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patrickhartpatrickhart
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Merge pull request #513 from bark-simulator/renderer
Nested Renderer Functionality
2 parents a470798 + c91a7ca commit 97c7d5e

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16 files changed

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‎WORKSPACE‎

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@@ -75,6 +75,18 @@ load("@com_github_rules_rss//rss:rss.bzl", "rss_dependencies")
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rss_dependencies()
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# --------------------------------------------------
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# -------------------- BARKSCAPE -------------------
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load("@barkscape_project//utils:dependencies.bzl", "dependencies")
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dependencies()
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load("@build_bazel_rules_nodejs//:index.bzl", "yarn_install")
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yarn_install(
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# Name this npm so that Bazel Label references look like @npm//package
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name = "npm",
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package_json = "@barkscape_project//barkscape/web:package.json",
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yarn_lock = "@barkscape_project//barkscape/web:yarn.lock",
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)
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# --------------------------------------------------
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# git_repository(
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# name = "interaction_dataset_fortiss_internal",
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# commit = "9ace5fde9260c20736b0463026e0f407b7d395ba",

‎bark/examples/BUILD‎

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@@ -6,7 +6,6 @@ py_test(
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data = ['//bark:generate_core',
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'@benchmark_database_release//:v2.0',
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':params'],
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deps = [
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"//bark/benchmark:benchmark_runner",
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"@benchmark_database//load:benchmark_database",
@@ -41,6 +40,7 @@ py_test(
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"//bark/runtime/commons:xodr_parser",
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"//bark/runtime/viewer:pygame_viewer",
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"//bark/runtime/viewer:matplotlib_viewer",
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"//bark/runtime/viewer:buffered_mp_viewer",
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"//bark/runtime/scenario/scenario_generation:scenario_generation",
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"//bark/runtime:runtime",
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":paths"],
@@ -141,6 +141,25 @@ py_binary(
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":paths"],
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)
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py_binary(
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name = "barkscape_example",
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srcs = ["barkscape_example.py"],
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data = ['//bark:generate_core',
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'//bark/runtime/tests:xodr_data'],
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deps = ["//bark/runtime/commons:parameters",
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"//bark/runtime/commons:xodr_parser",
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"//bark/runtime/viewer:pygame_viewer",
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"//bark/runtime/viewer:matplotlib_viewer",
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"//bark/runtime/viewer:buffered_viewer",
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"//bark/runtime/scenario/scenario_generation:scenario_generation",
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"//bark/runtime:runtime",
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":paths",
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"@barkscape_project//barkscape/server/runners:bark_runner",
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"@barkscape_project//barkscape/server:bark_xviz_stream",
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"@barkscape_project//barkscape/server:base_server",
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"@barkscape_project//barkscape/server:base_handler"],
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)
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py_library(
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name = "paths",
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srcs = ["paths.py"],

