LineType.STRIPED, LineType.CONTINUOUS])
extend_road = Road(self._pre_block_socket.positive_road.end_node,
self.add_road_node())
no_cross = CreateRoadFrom(extend_lane, self.positive_lane_num,
extend_road, self.block_network,
self._global_network) and no_cross
no_cross = CreateAdverseRoad(extend_road, self.block_network,
self._global_network) and no_cross
acc_side_lane = ExtendStraightLane(
extend_lane, acc_lane_len + self.lane_width,
[LineType.STRIPED, LineType.CONTINUOUS])
acc_road = Road(extend_road.end_node, self.add_road_node())
no_cross = CreateRoadFrom(acc_side_lane, self.positive_lane_num,
acc_road, self.block_network,
self._global_network) and no_cross
no_cross = CreateAdverseRoad(acc_road, self.block_network,
self._global_network) and no_cross
acc_road.get_lanes(self.block_network)[-1].line_types = [
LineType.STRIPED, LineType.STRIPED
]
self.add_sockets(Block.create_socket_from_positive_road(acc_road))
# ramp part, part 1
self.set_part_idx(1)
lateral_dist = (1 - cos_angle
) * self.RADIUS * 2 + sin_angle * self.CONNECT_PART_LEN
end_point = extend_lane.position(self.EXTRA_PART + self.RAMP_LEN,
lateral_dist + self.lane_width)
start_point = extend_lane.position(self.EXTRA_PART,
lateral_dist + self.lane_width)
straight_part = StraightLane(start_point,
end_point,
self.lane_width,
self.LANE_TYPE,
speed_limit=self.SPEED_LIMIT)
straight_road = Road(self.add_road_node(), self.add_road_node())
self.block_network.add_lane(straight_road.start_node,
straight_road.end_node, straight_part)
no_cross = (not check_lane_on_road(self._global_network, straight_part,
0.95)) and no_cross
self.add_reborn_roads(straight_road)
# p1 road 0, 1
bend_1, connect_part = sharpbend(straight_part,
self.CONNECT_PART_LEN,
self.RADIUS,
np.deg2rad(self.ANGLE),
False,
self.lane_width,
self.LANE_TYPE,
speed_limit=self.SPEED_LIMIT)
bend_1_road = Road(straight_road.end_node, self.add_road_node())
connect_road = Road(bend_1_road.end_node, self.add_road_node())
self.block_network.add_lane(bend_1_road.start_node,
bend_1_road.end_node, bend_1)
self.block_network.add_lane(connect_road.start_node,
connect_road.end_node, connect_part)
no_cross = CreateRoadFrom(bend_1, fork_lane_num, bend_1_road,
self.block_network, self._global_network,
False) and no_cross
no_cross = CreateRoadFrom(connect_part, fork_lane_num, connect_road,
self.block_network, self._global_network,
False) and no_cross
# p1, road 2, 3
bend_2, acc_lane = sharpbend(connect_part,
acc_lane_len,
self.RADIUS,
np.deg2rad(self.ANGLE),
True,
self.lane_width,
self.LANE_TYPE,
speed_limit=self.SPEED_LIMIT)
acc_lane.line_types = [LineType.STRIPED, LineType.CONTINUOUS]
bend_2_road = Road(connect_road.end_node, self.road_node(
0, 0)) # end at part1 road 0, extend road
acc_road = Road(self.road_node(0, 0), self.road_node(0, 1))
self.block_network.add_lane(bend_2_road.start_node,
bend_2_road.end_node, bend_2)
self.block_network.add_lane(acc_road.start_node, acc_road.end_node,
acc_lane)
no_cross = CreateRoadFrom(bend_2, fork_lane_num, bend_2_road,
self.block_network, self._global_network,
False) and no_cross
no_cross = CreateRoadFrom(acc_lane, fork_lane_num, acc_road,
self.block_network, self._global_network,
False) and no_cross
return no_cross
def _try_plug_into_previous_block(self) -> bool:
no_cross = True
sin_angle = np.sin(np.deg2rad(self.ANGLE))
cos_angle = np.cos(np.deg2rad(self.ANGLE))
longitude_len = sin_angle * self.RADIUS * 2 + cos_angle * self.CONNECT_PART_LEN + self.RAMP_LEN
self.set_part_idx(0)
# part 0 road 0
dec_lane_len = self.PARAMETER_SPACE.sample()[Parameter.length]
dec_lane = ExtendStraightLane(self.positive_basic_lane,
dec_lane_len + self.lane_width,
[LineType.STRIPED, LineType.CONTINUOUS])
dec_road = Road(self._pre_block_socket.positive_road.end_node,
self.add_road_node())
no_cross = CreateRoadFrom(dec_lane, self.positive_lane_num, dec_road,
self.block_network,
self._global_network) and no_cross
no_cross = CreateAdverseRoad(dec_road, self.block_network,
self._global_network) and no_cross
dec_right_lane = dec_road.get_lanes(self.block_network)[-1]
dec_right_lane.line_types = [LineType.STRIPED, LineType.STRIPED]
# part 0 road 1
extend_lane = ExtendStraightLane(
dec_right_lane, longitude_len,
