def simulate(self):
""" A function that simulates an entire episode. The gen_agents are updated with simultaneous
threads running their update() functions and updating the robot with commands from the
external joystick process.
"""
# initialize pre-simulation metadata
self.init_sim_data()
# keep track of wall-time in the simulator
start_time = time.time()
# get initial state
current_state = self.save_state()
# initialize robot update thread
r_t = self.init_robot_listener_thread(current_state)
# start iteration
iteration = 0
self.print_sim_progress(iteration)
# run simulation
while self.sim_t <= self.episode_params.max_time and self.loop_condition(
):
wall_t = time.time()
# update the time for all agents
Agent.set_sim_t(self.sim_t)
# initiate thread operations
self.pedestrians_update(current_state)
if self.robot is not None:
# calls a single iteration of the robot update
self.robot.update()
# update simulator time
self.sim_t += self.dt
# capture time after all the gen_agents have updated
# Takes screenshot of the new simulation state
current_state = self.save_state(wall_t - start_time)
if self.robot:
self.robot.update_world(current_state)
# update iteration count
iteration += 1
# print simulation progress
self.print_sim_progress(iteration)
# synchronize time with real-world if running in asynchronous mode
self.synchronize(wall_t)
# finish the simulate
self.conclude_simulation(start_time, iteration, r_t)
def init_sim_data(self, verbose: bool = True):
self.total_agents = len(self.agents) + len(self.backstage_prerecs)
# Create pre-simulation metadata
if verbose:
print("Running simulation on", self.total_agents, "agents")
# scale the simulator time
self.dt = self.params.delta_t_scale * self.params.dt
# update the baseline agents' simulation refresh rate
Agent.set_sim_dt(self.dt)
Agent.set_sim_t(self.sim_t)
# add the first (when t=0) agents to the self.prerecs dict
self.init_prerec_agent_threads(current_state=None)
# save initial state before the simulator is spawned
self.sim_t = 0.0
if self.dt < self.params.dt:
print(
"%sSimulation dt is too small; either lower the gen_agents' dt's"
% color_red, self.params.dt,
"or increase simulation delta_t%s" % color_reset)
exit(1)
