def __init__(
self,
scenario_root: str,
route: str = None,
missions: Dict[str, Mission] = None,
social_agents: Dict[str, SocialAgent] = None,
log_dir: str = None,
surface_patches: list = None,
traffic_history: str = None,
):
self._logger = logging.getLogger(self.__class__.__name__)
self._root = scenario_root
self._route = route
self._missions = missions or {}
self._bubbles = Scenario._discover_bubbles(scenario_root)
self._social_agents = social_agents or {}
self._surface_patches = surface_patches
self._log_dir = self._resolve_log_dir(log_dir)
self._validate_assets_exist()
if traffic_history:
self._traffic_history = TrafficHistory(traffic_history)
default_lane_width = self.traffic_history.lane_width
else:
self._traffic_history = None
default_lane_width = None
net_file = os.path.join(self._root, "map.net.xml")
self._road_network = SumoRoadNetwork.from_file(
net_file, default_lane_width=default_lane_width, lanepoint_spacing=1.0
)
self._net_file_hash = file_md5_hash(self._road_network.net_file)
self._scenario_hash = path2hash(str(Path(self.root_filepath).resolve()))
def __init__(
self,
scenario_root: str,
route: str = None,
missions: Dict[str, Mission] = None,
social_agents: Dict[str, SocialAgent] = None,
log_dir: str = None,
surface_patches: list = None,
traffic_history: str = None,
):
self._logger = logging.getLogger(self.__class__.__name__)
self._root = scenario_root
self._route = route
self._missions = missions or {}
self._bubbles = Scenario._discover_bubbles(scenario_root)
self._social_agents = social_agents or {}
self._surface_patches = surface_patches
self._log_dir = self._resolve_log_dir(log_dir)
self._validate_assets_exist()
self._road_network = SumoRoadNetwork.from_file(self.net_filepath)
self._net_file_hash = file_md5_hash(self.net_filepath)
self._waypoints = Waypoints(self._road_network, spacing=1.0)
self._scenario_hash = path2hash(str(
Path(self.root_filepath).resolve()))
self._traffic_history_service = Traffic_history_service(
traffic_history)
def get_road_map(map_spec) -> Tuple[Optional[RoadMap], Optional[str]]:
"""@return a RoadMap object and a hash
that uniquely identifies it. Changes to the hash
should signify that the map is different enough
that map-related caches should be reloaded.
If possible, the RoadMap object may be cached here
and re-used.
"""
assert map_spec, "A road map spec must be specified"
assert map_spec.source, "A road map source must be specified"
if os.path.isdir(map_spec.source):
map_type, map_source = _find_mapfile_in_dir(map_spec.source)
else:
map_type = _UNKNOWN_MAP
map_source = map_spec.source
if map_source.endswith(".net.xml"):
map_type = _SUMO_MAP
elif map_source.endswith(".xodr"):
map_type = _OPENDRIVE_MAP
if map_type == _SUMO_MAP:
from smarts.core.sumo_road_network import SumoRoadNetwork
map_class = SumoRoadNetwork
elif map_type == _OPENDRIVE_MAP:
from smarts.core.opendrive_road_network import OpenDriveRoadNetwork
map_class = OpenDriveRoadNetwork
else:
return None, None
if _existing_map:
if isinstance(_existing_map.obj,
map_class) and _existing_map.obj.is_same_map(map_spec):
return _existing_map.obj, _existing_map.map_hash
_clear_cache()
road_map = map_class.from_spec(map_spec)
if os.path.isfile(road_map.source):
road_map_hash = file_md5_hash(road_map.source)
else:
road_map_hash = path2hash(road_map.source)
_cache_result(map_spec, road_map, road_map_hash)
return road_map, road_map_hash
def __init__(
self,
scenario_root: str,
route: Optional[str] = None,
missions: Optional[Dict[str, Mission]] = None,
social_agents: Optional[Dict[str, SocialAgent]] = None,
log_dir: Optional[str] = None,
surface_patches: Optional[Sequence[Dict[str, Any]]] = None,
traffic_history: Optional[str] = None,
map_spec: Optional[MapSpec] = None,
):
self._logger = logging.getLogger(self.__class__.__name__)
self._root = scenario_root
self._route = route
self._missions = missions or {}
self._bubbles = Scenario._discover_bubbles(scenario_root)
self._social_agents = social_agents or {}
self._surface_patches = surface_patches
self._log_dir = self._resolve_log_dir(log_dir)
if traffic_history:
self._traffic_history = TrafficHistory(traffic_history)
default_lane_width = self.traffic_history.lane_width
else:
self._traffic_history = None
default_lane_width = None
# XXX: using a map builder_fn supplied by users is a security risk
# as SMARTS will be executing the code "as is". We are currently
# trusting our users to not try to sabotage their own simulations.
# In the future, this may need to be revisited if SMARTS is ever
# shared in a multi-user mode.
if not map_spec:
map_spec = Scenario.discover_map(self._root, 1.0,
default_lane_width)
self._road_map, self._road_map_hash = map_spec.builder_fn(map_spec)
self._scenario_hash = path2hash(str(
Path(self.root_filepath).resolve()))
os.makedirs(self._log_dir, exist_ok=True)