[LineType.STRIPED, LineType.CONTINUOUS])
extend_road = Road(dec_road.end_node, self.add_road_node())
no_cross = CreateRoadFrom(extend_lane, self.positive_lane_num,
extend_road, self.block_network,
self._global_network) and no_cross
no_cross = CreateAdverseRoad(extend_road, self.block_network,
self._global_network) and no_cross
self.add_sockets(self.create_socket_from_positive_road(extend_road))
# part 1 road 0
self.set_part_idx(1)
dec_side_right_lane = self._get_deacc_lane(dec_right_lane)
self.block_network.add_lane(dec_road.start_node, self.add_road_node(),
dec_side_right_lane)
no_cross = (not check_lane_on_road(
self._global_network, dec_side_right_lane, 0.95)) and no_cross
bend_1, connect_part = sharpbend(dec_side_right_lane,
self.CONNECT_PART_LEN,
self.RADIUS,
np.deg2rad(self.ANGLE),
True,
self.lane_width,
self.LANE_TYPE,
speed_limit=self.SPEED_LIMIT)
bend_1_road = Road(self.road_node(1, 0), self.add_road_node())
connect_road = Road(bend_1_road.end_node, self.add_road_node())
self.block_network.add_lane(bend_1_road.start_node,
bend_1_road.end_node, bend_1)
self.block_network.add_lane(connect_road.start_node,
connect_road.end_node, connect_part)
no_cross = (not check_lane_on_road(self._global_network, bend_1,
0.95)) and no_cross
no_cross = (not check_lane_on_road(self._global_network, connect_part,
0.95)) and no_cross
bend_2, straight_part = sharpbend(connect_part,
self.RAMP_LEN,
self.RADIUS,
np.deg2rad(self.ANGLE),
False,
self.lane_width,
self.LANE_TYPE,
speed_limit=self.SPEED_LIMIT)
bend_2_road = Road(
connect_road.end_node,
self.add_road_node()) # end at part1 road 0, extend road
straight_road = Road(bend_2_road.end_node, self.add_road_node())
self.block_network.add_lane(bend_2_road.start_node,
bend_2_road.end_node, bend_2)
self.block_network.add_lane(straight_road.start_node,
straight_road.end_node, straight_part)
no_cross = (not check_lane_on_road(self._global_network, bend_2,
0.95)) and no_cross
no_cross = (not check_lane_on_road(self._global_network, straight_part,
0.95)) and no_cross
decoration_part = self._get_merge_part(dec_side_right_lane)
self.block_network.add_lane(Decoration.start, Decoration.end,
decoration_part)
return no_cross
def _try_plug_into_previous_block(self) -> bool:
no_cross = True
parameters = self.get_config()
lane_num_changed = parameters[Parameter.lane_num]
start_ndoe = self.pre_block_socket.positive_road.end_node
straight_lane_num = int(self.positive_lane_num - lane_num_changed)
straight_lane_num = max(1, straight_lane_num)
circular_lane_num = self.positive_lane_num - straight_lane_num
# part 1, straight road 0
basic_lane = self.positive_lanes[straight_lane_num - 1]
ref_lane = ExtendStraightLane(basic_lane, self.BOTTLENECK_LEN,
[LineType.NONE, LineType.NONE])
straight_road = Road(start_ndoe, self.road_node(0, 0))
no_cross = CreateRoadFrom(
ref_lane,
straight_lane_num,
straight_road,
self.block_network,
self._global_network,
center_line_type=LineType.CONTINUOUS,
side_lane_line_type=LineType.NONE,
inner_lane_line_type=LineType.NONE) and no_cross
no_cross = CreateAdverseRoad(
straight_road,
self.block_network,
self._global_network,
inner_lane_line_type=LineType.NONE,
side_lane_line_type=LineType.NONE,
center_line_type=LineType.CONTINUOUS) and no_cross
# extend for socket ,part 1 road 1
ref_lane = ExtendStraightLane(ref_lane, parameters[Parameter.length],
[LineType.NONE, LineType.NONE])
socket_road = Road(self.road_node(0, 0), self.road_node(0, 1))
no_cross = CreateRoadFrom(
ref_lane,
straight_lane_num,
socket_road,
self.block_network,
self._global_network,
center_line_type=LineType.CONTINUOUS,
side_lane_line_type=LineType.SIDE,
inner_lane_line_type=LineType.BROKEN) and no_cross
no_cross = CreateAdverseRoad(
socket_road,
self.block_network,
self._global_network,
inner_lane_line_type=LineType.BROKEN,
side_lane_line_type=LineType.SIDE,
center_line_type=LineType.CONTINUOUS) and no_cross
negative_sockect_road = -socket_road
self.add_sockets(BlockSocket(socket_road, negative_sockect_road))
# part 2, circular part
for index, lane in enumerate(self.positive_lanes[straight_lane_num:],
1):
lateral_dist = index * self.lane_width / 2
inner_node = self.road_node(1, index)
side_line_type = LineType.SIDE if index == self.positive_lane_num - straight_lane_num else LineType.NONE
