Debug Overlay & Testing (#60)

* Debug overlay skeleton

* Add colour to debug overlay

* Debug state event handler done

* Cleanup

* Implemented Debug Overlay

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Added deterministic execution

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Merged DebugStateEventManager into EventManager by adding a broadcast function

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Removed debug print

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Optimise graphics testing to use debug overlay

* Refactor last test

* Polished tests

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Reworked tests

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Polished code & tests

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Polished take_screenshot

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Fixes to tests

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

* Fixed save restore test

Signed-off-by: [ 大鳄 ] Asew <[email protected]>

Co-authored-by: Radina Milenkova <[email protected]>

Author: judicaelclair

data/test/done.png

@@ -56,6 +56,8 @@ class Configuration:
     load_simulator: bool
     clear_cache: bool
     num_dim: int
+    map_name: Optional[str]
+    algorithm_name: Optional[str]
 
     def __init__(self) -> None:
         # Simulator settings
@@ -110,6 +112,9 @@ def __init__(self) -> None:
         from algorithms.algorithm_manager import AlgorithmManager
         self.algorithms = copy.deepcopy(AlgorithmManager.builtins)
 
+        self.map_name = None
+        self.algorithm_name = None
+
         # Simulator
         self.load_simulator = False
 

data/test/initialised.png

@@ -16,6 +16,9 @@
 
 from panda3d.core import load_prc_file_data
 from screeninfo import get_monitors
+import torch
+import numpy as np
+import random
 
 class MainRunner:
     main_services: Services
@@ -176,6 +179,11 @@ def configure_common(config, args) -> bool:
 
         config.algorithms = algorithms
 
+    if args.deterministic:
+        random.seed(args.std_random_seed)
+        torch.manual_seed(args.torch_random_seed)
+        np.random.seed(args.numpy_random_seed)
+
     return True
 
 def configure_and_run(args):
@@ -215,10 +223,16 @@ def main() -> bool:
 
     # Miscellaneous
     parser.add_argument("--dims", type=int, help="[generator|analyzer] number of dimensions", default=3)
+
     parser.add_argument("--algorithms", help="[visualiser|analyzer] algorithms to load (either built-in algorithm name or module file path)", nargs="+")
     parser.add_argument("--include-builtin-algorithms", action='store_true', help="include all builtin algorithms even when a custom list is provided via '--algorithms'")
     parser.add_argument("--list-algorithms", action="store_true", help="[visualiser|analyzer] output list of available built-in algorithms")
 
+    parser.add_argument("--deterministic", action='store_true', help="use pre-defined random seeds for deterministic exeuction")
+    parser.add_argument("--std-random-seed", type=int, default=0, help="'random' module random number generator seed")
+    parser.add_argument("--numpy-random-seed", type=int, default=0, help="'numpy' module random number generator seed")
+    parser.add_argument("--torch-random-seed", type=int, default=0, help="'torch' module random number generator seed")
+
     parser.add_argument("-d", "--debug", choices=['NONE', 'BASIC', 'LOW', 'MEDIUM', 'HIGH'], default='LOW', help="debug level when running, default is low")
 
     args = parser.parse_args()

data/test/labyrinth_rrt_1.png

@@ -7,6 +7,7 @@
 from simulator.controllers.map.map_picker import MapPicker
 from simulator.controllers.map.camera_controller import CameraController
 from simulator.services.event_manager.events.take_map_screenshot_event import TakeMapScreenshotEvent
+from simulator.services.event_manager.events.state_running_event import StateRunningEvent
 
 import math
 from typing import Optional
@@ -41,13 +42,17 @@ def right_click():
 
         def set_view(i):
             self._services.state.view_idx = i
+        
+        def compute_trace():
+            self._services.ev_manager.broadcast(StateRunningEvent())
+            self._model.compute_trace()
 
         self.accept('mouse1', left_click)
         self.accept('mouse3', right_click)
-        self.accept("t", lambda: self._model.compute_trace())
         self.accept("m", lambda: self._model.toggle_convert_map())
         self.accept("x", lambda: self._model.toggle_pause_algorithm())
         self.accept("o", lambda: self._services.ev_manager.post(TakeMapScreenshotEvent()))
+        self.accept("t", compute_trace)
 