‎bark/examples/barkscape_example.py‎

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@@ -0,0 +1,132 @@
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# Copyright (c) 2021 fortiss GmbH
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#
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# Authors: Julian Bernhard, Klemens Esterle, Patrick Hart and
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# Tobias Kessler
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#
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# This work is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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# NOTE: To run this example, you need to clone BARKSCAPE
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# Clone using: git clone https://github.com/bark-simulator/barkscape
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# Run the web-inferfce: bazel run //barkscape/web:run
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import sys, os, logging
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sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
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from bark.runtime.commons.parameters import ParameterServer
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from bark.runtime.viewer.buffered_viewer import BufferedViewer
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from bark.runtime.scenario.scenario_generation.config_with_ease import \
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LaneCorridorConfig, ConfigWithEase
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from bark.runtime.runtime import Runtime
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from bark.examples.paths import Data
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from bark.core.world.opendrive import *
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from bark.core.world.goal_definition import *
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from bark.core.models.behavior import *
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from bark.core.commons import SetVerboseLevel
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# BARKSCAPE
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from barkscape.server.base_server import BaseServer
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from barkscape.server.runners.bark_runner import BARKRunner
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# scenario
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class CustomLaneCorridorConfig(LaneCorridorConfig):
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def __init__(self,
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params=None,
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**kwargs):
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super(CustomLaneCorridorConfig, self).__init__(params, **kwargs)
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def goal(self, world):
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road_corr = world.map.GetRoadCorridor(
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self._road_ids, XodrDrivingDirection.forward)
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lane_corr = self._road_corridor.lane_corridors[0]
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return GoalDefinitionPolygon(lane_corr.polygon)
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if __name__ == "__main__":
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# configure lanes
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param_server = ParameterServer()
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# NOTE: merging
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# left_lane = CustomLaneCorridorConfig(params=param_server,
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# lane_corridor_id=0,
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# road_ids=[0, 1],
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# behavior_model=BehaviorMobilRuleBased(param_server),
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# s_min=5.,
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# s_max=50.)
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# right_lane = CustomLaneCorridorConfig(params=param_server,
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# lane_corridor_id=1,
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# road_ids=[0, 1],
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# controlled_ids=True,
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# behavior_model=BehaviorMobilRuleBased(param_server),
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# s_min=5.,
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# s_max=20.)
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# scenarios = \
64+
# ConfigWithEase(num_scenarios=3,
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# map_file_name=Data.xodr_data("DR_DEU_Merging_MT_v01_shifted"),
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# random_seed=0,
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# params=param_server,
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# lane_corridor_configs=[left_lane, right_lane])
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# NOTE: intersection
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param_server["BehaviorIDMLaneTracking"]["CrosstrackErrorGain"] = 2.5
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param_server["BehaviorIDMClassic"]["DesiredVelocity"] = 5.
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param_server["BehaviorIntersectionRuleBased"]["BrakingDistance"] = 10.
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param_server["BehaviorIntersectionRuleBased"]["PredictionTimeHorizon"] = 5.
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param_server["BehaviorIntersectionRuleBased"]["AngleDiffForIntersection"] = 0.25
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77+
# configure the lane corridors and how the agents
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lane_corridors = []
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lane_corridors.append(
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LaneCorridorConfig(params=param_server,
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source_pos=[-30, -3],
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sink_pos=[30, -3],
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behavior_model=BehaviorIntersectionRuleBased(param_server),
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min_vel=5.,
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max_vel=5.,
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ds_min=5.,
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ds_max=10.,
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s_min=15.,
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s_max=30.))
90+
lane_corridors.append(
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LaneCorridorConfig(params=param_server,
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source_pos=[30, 3],
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sink_pos=[-30, 3],
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behavior_model=BehaviorIntersectionRuleBased(param_server),
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min_vel=5.,
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max_vel=5.,
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ds_min=5.,
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ds_max=10.,
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s_min=15.,
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s_max=30.))
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lane_corridors.append(
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LaneCorridorConfig(params=param_server,
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source_pos=[3, -30],
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sink_pos=[-30, 3],
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behavior_model=BehaviorIntersectionRuleBased(param_server),
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controlled_ids=True,
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min_vel=5.,
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max_vel=5.,
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ds_min=5.,
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ds_max=10.,
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s_min=15.,
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s_max=30.))
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scenarios = \
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ConfigWithEase(num_scenarios=3,
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map_file_name=Data.xodr_data("threeway_intersection"),
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random_seed=0,
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params=param_server,
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lane_corridor_configs=lane_corridors)
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viewer = BufferedViewer()
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env = Runtime(step_time=0.2,
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viewer=viewer,
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scenario_generator=scenarios,
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render=True,
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maintain_world_history=True)
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# run BARKSCAPE
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logger = logging.getLogger()
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bark_server = BaseServer(
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runner=BARKRunner, runnable_object=env, logger=logger)
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bark_server.Start()

‎bark/examples/merging.py‎

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@@ -11,6 +11,7 @@
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import os
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from bark.runtime.commons.parameters import ParameterServer
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from bark.runtime.viewer.matplotlib_viewer import MPViewer
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from bark.runtime.viewer.buffered_mp_viewer import BufferedMPViewer
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from bark.runtime.viewer.video_renderer import VideoRenderer
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from bark.runtime.scenario.scenario_generation.config_with_ease import \
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LaneCorridorConfig, ConfigWithEase
@@ -74,10 +75,7 @@ def goal(self, world):
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lane_corridor_configs=[left_lane, right_lane])
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# viewer
77-
viewer = MPViewer(params=param_server,
78-
x_range=[-35, 35],
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y_range=[-35, 35],
80-
follow_agent_id=True)
78+
viewer = BufferedMPViewer(params=param_server)
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sim_step_time = param_server["simulation"]["step_time",
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"Step-time used in simulation",