# positive part
circular_1, circular_2, _ = create_wave_lanes(
lane, lateral_dist, self.BOTTLENECK_LEN, 5, self.lane_width)
road_1 = Road(start_ndoe, inner_node)
no_cross = CreateRoadFrom(
circular_1,
1,
road_1,
self.block_network,
self._global_network,
center_line_type=LineType.NONE,
side_lane_line_type=side_line_type,
inner_lane_line_type=LineType.NONE) and no_cross
road_2 = Road(inner_node, self.road_node(0, 0))
no_cross = CreateRoadFrom(
circular_2,
1,
road_2,
self.block_network,
self._global_network,
center_line_type=LineType.NONE,
side_lane_line_type=side_line_type,
inner_lane_line_type=LineType.NONE) and no_cross
# adverse part
lane = negative_sockect_road.get_lanes(self.block_network)[-1]
circular_2, circular_1, _ = create_wave_lanes(
lane, lateral_dist, self.BOTTLENECK_LEN, 5, self.lane_width,
False)
road_2 = -road_2
no_cross = CreateRoadFrom(
circular_2,
1,
road_2,
self.block_network,
self._global_network,
center_line_type=LineType.NONE,
side_lane_line_type=side_line_type,
inner_lane_line_type=LineType.NONE) and no_cross
road_1 = -road_1
no_cross = CreateRoadFrom(
circular_1,
1,
road_1,
self.block_network,
self._global_network,
center_line_type=LineType.NONE,
side_lane_line_type=side_line_type,
inner_lane_line_type=LineType.NONE) and no_cross
return no_cross
class RoutingLocalizationModule:
navigation_info_dim = 10
NAVI_POINT_DIST = 50
PRE_NOTIFY_DIST = 40
MARK_COLOR = COLLISION_INFO_COLOR["green"][1]
MIN_ALPHA = 0.15
CKPT_UPDATE_RANGE = 5
FORCE_CALCULATE = False
LINE_TO_DEST_HEIGHT = 0.6
def __init__(self,
pg_world,
show_navi_mark: bool = False,
random_navi_mark_color=False,
show_dest_mark=False,
show_line_to_dest=False):
"""
This class define a helper for localizing vehicles and retrieving navigation information.
It now only support from first block start to the end node, but can be extended easily.
"""
self.map = None
self.final_road = None
self.checkpoints = None
self.final_lane = None
self.current_ref_lanes = None
self.current_road = None
self._target_checkpoints_index = None
self._navi_info = np.zeros(
(self.navigation_info_dim, )) # navi information res
self.navi_mark_color = (
0.6, 0.8,
0.5) if not random_navi_mark_color else get_np_random().rand(3)
# Vis
self._is_showing = True # store the state of navigation mark
self._show_navi_info = (
pg_world.mode == RENDER_MODE_ONSCREEN
and not pg_world.world_config["debug_physics_world"])
self._dest_node_path = None
self._goal_node_path = None
self._arrow_node_path = None
self._line_to_dest = None
self._show_line_to_dest = show_line_to_dest
if self._show_navi_info:
# nodepath
self._line_to_dest = pg_world.render.attachNewNode("line")
self._goal_node_path = pg_world.render.attachNewNode("target")
self._dest_node_path = pg_world.render.attachNewNode("dest")
self._arrow_node_path = pg_world.aspect2d.attachNewNode("arrow")
navi_arrow_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "navi_arrow.gltf"))
navi_arrow_model.setScale(0.1, 0.12, 0.2)
navi_arrow_model.setPos(2, 1.15, -0.221)
self._left_arrow = self._arrow_node_path.attachNewNode(
"left arrow")
self._left_arrow.setP(180)
self._right_arrow = self._arrow_node_path.attachNewNode(
"right arrow")
self._left_arrow.setColor(self.MARK_COLOR)
self._right_arrow.setColor(self.MARK_COLOR)
navi_arrow_model.instanceTo(self._left_arrow)
navi_arrow_model.instanceTo(self._right_arrow)
self._arrow_node_path.setPos(0, 0, 0.08)
self._arrow_node_path.hide(BitMask32.allOn())
self._arrow_node_path.show(CamMask.MainCam)
self._arrow_node_path.setQuat(
LQuaternionf(np.cos(-np.pi / 4), 0, 0, np.sin(-np.pi / 4)))
# the transparency attribute of gltf model is invalid on windows
# self._arrow_node_path.setTransparency(TransparencyAttrib.M_alpha)
if show_navi_mark:
navi_point_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "box.bam"))
navi_point_model.reparentTo(self._goal_node_path)
if show_dest_mark:
dest_point_model = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "box.bam"))
dest_point_model.reparentTo(self._dest_node_path)
if show_line_to_dest:
line_seg = LineSegs("line_to_dest")
line_seg.setColor(self.navi_mark_color[0],
self.navi_mark_color[1],
self.navi_mark_color[2], 0.7)
