def step_sensors(self, sim):
for vehicle_id, sensor_state in sim.vehicle_index.sensor_states_items():
Sensors.step(self, sensor_state)
vehicle = sim.vehicle_index.vehicle_by_id(vehicle_id)
for sensor in vehicle.sensors.values():
sensor.step()
def step_sensors(self, sim):
"""Update all known vehicle sensors."""
# TODO: Move to vehicle index
for vehicle_id, sensor_state in sim.vehicle_index.sensor_states_items(
):
Sensors.step(self, sensor_state)
vehicle = sim.vehicle_index.vehicle_by_id(vehicle_id)
for sensor in vehicle.sensors.values():
sensor.step()
def observe_from(
self, sim, vehicle_ids: Set[str], done_this_step: Set[str] = set()
) -> Tuple[
Dict[str, Observation], Dict[str, float], Dict[str, float], Dict[str, bool]
]:
observations = {}
rewards = {}
dones = {}
scores = {}
for v_id in vehicle_ids:
vehicle = sim.vehicle_index.vehicle_by_id(v_id)
agent_id = self._vehicle_with_sensors[v_id]
sensor_state = sim.vehicle_index.sensor_state_for_vehicle_id(vehicle.id)
observations[agent_id], dones[agent_id] = Sensors.observe(
sim, agent_id, sensor_state, vehicle
)
rewards[agent_id] = vehicle.trip_meter_sensor(increment=True)
scores[agent_id] = vehicle.trip_meter_sensor()
# also add agents that were done in virtue of just dropping out
for done_v_id in done_this_step:
agent_id = self._vehicle_with_sensors.get(done_v_id, None)
if agent_id:
dones[agent_id] = True
return observations, rewards, scores, dones
def test_agents_alive_done_check(sim, scenario):
sim.setup(scenario)
interface = sim.agent_manager.agent_interface_for_agent_id(AGENT1)
done_criteria = interface.done_criteria
# 3 agents available, done requires 2 to be alive
assert not Sensors._agents_alive_done_check(sim.agent_manager,
done_criteria.agents_alive)
sim.agent_manager.teardown_ego_agents({AGENT2})
# 2 agents available, done requires 2 to be alive
assert not Sensors._agents_alive_done_check(sim.agent_manager,
done_criteria.agents_alive)
sim.agent_manager.teardown_ego_agents({AGENT3})
# 1 agents available, done requires 2 to be alive
assert Sensors._agents_alive_done_check(sim.agent_manager,
done_criteria.agents_alive)
sim.agent_manager.teardown_ego_agents({AGENT1})
# 1 agents available, done requires 2 to be alive
assert Sensors._agents_alive_done_check(sim.agent_manager,
done_criteria.agents_alive)
def observe_from(self, sim, vehicle_ids):
observations = {}
rewards = {}
dones = {}
scores = {}
for v_id in vehicle_ids:
vehicle = sim.vehicle_index.vehicle_by_id(v_id)
agent_id = self._vehicle_with_sensors[v_id]
sensor_state = sim.vehicle_index.sensor_state_for_vehicle_id(
vehicle.id)
observations[agent_id], dones[agent_id] = Sensors.observe(
sim, agent_id, sensor_state, vehicle)
rewards[agent_id] = vehicle.trip_meter_sensor(increment=True)
scores[agent_id] = vehicle.trip_meter_sensor()
return observations, rewards, scores, dones
def destroy(self):
self._remote_agent_buffer.destroy()
Sensors.clean_up()
def observe(self, sim):
observations = {}
rewards = {}
scores = {}
dones = {
agent_id: agent_id not in self.pending_agent_ids
for agent_id in self.agent_ids
if agent_id not in sim.vehicle_index.agent_vehicle_ids()
}
for agent_id in self.active_agents:
# An agent may be pointing to its own vehicle or observing a social vehicle
vehicle_ids = sim.vehicle_index.vehicle_ids_by_actor_id(
agent_id, include_shadowers=True)
if self.is_boid_agent(agent_id):
vehicles = [
sim.vehicle_index.vehicle_by_id(vehicle_id)
for vehicle_id in vehicle_ids
]
# returns format of {<agent_id>: {<vehicle_id>: {...}}}
sensor_states = {
vehicle.id:
sim.vehicle_index.sensor_state_for_vehicle_id(vehicle.id)
for vehicle in vehicles
}
observations[
agent_id], dones[agent_id] = Sensors.observe_batch(
sim, agent_id, sensor_states,
{v.id: v
for v in vehicles})
rewards[agent_id] = {
vehicle_id: self._vehicle_reward(vehicle_id, sim)
for vehicle_id in sensor_states.keys()
}
scores[agent_id] = {
format_actor_id(agent_id, vehicle_id, is_multi=True):
self._vehicle_score(vehicle_id, sim)
for vehicle_id in sensor_states.keys()
}
else:
assert len(vehicle_ids) == 1, (
"Unless this vehicle is part of a boid then we should only have a "
f"single vehicle under agent_id={agent_id}\n "
f"(vehicle_ids={vehicle_ids})")
vehicle = sim.vehicle_index.vehicle_by_id(vehicle_ids[0])
sensor_state = sim.vehicle_index.sensor_state_for_vehicle_id(
vehicle.id)
observations[agent_id], dones[agent_id] = Sensors.observe(
sim, agent_id, sensor_state, vehicle)
if sim.vehicle_index.vehicle_is_shadowed(vehicle.id):
# It is not a shadowing agent's fault if it is done
dones[agent_id] = False
else:
logging.log(
logging.DEBUG,
f"Agent `{agent_id}` has raised done with {observations[agent_id].events}",
)
rewards[agent_id] = vehicle.trip_meter_sensor(increment=True)
scores[agent_id] = vehicle.trip_meter_sensor()
return observations, rewards, scores, dones