‎bark/models/observer/observer_model_none.hpp‎

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@@ -9,6 +9,7 @@
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#ifndef BARK_MODELS_OBSERVER_OBSERVER_MODEL_NONE_HPP_
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#define BARK_MODELS_OBSERVER_OBSERVER_MODEL_NONE_HPP_
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#include <string>
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#include <memory>
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#include "bark/world/world.hpp"
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#include "bark/world/observed_world.hpp"
@@ -21,6 +22,7 @@ using bark::world::World;
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using bark::world::WorldPtr;
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using bark::world::objects::AgentId;
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using bark::world::ObservedWorld;
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using world::renderer::RendererPtr;
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2527
/**
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* @brief Observer creating an ObservedWorld given a World
@@ -45,6 +47,10 @@ class ObserverModelNone : public ObserverModel {
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const WorldPtr& world, const AgentId& agent_id) {
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// NOTE: this creates a standard observed world
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ObservedWorld observed_world(world, agent_id);
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// NOTE: generate child renderer for the observed world
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RendererPtr renderer = world->GetRenderer()->AddRendererChild(
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std::to_string(agent_id));
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observed_world.SetRenderer(renderer);
4854
return observed_world;
4955
}
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‎bark/models/observer/observer_model_parametric.cpp‎

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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include <string>
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#include <memory>
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#include "bark/models/observer/observer_model_parametric.hpp"
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#include "bark/commons/distribution/distribution.hpp"
@@ -20,6 +21,7 @@ using namespace bark::world;
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using namespace bark::world::objects;
2122
using namespace bark::commons::transformation;
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using namespace bark::commons;
24+
using world::renderer::RendererPtr;
2325

2426
ObserverModelParametric::ObserverModelParametric(bark::commons::ParamsPtr params) :
2527
ObserverModel(params),
@@ -44,6 +46,11 @@ ObservedWorld ObserverModelParametric::Observe(
4446
// Clone world here since otherwise we change global world state
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auto observed_world = ObservedWorld(world->Clone(), agent_id);
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49+
// NOTE: generate child renderer for the observed world
50+
RendererPtr renderer = world->GetRenderer()->AddRendererChild(
51+
std::to_string(agent_id));
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observed_world.SetRenderer(renderer);
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4754
const auto observe_only_for = GetObserveOnlyForAgents();
4855
if(!observe_only_for.empty() && std::find(observe_only_for.begin(),
4956
observe_only_for.end(), agent_id) == observe_only_for.end()) {

‎bark/python_wrapper/world/renderer.cpp‎

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@@ -27,6 +27,10 @@ void python_renderer(py::module m) {
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.def(py::init<>())
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.def("Add", &Renderer::Add)
2929
.def("Clear", &Renderer::Clear)
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.def("AddRendererChild", &Renderer::AddRendererChild)
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.def("GetRendererChild", &Renderer::GetRendererChild)
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.def("GetRendererChildren", &Renderer::GetRendererChildren)
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.def("ClearRendererChildren", &Renderer::ClearRendererChildren)
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.def_property_readonly(
3135
"primitives", &Renderer::GetRenderPrimitives);
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‎bark/runtime/BUILD‎

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@@ -8,6 +8,7 @@ py_library(
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"//bark/runtime/viewer:py_viewer",
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"//bark/runtime/viewer:matplotlib_viewer",
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"//bark/runtime/viewer:buffered_viewer",
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"//bark/runtime/viewer:buffered_mp_viewer",
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"//bark/runtime/viewer:video_renderer",
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"//bark/runtime/scenario:scenario"],
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visibility = ["//visibility:public"],

‎bark/runtime/viewer/BUILD‎

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@@ -69,3 +69,13 @@ py_library(
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":py_viewer"],
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visibility = ["//visibility:public"],
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)
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73+
py_library(
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name = "buffered_mp_viewer",
75+
srcs = ["buffered_mp_viewer.py"],
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data = ['//bark:generate_core'],
77+
deps = ["//bark/runtime/commons:commons",
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":py_viewer",
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":buffered_viewer"],
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visibility = ["//visibility:public"],
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)

‎bark/runtime/viewer/__init__.py‎

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@@ -2,6 +2,7 @@
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from .pygame_viewer import PygameViewer
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from .video_renderer import VideoRenderer
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from .buffered_viewer import BufferedViewer
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from .buffered_mp_viewer import BufferedMPViewer
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from .viewer import BaseViewer
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__all__ = ["MPViewer","PygameViewer","VideoRenderer","BufferedViewer","BaseViewer"]

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