line_seg.setThickness(2)
self._dynamic_line_np = NodePath(line_seg.create(True))
self._dynamic_line_np.reparentTo(pg_world.render)
self._line_to_dest = line_seg
self._goal_node_path.setTransparency(TransparencyAttrib.M_alpha)
self._dest_node_path.setTransparency(TransparencyAttrib.M_alpha)
self._goal_node_path.setColor(self.navi_mark_color[0],
self.navi_mark_color[1],
self.navi_mark_color[2], 0.7)
self._dest_node_path.setColor(self.navi_mark_color[0],
self.navi_mark_color[1],
self.navi_mark_color[2], 0.7)
self._goal_node_path.hide(BitMask32.allOn())
self._dest_node_path.hide(BitMask32.allOn())
self._goal_node_path.show(CamMask.MainCam)
self._dest_node_path.show(CamMask.MainCam)
logging.debug("Load Vehicle Module: {}".format(
self.__class__.__name__))
def update(self,
map: Map,
current_lane_index,
final_road_node=None,
random_seed=False):
start_road_node = current_lane_index[0]
self.map = map
if start_road_node is None:
start_road_node = FirstBlock.NODE_1
if final_road_node is None:
current_road_negative = Road(
*current_lane_index[:-1]).is_negative_road()
random_seed = random_seed if random_seed is not False else map.random_seed
# choose first block when born on negative road
block = map.blocks[0] if current_road_negative else map.blocks[-1]
sockets = block.get_socket_list()
while True:
socket = get_np_random(random_seed).choice(sockets)
if not socket.is_socket_node(start_road_node):
break
else:
sockets.remove(socket)
if len(sockets) == 0:
raise ValueError("Can not set a destination!")
# choose negative road end node when current road is negative road
final_road_node = socket.negative_road.end_node if current_road_negative else socket.positive_road.end_node
self.set_route(start_road_node, final_road_node)
def set_route(self, start_road_node: str, end_road_node: str):
"""
Find a shorest path from start road to end road
:param start_road_node: start road node
:param end_road_node: end road node
:return: None
"""
self.checkpoints = self.map.road_network.shortest_path(
start_road_node, end_road_node)
assert len(
self.checkpoints) > 2, "Can not find a route from {} to {}".format(
start_road_node, end_road_node)
# update routing info
self.final_road = Road(self.checkpoints[-2], end_road_node)
final_lanes = self.final_road.get_lanes(self.map.road_network)
self.final_lane = final_lanes[-1]
self._target_checkpoints_index = [0, 1]
self._navi_info.fill(0.0)
target_road_1_start = self.checkpoints[0]
target_road_1_end = self.checkpoints[1]
self.current_ref_lanes = self.map.road_network.graph[
target_road_1_start][target_road_1_end]
self.current_road = Road(target_road_1_start, target_road_1_end)
if self._dest_node_path is not None:
ref_lane = final_lanes[0]
later_middle = (float(self.get_current_lane_num()) / 2 -
0.5) * self.get_current_lane_width()
check_point = ref_lane.position(ref_lane.length, later_middle)
self._dest_node_path.setPos(check_point[0], -check_point[1], 1.8)
def update_navigation_localization(self, ego_vehicle):
position = ego_vehicle.position
lane, lane_index = self.get_current_lane(ego_vehicle)
if lane is None:
lane, lane_index = ego_vehicle.lane, ego_vehicle.lane_index
ego_vehicle.on_lane = False
if self.FORCE_CALCULATE:
lane_index, _ = self.map.road_network.get_closest_lane_index(
position)
lane = self.map.road_network.get_lane(lane_index)
long, _ = lane.local_coordinates(position)
self._update_target_checkpoints(lane_index, long)
assert len(self.checkpoints) > 2
target_road_1_start = self.checkpoints[
self._target_checkpoints_index[0]]
target_road_1_end = self.checkpoints[self._target_checkpoints_index[0]
+ 1]
target_road_2_start = self.checkpoints[
self._target_checkpoints_index[1]]
target_road_2_end = self.checkpoints[self._target_checkpoints_index[1]
+ 1]
target_lanes_1 = self.map.road_network.graph[target_road_1_start][
target_road_1_end]
target_lanes_2 = self.map.road_network.graph[target_road_2_start][
target_road_2_end]
self.current_ref_lanes = target_lanes_1
self.current_road = Road(target_road_1_start, target_road_1_end)
self._navi_info.fill(0.0)
half = self.navigation_info_dim // 2
self._navi_info[:
half], lanes_heading1, checkpoint = self._get_info_for_checkpoint(
lanes_id=0,
lanes=target_lanes_1,
ego_vehicle=ego_vehicle)
