def _airlock_social_vehicle_with_social_agent(
self,
vehicle_id: str,
social_agent_actor: SocialAgentActor,
) -> str:
"""When airlocked. The social agent will receive observations and execute
its policy, however it won't actually operate the vehicle's controller.
"""
self._log.debug(
f"Airlocked vehicle={vehicle_id} with actor={social_agent_actor}")
sim = self._sim
agent_id = BubbleManager._make_social_agent_id(vehicle_id,
social_agent_actor)
if agent_id in sim.agent_manager.social_agent_ids:
# E.g. if agent is a boid and was being re-used
interface = sim.agent_manager.agent_interface_for_agent_id(
agent_id)
else:
social_agent = make_social_agent(
locator=social_agent_actor.agent_locator,
**social_agent_actor.policy_kwargs,
)
interface = social_agent.interface
mission_planner = MissionPlanner(sim.scenario.waypoints,
sim.scenario.road_network)
is_boid = isinstance(social_agent_actor, BoidAgentActor)
vehicle = sim.vehicle_index.prepare_for_agent_control(sim,
vehicle_id,
agent_id,
interface,
mission_planner,
boid=is_boid)
# Setup mission (also used for observations)
route = sim.traffic_sim.vehicle_route(vehicle_id=vehicle.id)
mission = Mission(
start=Start(vehicle.position[:2], vehicle.heading),
goal=PositionalGoal.fromedge(route[-1], sim.scenario.road_network),
)
mission_planner.plan(mission=mission)
if agent_id not in sim.agent_manager.social_agent_ids:
social_agent_data_model = SocialAgent(
id=SocialAgentId.new(social_agent_actor.name),
name=social_agent_actor.name,
mission=mission,
agent_locator=social_agent_actor.agent_locator,
policy_kwargs=social_agent_actor.policy_kwargs,
initial_speed=social_agent_actor.initial_speed,
)
sim.agent_manager.start_social_agent(agent_id, social_agent,
social_agent_data_model)
return agent_id
def _prepare_sensors_for_agent_control(self, sim, vehicle_id, agent_id,
agent_interface, bubble):
mission_planner = MissionPlanner(sim.scenario.road_network)
vehicle = sim.vehicle_index.start_agent_observation(
sim,
vehicle_id,
agent_id,
agent_interface,
mission_planner,
boid=bubble.is_boid,
)
# Setup mission (also used for observations)
route = sim.traffic_sim.vehicle_route(vehicle_id=vehicle.id)
mission = Mission(
start=Start(vehicle.position[:2], vehicle.heading),
goal=PositionalGoal.fromedge(route[-1], sim.scenario.road_network),
)
mission_planner.plan(mission=mission)