Update python client to create world with just client parameter and previous configs

Author: aurebidart

client/python/example_user_scripts/world_consumer.py

@@ -0,0 +1,64 @@
+"""
+Loads the existing world from saved config and flies a drone.
+"""
+
+import asyncio
+from projectairsim import ProjectAirSimClient, Drone, World
+from projectairsim.utils import projectairsim_log
+from projectairsim.image_utils import ImageDisplay
+
+CONFIG_PATH = "./world_config.json"
+
+async def main():
+    client = ProjectAirSimClient()
+    image_display = ImageDisplay()
+
+    try:
+        client.connect()
+        world = World(client)  # sin argumentos
+        drone = Drone(client, world, "Drone1")
+
+        # --- Set up image windows ---
+        chase_cam_window = "ChaseCam"
+        image_display.add_chase_cam(chase_cam_window)
+        client.subscribe(
+            drone.sensors["Chase"]["scene_camera"],
+            lambda _, chase: image_display.receive(chase, chase_cam_window),
+        )
+
+        rgb_name = "RGB-Image"
+        image_display.add_image(rgb_name, subwin_idx=0)
+        client.subscribe(
+            drone.sensors["DownCamera"]["scene_camera"],
+            lambda _, rgb: image_display.receive(rgb, rgb_name),
+        )
+
+        depth_name = "Depth-Image"
+        image_display.add_image(depth_name, subwin_idx=2)
+        client.subscribe(
+            drone.sensors["DownCamera"]["depth_camera"],
+            lambda _, depth: image_display.receive(depth, depth_name),
+        )
+
+        image_display.start()
+
+        # --- Flight demo ---
+        drone.enable_api_control()
+        drone.arm()
+
+        await (await drone.takeoff_async())
+        await (await drone.move_by_velocity_async(v_north=0.0, v_east=0.0, v_down=-1.0, duration=4.0))
+        await (await drone.move_by_velocity_async(v_north=0.0, v_east=0.0, v_down=1.0, duration=4.0))
+        await (await drone.land_async())
+
+        drone.disarm()
+        drone.disable_api_control()
+
+    except Exception as err:
+        projectairsim_log().error(f"❌ Exception: {err}", exc_info=True)
+    finally:
+        client.disconnect()
+        image_display.stop()
+
+if __name__ == "__main__":
+    asyncio.run(main())

client/python/example_user_scripts/world_creator.py

@@ -0,0 +1,25 @@
+"""
+Creates the world and saves its configuration to shared volume.
+"""
+
+import asyncio
+import os
+from projectairsim import ProjectAirSimClient, World
+from projectairsim.utils import projectairsim_log
+
+CONFIG_PATH = "./world_config.json"
+
+async def main():
+    client = ProjectAirSimClient()
+
+    try:
+        client.connect()
+        world = World(client, "scene_basic_drone.jsonc", delay_after_load_sec=2)
+        projectairsim_log().info(f"✅ World created")
+    except Exception as err:
+        projectairsim_log().error(f"❌ Exception: {err}", exc_info=True)
+    finally:
+        client.disconnect()
+
+if __name__ == "__main__":
+    asyncio.run(main())

client/python/projectairsim/src/projectairsim/utils.py

@@ -483,7 +483,7 @@ def load_scene_config_as_dict(
     """
     projectairsim_log().info(f"Loading scene config: {config_name}")
     total_path = os.path.join(sim_config_path, config_name)
-    filepaths = [total_path, [], []]
+    filepaths = [total_path, [], [], []]
 
     robot_config_schema = pkg_resources.resource_string(
         __name__, "schema/robot_config_schema.jsonc"
@@ -504,26 +504,35 @@ def load_scene_config_as_dict(
     if "actors" in data:  # read and write the robot-config param in each actor
         for actor in data["actors"]:
             if actor["type"] == "robot":
-                actor_path = actor["robot-config"]
-                total_actor_path = os.path.join(sim_config_path, actor_path)
-                filepaths[1].append(total_actor_path)
-                with open(total_actor_path) as e:
-                    temp = commentjson.load(e)
-                    validate_json(temp, robot_config_schema)
-                    actor["robot-config"] = temp
-
+                actor_configs = actor["robot-config"]
+                combined_config = {}
+                if not isinstance(actor_configs, list):
+                    actor_configs = [actor_configs]
+                for actor_path in actor_configs:
+                    total_actor_path = os.path.join(sim_config_path, actor_path)
+                    filepaths[1].append(total_actor_path)
+                    with open(total_actor_path) as e:
+                        temp = commentjson.load(e)
+                        combined_config = merge_dicts(combined_config,temp)
+                validate_json(combined_config, robot_config_schema)
+                actor["robot-config"] = combined_config
+                
     if "environment-actors" in data:
-        # read and write the env-actor-config param in each env actor
         for env_actor in data["environment-actors"]:
-            if env_actor["type"] == "env_actor":
-                env_actor_path = env_actor["env-actor-config"]
-                total_env_actor_path = os.path.join(sim_config_path, env_actor_path)
-                filepaths[2].append(env_actor_path)
-                with open(total_env_actor_path) as e:
-                    temp = commentjson.load(e)
-                    if temp.get("script") != None:
-                        validate_trajectory_json(temp["script"])
-                    env_actor["env-actor-config"] = temp
+            if env_actor["type"] in ["env_actor"]:
+                env_actor_configs = env_actor["env-actor-config"]
+                combined_config = {}
+                if not isinstance(env_actor_configs, list):
+                    env_actor_configs = [env_actor_configs]
+                for env_actor_path in env_actor_configs:
+                    total_env_actor_path = os.path.join(sim_config_path, env_actor_path)
+                    filepaths[2].append(env_actor_path)
+                    with open(total_env_actor_path) as e:
+                        temp = commentjson.load(e)
+                        if temp.get("script") is not None:
+                            validate_trajectory_json(temp["script"])
+                        combined_config = merge_dicts(combined_config, temp)
+                env_actor["env-actor-config"] = combined_config
 
     if "tiles-dir" in data and data.get("tiles-dir-is-client-relative"):
         # Convert client-relative path into an absolute path before sending to sim
@@ -535,6 +544,34 @@ def load_scene_config_as_dict(
 
     return (data, filepaths)
 