self._navi_info[
half:], lanes_heading2, _ = self._get_info_for_checkpoint(
lanes_id=1, lanes=target_lanes_2, ego_vehicle=ego_vehicle)
if self._show_navi_info:
pos_of_goal = checkpoint
self._goal_node_path.setPos(pos_of_goal[0], -pos_of_goal[1], 1.8)
self._goal_node_path.setH(self._goal_node_path.getH() + 3)
self._update_navi_arrow([lanes_heading1, lanes_heading2])
dest_pos = self._dest_node_path.getPos()
self._draw_line_to_dest(pg_world=ego_vehicle.pg_world,
start_position=ego_vehicle.position,
end_position=(dest_pos[0], -dest_pos[1]))
return lane, lane_index
def _get_info_for_checkpoint(self, lanes_id, lanes, ego_vehicle):
ref_lane = lanes[0]
later_middle = (float(self.get_current_lane_num()) / 2 -
0.5) * self.get_current_lane_width()
check_point = ref_lane.position(ref_lane.length, later_middle)
if lanes_id == 0:
# calculate ego v lane heading
lanes_heading = ref_lane.heading_at(
ref_lane.local_coordinates(ego_vehicle.position)[0])
else:
lanes_heading = ref_lane.heading_at(
min(self.PRE_NOTIFY_DIST, ref_lane.length))
dir_vec = check_point - ego_vehicle.position
dir_norm = norm(dir_vec[0], dir_vec[1])
if dir_norm > self.NAVI_POINT_DIST:
dir_vec = dir_vec / dir_norm * self.NAVI_POINT_DIST
proj_heading, proj_side = ego_vehicle.projection(dir_vec)
bendradius = 0.0
dir = 0.0
angle = 0.0
if isinstance(ref_lane, CircularLane):
bendradius = ref_lane.radius / (
BlockParameterSpace.CURVE[Parameter.radius].max +
self.get_current_lane_num() * self.get_current_lane_width())
dir = ref_lane.direction
if dir == 1:
angle = ref_lane.end_phase - ref_lane.start_phase
elif dir == -1:
angle = ref_lane.start_phase - ref_lane.end_phase
return (clip((proj_heading / self.NAVI_POINT_DIST + 1) / 2, 0.0, 1.0),
clip((proj_side / self.NAVI_POINT_DIST + 1) / 2, 0.0,
1.0), clip(bendradius, 0.0,
1.0), clip((dir + 1) / 2, 0.0, 1.0),
clip((np.rad2deg(angle) /
BlockParameterSpace.CURVE[Parameter.angle].max + 1) / 2,
0.0, 1.0)), lanes_heading, check_point
def _update_navi_arrow(self, lanes_heading):
lane_0_heading = lanes_heading[0]
lane_1_heading = lanes_heading[1]
if abs(lane_0_heading - lane_1_heading) < 0.01:
if self._is_showing:
self._left_arrow.detachNode()
self._right_arrow.detachNode()
self._is_showing = False
else:
dir_0 = np.array(
[math.cos(lane_0_heading),
math.sin(lane_0_heading), 0])
dir_1 = np.array(
[math.cos(lane_1_heading),
math.sin(lane_1_heading), 0])
cross_product = np.cross(dir_1, dir_0)
left = False if cross_product[-1] < 0 else True
if not self._is_showing:
self._is_showing = True
if left:
if not self._left_arrow.hasParent():
self._left_arrow.reparentTo(self._arrow_node_path)
if self._right_arrow.hasParent():
self._right_arrow.detachNode()
else:
if not self._right_arrow.hasParent():
self._right_arrow.reparentTo(self._arrow_node_path)
if self._left_arrow.hasParent():
self._left_arrow.detachNode()
def _update_target_checkpoints(self, ego_lane_index, ego_lane_longitude):
"""
Return should_update: True or False
"""
if self._target_checkpoints_index[0] == self._target_checkpoints_index[
1]: # on last road
return False
# arrive to second checkpoint
current_road_start_point = ego_lane_index[0]
if current_road_start_point in self.checkpoints[self._target_checkpoints_index[1]:] \
and ego_lane_longitude < self.CKPT_UPDATE_RANGE:
if current_road_start_point not in self.checkpoints[
self._target_checkpoints_index[1]:-1]:
return False
idx = self.checkpoints.index(current_road_start_point,
self._target_checkpoints_index[1], -1)
self._target_checkpoints_index = [idx]
if idx + 1 == len(self.checkpoints) - 1:
self._target_checkpoints_index.append(idx)
else:
self._target_checkpoints_index.append(idx + 1)
return True
return False
def get_navi_info(self):
return self._navi_info
def destroy(self):
if self._show_navi_info:
self._arrow_node_path.removeNode()
self._line_to_dest.removeNode()
self._dest_node_path.removeNode()
self._goal_node_path.removeNode()
def set_force_calculate_lane_index(self, force: bool):
self.FORCE_CALCULATE = force
def __del__(self):
logging.debug("{} is destroyed".format(self.__class__.__name__))
def get_current_lateral_range(self, current_position, pg_world) -> float:
"""Return the maximum lateral distance from left to right."""
