def draw_everything(self, cr):
sim_state = self.input.boot_obs
map_width = self.config.width
map_height = self.config.height
plotting_params = self.config.plotting_params
with cairo_save(cr):
cr.rectangle(0, 0, map_width, map_height)
cr.clip()
# TODO: implement trace
vehicles_cairo_display_all(cr,
map_width,
map_height,
sim_state,
**plotting_params)
def draw_everything(self, cr):
boot_obs = self.input.boot_obs
if 'id_episode' in boot_obs:
id_episode = boot_obs['id_episode'].item()
else:
id_episode = ''
id_vehicle = boot_obs['id_robot'].item()
if 'extra' in boot_obs:
extra = boot_obs['extra'].item()
else:
extra = {}
def extra_draw_world(cr):
if 'servonav' in extra:
plot_servonave(cr, extra['servonav'])
if 'servoing_poses' in extra:
plot_servoing_poses(cr, extra['servoing_poses'])
plotting_params = self.config.plotting_params
plotting_params['extra_draw_world'] = extra_draw_world
sidebar_params = self.config.sidebar_params
# todo: check
sim_state = extra['robot_state']
observations_values = boot_obs['observations']
commands = boot_obs['commands']
commands_source = boot_obs['commands_source'].item()
timestamp = boot_obs['time_from_episode_start'].item()
with cairo_save(cr):
if self.config.display_sidebar:
padding = 0.03 * self.config.width
map_width = self.config.width - 2 * padding
map_height = self.config.height - 2 * padding
cr.translate(padding, padding)
else:
map_width = self.config.width
map_height = self.config.height
with cairo_save(cr):
cr.rectangle(0, 0, map_width, map_height)
cr.clip()
# TODO: implement trace
vehicles_cairo_display_all(cr,
map_width,
map_height,
sim_state,
**plotting_params)
if self.config.display_sidebar:
cr.set_line_width(1)
cr.set_source_rgb(0, 0, 0)
cr.rectangle(0, 0, map_width, map_height)
cr.stroke()
if self.config.display_sidebar:
with cairo_transform(cr, t=[self.config.width, 0]):
create_sidebar(cr, width=self.config.sidebar_width,
height=self.config.height,
sim_state=sim_state,
id_vehicle=id_vehicle,
id_episode=id_episode,
timestamp=timestamp,
observations_values=observations_values,
commands_values=commands,
commands_source=commands_source,
**sidebar_params)
