def create_sidebar(cr, width, height, sim_state, id_vehicle, id_episode, # @UnusedVariable
timestamp, observations_values,
commands_values, commands_source,
bg_color=None,
show_observations=True,
show_commands=True,
show_annotations=True):
if len(commands_values.shape) == 1:
commands_values = np.array([commands_values.tolist()])
commands_rgb = posneg(commands_values,
max_value=(+1), # not sure +1
nan_color=[1, 1, 1])
observations_rgb = scale(reshape2d(observations_values), min_value=0,
nan_color=[1, 1, 1])
import cairo
if bg_color is not None:
cr.rectangle(0, 0, width, height)
cr.set_source_rgb(bg_color[0], bg_color[1], bg_color[2])
cr.fill()
fo = cairo.FontOptions() # @UndefinedVariable
fo.set_hint_style(cairo.HINT_STYLE_FULL) # @UndefinedVariable
fo.set_antialias(cairo.ANTIALIAS_GRAY) # @UndefinedVariable
cr.set_font_options(fo)
# M = width / 20.0
M = width / 15.0
legend_font_size = M * 0.75
details_font_size = M
label_font = 'Mono'
legend_font = 'Serif'
cr.set_source_rgb(0, 0, 0)
padding_fraction = 0.1
padding = width * padding_fraction
nvalues = 128
bar_width = 0.4 * width
bar_ratio = 0.15
bar_height = bar_width * bar_ratio
spacer = 0.05 * width
values = np.linspace(-1, +1, nvalues)
values = np.vstack([values] * 1)
colorbar_posneg = posneg(values)
values = np.linspace(-1, +1, nvalues)
values = np.vstack([values] * 1)
colorbar_scale = scale(values)
cr.translate(0, 2 * M)
if show_observations:
with cairo_transform(cr, t=[width / 2, 0]):
cr.select_font_face(label_font)
cr.set_font_size(M)
cairo_text_align(cr, 'observations', halign='center')
cr.translate(0, M * 0.8)
with cairo_transform(cr, t=[padding, 0]):
data_width = width - 2 * padding
# Don't draw grid if there are many pixels
if max(observations_rgb.shape[0], observations_rgb.shape[1]) > 15:
grid_color = None
else:
grid_color = [1, .9, .9]
last_height = cairo_pixels(cr, observations_rgb, width=data_width,
# Force square
height=data_width,
grid_color=grid_color)
cr.translate(0, last_height)
cr.translate(0, spacer)
with cairo_transform(cr, t=[width / 2, 0]):
with cairo_transform(cr, t=[-bar_width / 2, 0]):
last_height = cairo_pixels(cr, colorbar_scale,
bar_width, height=bar_height,
grid_color=None)
cr.set_font_size(legend_font_size)
cr.select_font_face(legend_font)
with cairo_transform(cr, t=[0, bar_height / 2]):
with cairo_transform(cr, t=[-bar_width / 2 - M / 2, 0]):
cairo_text_align(cr, '0', 'right', 'middle')
with cairo_transform(cr, t=[+bar_width / 2 + M / 2, 0]):
cairo_text_align(cr, '1', 'left', 'middle')
cr.translate(0, last_height + spacer * 3)
if show_commands:
with cairo_transform(cr, t=[width / 2, 0]):
cr.select_font_face(label_font)
cr.set_font_size(M)
cairo_text_align(cr, 'commands', halign='center')
cr.translate(0, M * 0.8)
padding = padding * 2
with cairo_transform(cr, t=[padding, 0]):
data_width = width - 2 * padding
last_height = cairo_pixels(cr, commands_rgb, data_width)
cr.translate(0, last_height)
cr.translate(0, spacer)
with cairo_transform(cr, t=[width / 2, 0]):
with cairo_transform(cr, t=[-bar_width / 2, 0]):
last_height = cairo_pixels(cr, colorbar_posneg,
bar_width, height=bar_width * bar_ratio,
grid_color=None)
cr.set_font_size(legend_font_size)
cr.select_font_face(legend_font)
with cairo_transform(cr, t=[0, bar_height / 2]):
with cairo_transform(cr, t=[-bar_width / 2 - M / 2, 0]):
cairo_text_align(cr, '-1', 'right', 'middle')
with cairo_transform(cr, t=[+bar_width / 2 + M / 2, 0]):
cairo_text_align(cr, '+1', 'left', 'middle')
cr.translate(0, last_height + spacer * 2)
if show_annotations:
cr.translate(width / 10, 0)
strings = ['vehicle: %s' % id_vehicle,
' agent: %s' % commands_source,
'episode: %s' % id_episode,
' time: %6.2f' % timestamp,
]
cr.select_font_face('Mono')
max_len = max(len(x) for x in strings)
padding = 5
font_size = 1.6 * width / (max_len + padding)
cr.set_font_size(font_size)
line = details_font_size * 1.2
for s in strings:
with cairo_save(cr):
cr.show_text(s)
cr.stroke()
cr.translate(0, line)
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)