# special process for special block
current_block_id = self.current_road.block_ID()
if current_block_id == Split.ID or current_block_id == Merge.ID:
left_lane = self.current_ref_lanes[0]
assert isinstance(
left_lane,
StraightLane), "Reference lane should be straight lane here"
long, lat = left_lane.local_coordinates(current_position)
current_position = left_lane.position(long, -left_lane.width / 2)
return self._ray_lateral_range(
pg_world, current_position,
self.current_ref_lanes[0].direction_lateral)
else:
return self.get_current_lane_width() * self.get_current_lane_num()
def get_current_lane_width(self) -> float:
return self.map.config[self.map.LANE_WIDTH]
def get_current_lane_num(self) -> float:
return len(self.current_ref_lanes)
def get_current_lane(self, ego_vehicle):
possible_lanes = ray_localization(np.array(
ego_vehicle.heading.tolist()),
ego_vehicle.position,
ego_vehicle.pg_world,
return_all_result=True)
for lane, index, l_1_dist in possible_lanes:
if lane in self.current_ref_lanes:
return lane, index
return possible_lanes[0][:-1] if len(possible_lanes) > 0 else (None,
None)
def _ray_lateral_range(self, pg_world, start_position, dir, length=50):
"""
It is used to measure the lateral range of special blocks
:param start_position: start_point
:param dir: ray direction
:param length: length of ray
:return: lateral range [m]
"""
end_position = start_position[0] + dir[0] * length, start_position[
1] + dir[1] * length
start_position = panda_position(start_position, z=0.15)
end_position = panda_position(end_position, z=0.15)
mask = BitMask32.bit(FirstBlock.CONTINUOUS_COLLISION_MASK)
res = pg_world.physics_world.static_world.rayTestClosest(
start_position, end_position, mask=mask)
if not res.hasHit():
return length
else:
return res.getHitFraction() * length
def _draw_line_to_dest(self, pg_world, start_position, end_position):
if not self._show_line_to_dest:
return
line_seg = self._line_to_dest
line_seg.moveTo(
panda_position(start_position, self.LINE_TO_DEST_HEIGHT))
line_seg.drawTo(panda_position(end_position, self.LINE_TO_DEST_HEIGHT))
self._dynamic_line_np.removeNode()
self._dynamic_line_np = NodePath(line_seg.create(False))
self._dynamic_line_np.hide(CamMask.Shadow | CamMask.RgbCam)
self._dynamic_line_np.reparentTo(pg_world.render)
class MultiAgentParkingLotEnv(MultiAgentPGDrive):
"""
Env will be done when vehicle is on yellow or white continuous lane line!
"""
in_spawn_roads = [
Road(FirstBlock.NODE_2, FirstBlock.NODE_3),
-Road(TInterSection.node(2, 0, 0), TInterSection.node(2, 0, 1)),
-Road(TInterSection.node(2, 2, 0), TInterSection.node(2, 2, 1)),
]
out_spawn_roads = None
@property
def spawn_roads(self):
return self.in_spawn_roads + self.out_spawn_roads
@staticmethod
def default_config() -> PGConfig:
return MultiAgentPGDrive.default_config().update(MAParkingLotConfig, allow_overwrite=True)
@staticmethod
def _get_out_spawn_roads(parking_space_num):
ret = []
for i in range(1, parking_space_num + 1):
ret.append(Road(ParkingLot.node(1, i, 5), ParkingLot.node(1, i, 6)))
return ret
def _process_extra_config(self, config) -> "PGConfig":
ret_config = self.default_config().update(
config, allow_overwrite=False, stop_recursive_update=["target_vehicle_configs"]
)
if not ret_config["crash_done"] and ret_config["crash_vehicle_penalty"] > 2:
logging.warning(
"Are you sure you wish to set crash_vehicle_penalty={} when crash_done=False?".format(
ret_config["crash_vehicle_penalty"]
)
)
if ret_config["use_render"] and ret_config["fast"]:
logging.warning("Turn fast=False can accelerate Multi-agent rendering performance!")