+def merge_dicts(d1, d2):
+    """Recursively merges dict d2 into dict d1"""
+    for k, v in d2.items():
+        if isinstance(v, collections.abc.Mapping):
+            d1[k] = merge_dicts(d1.get(k, {}), v)
+        elif isinstance(v, list) and isinstance(d1.get(k), list):
+            d1[k] = merge_lists(d1[k], v)
+        else:
+            d1[k] = v
+    return d1
+
+def merge_lists(l1, l2):
+    """Merges two lists of dictionaries, matching elements by the 'name' key if present"""
+    result = l1[:]
+    for item2 in l2:
+        if isinstance(item2, dict) and "name" in item2:
+            # Try to find the corresponding item in l1 based on 'name'
+            matching_item = next((item1 for item1 in result if item1.get("name") == item2["name"]), None)
+            if matching_item:
+                # Merge the dictionaries
+                merge_dicts(matching_item, item2)
+            else:
+                # If no match, append the item from l2
+                result.append(item2)
+        else:
+            # If it's not a dictionary or doesn't have a 'name', just append it
+            result.append(item2)
+    return result
 
 def validate_json(json_data, file_name) -> None:
     """Validates a JSON according to a given schema

client/python/projectairsim/src/projectairsim/world.py

@@ -4,12 +4,15 @@
 MIT License.
 Python API class for ProjectAirSim World.
 """
+from pathlib import Path
 import commentjson
 from typing import Dict, List
 import time
 from datetime import datetime
 import numpy as np
 import math
+import json
+import os
 import random
 
 from projectairsim import ProjectAirSimClient
@@ -33,6 +36,10 @@
 )
 from projectairsim.planners import AStarPlanner
 
+if os.environ.get("INSIDE_DOCKER") == "1":
+    DEFAULT_CONFIG_PATH = Path("/home/ue4/airsim_shared/world_config.json")
+else:
+    DEFAULT_CONFIG_PATH = Path.home() / "airsim_shared" / "world_config.json"
 
 class World(object):
     def __init__(
@@ -55,21 +62,53 @@ def __init__(
         self.client = client
         self.sim_config_path = sim_config_path
         self.sim_instance_idx = sim_instance_idx
-        self.parent_topic = "/Sim/SceneBasicDrone"  # default-scene's ID
+        self.parent_topic = "/Sim"  # default-scene's ID
+        self._scene_config_name = scene_config_name
+        self._delay_after_load_sec = delay_after_load_sec
 
         self.sim_config = None
         self.home_geo_point = None
-        if scene_config_name:
-            config_loaded, config_paths = load_scene_config_as_dict(
-                scene_config_name,
-                sim_config_path,
-                sim_instance_idx,
-            )
-            config_dict = config_loaded
-            self.scene_config_path = config_paths[0]
-            self.robot_config_paths = config_paths[1]
-            self.envactor_config_paths = config_paths[2]
-            self.load_scene(config_dict, delay_after_load_sec=delay_after_load_sec)
+
+        if not scene_config_name:
+            try:
+                with open(DEFAULT_CONFIG_PATH, "r") as f:
+                    cfg = json.load(f)
+                scene_config_name = cfg["scene_config_name"]
+                delay_after_load_sec = cfg.get("delay_after_load_sec", 0)
+                sim_config_path = cfg.get("sim_config_path", sim_config_path)
+                sim_instance_idx = cfg.get("sim_instance_idx", sim_instance_idx)
+                projectairsim_log().info(f"Loaded world config from {DEFAULT_CONFIG_PATH}")
+            except Exception as e:
+                raise RuntimeError(f"Could not load previous world config: {e}")
+        else:
+            try:
+                os.makedirs(DEFAULT_CONFIG_PATH.parent, exist_ok=True)
+                with open(DEFAULT_CONFIG_PATH, "w") as f:
+                    json.dump(
+                        {
+                            "scene_config_name": scene_config_name,
+                            "delay_after_load_sec": delay_after_load_sec,
+                            "sim_config_path": "./sim_config/",
+                            "sim_instance_idx": sim_instance_idx,
+                        },
+                        f,
+                    )
+                projectairsim_log().info(f"Saved world config to {DEFAULT_CONFIG_PATH}")
+            except Exception as e:
+                projectairsim_log().warning(f"Could not save world config: {e}")
+
+        # Load scene config
+        config_loaded, config_paths = load_scene_config_as_dict(
+            scene_config_name,
+            sim_config_path,
+            sim_instance_idx,
+        )
+        config_dict = config_loaded
+        self.scene_config_path = config_paths[0]
+        self.robot_config_paths = config_paths[1]
+        self.envactor_config_paths = config_paths[2]
+        self.envobject_config_paths = config_paths[3]
+        self.load_scene(config_dict, delay_after_load_sec=delay_after_load_sec)
         random.seed()
         self.import_ned_trajectory(
             "null_trajectory", [0, 1], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]
@@ -2391,4 +2430,4 @@ def generate_intercept_trajectory(
         # Import the trajectory
         self.import_ned_trajectory(
             traj_name, traj_times, traj_poses_x, traj_poses_y, traj_poses_z
-        )
+        )