         for i in range(6):
             self.accept(str(i+1), partial(set_view, i))

src/algorithms/configuration/configuration.py

@@ -11,10 +11,17 @@
 from simulator.services.services import Services
 from simulator.services.timer import Timer
 from structures import Point
+from simulator.services.event_manager.events.state_done_event import StateDoneEvent
+from simulator.services.event_manager.events.state_terminated_event import StateTerminatedEvent
+from simulator.services.event_manager.events.state_entity_update_event import StateEntityUpdateEvent
+from simulator.services.event_manager.events.initialise_event import InitialiseEvent
+from simulator.services.event_manager.events.reinit_event import ReinitEvent
+
 
 class AlgorithmTerminated(Exception):
     pass
 
+
 class MapModel(Model):
     speed: int
     key_frame_is_paused: bool
@@ -72,10 +79,12 @@ def reset(self) -> None:
     def move(self, to: Point) -> None:
         self.reset()
         self._services.algorithm.map.move_agent(to, True)
+        self._services.ev_manager.broadcast(StateEntityUpdateEvent())
 
     def move_goal(self, to: Point) -> None:
         self.reset()
         self._services.algorithm.map.move(self._services.algorithm.map.goal, to, True)
+        self._services.ev_manager.broadcast(StateEntityUpdateEvent())
 
     def stop_algorithm(self) -> None:
         self.key_frame_is_paused = True
@@ -119,6 +128,7 @@ def compute_trace(self) -> None:
         self.reset()
 
         def compute_wrapper() -> None:
+            terminated = False
             self.key_frame_is_paused = False
             if self._services.settings.simulator_key_frame_speed > 0:
                 self._services.algorithm.instance.set_condition(self.cv)
@@ -128,10 +138,14 @@ def compute_wrapper() -> None:
             except AlgorithmTerminated:
                 self._services.debug.write("Terminated algorithm", DebugLevel.BASIC)
                 self._services.ev_manager.post(KeyFrameEvent(refresh=True))
+                terminated = True
             if self._services.settings.simulator_key_frame_speed == 0:
                 # no animation hence there hasn't been a chance to render
                 # the last state of the algorithm.
                 self._services.ev_manager.post(KeyFrameEvent(refresh=True))
+
+            self._services.ev_manager.broadcast(StateTerminatedEvent() if terminated else StateDoneEvent())
+
             with self.cv:
                 self.last_thread = None
                 self.cv.notify()

src/main.py

@@ -57,6 +57,17 @@ def unregister_listener(self, listener: None) -> None:
 
         if listener in self.__listeners.keys():
             del self.__listeners[listener]
+    
+    def broadcast(self, event: Event) -> None:
+        """
+        Broadcast an event to all listeners
+        immediately.
+
+        :param event: The event to post
+        """
+        
+        for listener in list(self.__listeners.keys()):
+            listener.notify(event)
 
     def post(self, event: Event) -> None:
         """
@@ -82,8 +93,8 @@ def tick(self) -> None:
         """
         for tick_listener in self.__tick_listeners.keys():
             tick_listener.tick()
+        
         # send all events
         while len(self.__event_queue) > 0:
             event = self.__event_queue.pop(0)
-            for listener in list(self.__listeners.keys()):
-                listener.notify(event)
+            self.broadcast(event)

src/simulator/controllers/map/map_controller.py

@@ -0,0 +1,6 @@
+from simulator.services.event_manager.events.event import Event
+
+
+class StateDoneEvent(Event):
+    def __init__(self) -> None:
+        super().__init__("SetDone event", True)

src/simulator/models/map_model.py

@@ -0,0 +1,6 @@
+from simulator.services.event_manager.events.event import Event
+
+
+class StateEntityUpdateEvent(Event):
+    def __init__(self) -> None:
+        super().__init__("SetRunning event", True)