# add extra assert
parking_space_num = ret_config["parking_space_num"]
assert parking_space_num % 2 == 0, "number of parking spaces must be multiples of 2"
assert parking_space_num >= 4, "minimal number of parking space is 4"
self.out_spawn_roads = self._get_out_spawn_roads(parking_space_num)
ret_config["map_config"]["parking_space_num"] = ret_config["parking_space_num"]
# Workaround
if ret_config["target_vehicle_configs"]:
for k, v in ret_config["target_vehicle_configs"].items():
old = ret_config["vehicle_config"].copy()
new = old.update(v)
ret_config["target_vehicle_configs"][k] = new
self._spawn_manager = SpawnManager(
exit_length=ret_config["map_config"]["exit_length"],
lane_num=ret_config["map_config"]["lane_num"],
num_agents=ret_config["num_agents"],
vehicle_config=ret_config["vehicle_config"],
target_vehicle_configs=ret_config["target_vehicle_configs"],
seed=self._DEBUG_RANDOM_SEED
)
self._spawn_manager.set_spawn_roads(self.spawn_roads)
ret_config = self._update_agent_pos_configs(ret_config)
return ret_config
def _update_map(self, episode_data: dict = None, force_seed=None):
if episode_data is not None:
raise ValueError()
map_config = self.config["map_config"]
map_config.update({"seed": self.current_seed})
if self.current_map is None:
self.current_seed = 0
new_map = MAParkingLotMap(self.pg_world, map_config)
self.maps[self.current_seed] = new_map
self.current_map = self.maps[self.current_seed]
def _update_destination_for(self, vehicle_id):
vehicle = self.vehicles[vehicle_id]
# when agent re-joined to the game, call this to set the new route to destination
end_roads = copy.deepcopy(self.in_spawn_roads)
if vehicle.routing_localization.current_road in end_roads:
end_road = self.current_map.parking_space_manager.get_parking_space(vehicle_id)
else:
end_road = -get_np_random(self._DEBUG_RANDOM_SEED).choice(end_roads) # Use negative road!
vehicle.routing_localization.set_route(vehicle.lane_index[0], end_road.end_node)
def _respawn_single_vehicle(self, randomize_position=False):
"""
Exclude destination parking space
"""
safe_places_dict = self._spawn_manager.get_available_respawn_places(
self.pg_world, self.current_map, randomize=randomize_position
)
# ===== filter spawn places =====
filter_ret = {}
for id, config in safe_places_dict.items():
spawn_l_index = config["config"]["spawn_lane_index"]
spawn_road = Road(spawn_l_index[0], spawn_l_index[1])
if spawn_road in self.in_spawn_roads and len(self.current_map.parking_space_manager.parking_space_available
) > 0:
filter_ret[id] = config
continue
spawn_road = self.current_map.parking_lot.in_direction_parking_space(spawn_road)
if spawn_road in self.current_map.parking_space_manager.parking_space_available:
# not other vehicle's destination
filter_ret[id] = config
# ===== same as super() =====
safe_places_dict = filter_ret
if len(safe_places_dict) == 0 or not self.agent_manager.allow_respawn:
# No more run, just wait!
return None, None
assert len(safe_places_dict) > 0
bp_index = get_np_random(self._DEBUG_RANDOM_SEED).choice(list(safe_places_dict.keys()), 1)[0]
new_spawn_place = safe_places_dict[bp_index]
if new_spawn_place[self._spawn_manager.FORCE_AGENT_NAME] is not None:
if new_spawn_place[self._spawn_manager.FORCE_AGENT_NAME] != self.agent_manager.next_agent_id():
return None, None
new_agent_id, vehicle = self.agent_manager.propose_new_vehicle()
new_spawn_place_config = new_spawn_place["config"]
vehicle.vehicle_config.update(new_spawn_place_config)
vehicle.reset(self.current_map)
self._update_destination_for(new_agent_id)
vehicle.update_state(detector_mask=None)
self.dones[new_agent_id] = False # Put it in the internal dead-tracking dict.
new_obs = self.observations[new_agent_id].observe(vehicle)
return new_agent_id, new_obs
def get_single_observation(self, vehicle_config: "PGConfig") -> "ObservationType":
return LidarStateObservationMARound(vehicle_config)
def _reset_agents(self):
self.current_map.parking_space_manager.reset()
super(MultiAgentParkingLotEnv, self)._reset_agents()
def done_function(self, vehicle_id):
done, info = super(MultiAgentParkingLotEnv, self).done_function(vehicle_id)
if done:
self.current_map.parking_space_manager.after_vehicle_done(vehicle_id)
return done, info
def _is_out_of_road(self, vehicle):
# A specified function to determine whether this vehicle should be done.
# return vehicle.on_yellow_continuous_line or (not vehicle.on_lane) or vehicle.crash_sidewalk
ret = vehicle.on_white_continuous_line or \
(not vehicle.on_lane) or vehicle.crash_sidewalk
return ret
def current_road(self):
return Road(*self.lane_index[0:-1])
def _get_out_spawn_roads(parking_space_num):
ret = []
for i in range(1, parking_space_num + 1):
ret.append(Road(ParkingLot.node(1, i, 5), ParkingLot.node(1, i, 6)))
return ret
def _create_circular_part(self, road: Road, part_idx: int,
radius_exit: float, radius_inner: float,
angle: float) -> (str, str, StraightLane, bool):
"""
Create a part of roundabout according to a straight road
"""
none_cross = True
self.set_part_idx(part_idx)
radius_big = (self.positive_lane_num * 2 -
1) * self.lane_width + radius_inner
# circular part 0
segment_start_node = road.end_node
segment_end_node = self.add_road_node()
segment_road = Road(segment_start_node, segment_end_node)
lanes = road.get_lanes(
self._global_network) if part_idx == 0 else road.get_lanes(
self.block_network)
right_lane = lanes[-1]
bend, straight = sharpbend(right_lane, 10, radius_exit,
np.deg2rad(angle), True, self.lane_width,
(LineType.STRIPED, LineType.SIDE))
ignore_last_2_part_start = self.road_node((part_idx + 3) % 4, 0)
ignore_last_2_part_end = self.road_node((part_idx + 3) % 4, 0)
none_cross = CreateRoadFrom(
bend,
self.positive_lane_num,
segment_road,
self.block_network,
self._global_network,
ignore_start=ignore_last_2_part_start,
ignore_end=ignore_last_2_part_end) and none_cross
# set circular part 0 visualization
for k, lane in enumerate(segment_road.get_lanes(self.block_network)):
if k == self.positive_lane_num - 1:
lane.line_types = [LineType.NONE, LineType.SIDE]
else:
lane.line_types = [LineType.NONE, LineType.NONE]
# circular part 1
tool_lane_start = straight.position(-5, 0)
tool_lane_end = straight.position(0, 0)
tool_lane = StraightLane(tool_lane_start, tool_lane_end)
bend, straight_to_next_iter_part = sharpbend(
tool_lane, 10, radius_big, np.deg2rad(2 * angle - 90), False,
self.lane_width, (LineType.STRIPED, LineType.SIDE))
segment_start_node = segment_end_node
segment_end_node = self.add_road_node()
segment_road = Road(segment_start_node, segment_end_node)
none_cross = CreateRoadFrom(bend, self.positive_lane_num, segment_road,
self.block_network,
self._global_network) and none_cross
# circular part 2 and exit straight part
length = self.EXIT_PART_LENGTH
tool_lane_start = straight_to_next_iter_part.position(-5, 0)
tool_lane_end = straight_to_next_iter_part.position(0, 0)
tool_lane = StraightLane(tool_lane_start, tool_lane_end)
bend, straight = sharpbend(tool_lane, length, radius_exit,
np.deg2rad(angle), True, self.lane_width,
(LineType.STRIPED, LineType.SIDE))
segment_start_node = segment_end_node
segment_end_node = self.add_road_node(
) if part_idx < 3 else self._pre_block_socket.negative_road.start_node
segment_road = Road(segment_start_node, segment_end_node)
none_cross = CreateRoadFrom(bend, self.positive_lane_num, segment_road,
self.block_network,
self._global_network) and none_cross
# set circular part 2 (curve) visualization
for k, lane in enumerate(segment_road.get_lanes(self.block_network)):
if k == self.positive_lane_num - 1:
lane.line_types = [LineType.NONE, LineType.SIDE]
else:
lane.line_types = [LineType.NONE, LineType.NONE]
exit_start = segment_end_node
exit_end = self.add_road_node()
segment_road = Road(exit_start, exit_end)
if part_idx < 3:
none_cross = CreateRoadFrom(straight, self.positive_lane_num,
segment_road, self.block_network,
self._global_network) and none_cross
self.add_sockets(
self.create_socket_from_positive_road(segment_road))
# add circular part 3 at last
segment_start = self.road_node(part_idx, 1)
segment_end = self.road_node((part_idx + 1) % 4, 0)
segment_road = Road(segment_start, segment_end)
tool_lane_start = straight_to_next_iter_part.position(-6, 0)
tool_lane_end = straight_to_next_iter_part.position(0, 0)
tool_lane = StraightLane(tool_lane_start, tool_lane_end)
beneath = (self.positive_lane_num * 2 -
1) * self.lane_width / 2 + radius_exit
cos = np.cos(np.deg2rad(angle))
radius_this_seg = beneath / cos - radius_exit
bend, _ = sharpbend(tool_lane, 5, radius_this_seg,
np.deg2rad(180 - 2 * angle), False,
self.lane_width, (LineType.STRIPED, LineType.SIDE))
CreateRoadFrom(bend, self.positive_lane_num, segment_road,
self.block_network, self._global_network)
# set circular part 2 visualization
for k, lane in enumerate(segment_road.get_lanes(self.block_network)):
if k == 0:
if self.positive_lane_num > 1:
lane.line_types = [LineType.CONTINUOUS, LineType.STRIPED]
else:
lane.line_types = [LineType.CONTINUOUS, LineType.NONE]
else:
lane.line_types = [LineType.STRIPED, LineType.STRIPED]
return Road(exit_start, exit_end), none_cross
