Merge branch 'develop' of https://github.com/huawei-noah/SMARTS into …

…develop

update branch to follow the newest develop.

CHANGELOG.md

@@ -10,6 +10,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 
 ## [Unreleased]
 ### Added
+- Added single vehicle `Trip` into type. 
 ### Deprecated
 ### Changed
 ### Removed
@@ -26,6 +27,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Added ego's mission details into the `FormatObs` wrapper.
 - Added `SmartsLaneChangingModel` and `SmartsJunctionModel` to types available for use with the new smarts traffic engine within Scenario Studio.
 - Added option to `AgentInterface` to include traffic signals (lights) in `EgoVehicleObservation` objects.
+- Added the ability to hover over vehicles and roadmap elements in Envision to see debug info.
 
 ### Deprecated
 - Deprecated a few things related to traffic in the `Scenario` class, including the `route` argument to the `Scenario` initializer, the `route`, `route_filepath` and `route_files_enabled` properties, and the `discover_routes()` static method.  In general, the notion of "route" (singular) here is being replaced with "`traffic_specs`" (plural) that allow for specifying traffic controlled by the SMARTS engine as well as Sumo.
@@ -58,6 +60,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Fixed issues with Envision. The playback bar and realtime mode now work as expected.
 - Fixed a bug where traffic history vehicles would not get traffic signal observations
 - Fixed a bug where envision would not work in some versions of python due to nuances of `importlib.resource.path()`.
+- Fixed an issue with incorrect vehicle sizes in Envision.
 
 ## [0.6.1]
 ### Added

envision/web/src/components/DebugInfoDisplay.js

@@ -0,0 +1,41 @@
+// Copyright (C) 2022. Huawei Technologies Co., Ltd. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+import React from "react";
+
+export default function DebugInfoDisplay({ data, attrName }) {
+  return (
+    <table style={{ margin: "15px", tableLayout: "auto" }}>
+      <thead>
+        <tr key={`data-body-${attrName}`}>
+          <th style={{ paddingRight: "15px" }}>{attrName}</th>
+        </tr>
+      </thead>
+      <tbody>
+        {Object.entries(data).map(([key, val]) => {
+          return (
+            <tr key={`data-body-${key}`}>
+              <td style={{ paddingRight: "15px" }}>{`${key}: ${val}`}</td>
+            </tr>
+          );
+        })}
+      </tbody>
+    </table>
+  );
+}

envision/web/src/components/ScenarioNameDisplay.js

@@ -32,7 +32,9 @@ export default function ScenarioNameDisplay({
         </tr>
       </thead>
       <tbody>
-        <td style={{ paddingRight: "15px" }}>{data_formattter(data)}</td>
+        <tr key="data-body">
+          <td style={{ paddingRight: "15px" }}>{data_formattter(data)}</td>
+        </tr>
       </tbody>
     </table>
   );

envision/web/src/components/simulation.js

@@ -29,8 +29,11 @@ import {
   HemisphericLight,
   MeshBuilder,
   Color4,
+  ActionManager,
+  ExecuteCodeAction,
 } from "@babylonjs/core";
 
+import "@babylonjs/loaders/glTF/2.0/Extensions/ExtrasAsMetadata.js";
 import { GLTFLoader } from "@babylonjs/loaders/glTF/2.0/glTFLoader";
 import SceneComponent from "babylonjs-hook";
 
@@ -46,6 +49,7 @@ import { attrs, agentModes } from "./control_panel";
 
 import InfoDisplay from "./InfoDisplay";
 import ScenarioNameDisplay from "./ScenarioNameDisplay";
+import DebugInfoDisplay from "./DebugInfoDisplay.js";
 import earcut from "earcut";
 import { SceneColors } from "../helpers/scene_colors.js";
 import unpack_worldstate from "../helpers/state_unpacker.js";
@@ -88,6 +92,11 @@ export default function Simulation({
     lane_ids: [],
   });
 
+  // Mouse selection and debug info
+  const [vehicleSelected, setVehicleSelected] = useState(false);
+  const [mapElementSelected, setMapElementSelected] = useState(false);
+  const [debugInfo, setDebugInfo] = useState({});
+
   const mapMeshesRef = useRef([]);
 
   // Parse extra data attached in glb file
@@ -226,12 +235,38 @@ export default function Simulation({
 
       // Update material for all child meshes
       // Currently only use flat shading, replace imported pbr material with standard material
+      let roadColor = new Color4(...SceneColors.Road);
+      let roadColorSelected = new Color4(...SceneColors.Selection);
       for (const child of meshes[0].getChildMeshes()) {
         let material = new StandardMaterial("material-map", scene);
         material.backFaceCulling = false;
-        material.diffuseColor = new Color4(...SceneColors.Road);
+        material.diffuseColor = roadColor;
         material.specularColor = new Color3(0, 0, 0);
         child.material = material;
+
+        child.actionManager = new ActionManager(scene);
+        child.actionManager.registerAction(
+          new ExecuteCodeAction(ActionManager.OnPointerOverTrigger, function (
+            evt
+          ) {
+            material.diffuseColor = roadColorSelected;
+            setMapElementSelected(true);
+            setDebugInfo({
+              road_id: child.metadata.gltf.extras.road_id,
+              lane_id: child.metadata.gltf.extras.lane_id,
+              lane_index: child.metadata.gltf.extras.lane_index,
+            });
+          })
+        );
+        child.actionManager.registerAction(
+          new ExecuteCodeAction(ActionManager.OnPointerOutTrigger, function (
+            evt
+          ) {
+            material.diffuseColor = roadColor;
+            setMapElementSelected(false);
+            setDebugInfo({});
+          })
+        );
       }
 
       mapMeshesRef.current = meshes;
@@ -270,6 +305,8 @@ export default function Simulation({
         worldState={worldState}
         vehicleRootUrl={`${client.endpoint.origin}/assets/models/`}
         egoView={egoView}
+        setVehicleSelected={setVehicleSelected}
+        setDebugInfo={setDebugInfo}
       />
       <Bubbles scene={scene} worldState={worldState} />
       <DrivenPaths
@@ -354,6 +391,12 @@ export default function Simulation({
             ego_only={!controlModes[agentModes.socialObs]}
           />
         ) : null}
+        {vehicleSelected ? (
+          <DebugInfoDisplay data={debugInfo} attrName="Selected Vehicle" />
+        ) : null}
+        {mapElementSelected ? (
+          <DebugInfoDisplay data={debugInfo} attrName="Selected Map Element" />
+        ) : null}
       </div>
     </div>
   );

envision/web/src/components/vehicles.js

@@ -20,25 +20,37 @@
 import {
   Vector3,
   Color3,
+  Color4,
   SceneLoader,
   StandardMaterial,
   Quaternion,
   MeshBuilder,
   Mesh,
-  Color4,
   BoundingInfo,
+  ActionManager,
+  ExecuteCodeAction,
 } from "@babylonjs/core";
 
 import { useRef, useEffect } from "react";
 
 import { ActorTypes } from "../enums.js";
+import { SceneColors } from "../helpers/scene_colors.js";
 import { intersection, difference } from "../math.js";
 import {
   vehicleMeshFilename,
   vehicleMeshColor,
   buildLabel,
 } from "../render_helpers.js";
 
+const DEBUG_PROPS = [
+  "actor_id",
+  "position",
+  "speed",
+  "heading",
+  "actor_type",
+  "vehicle_type",
+];
+
 let meshesLoaded = (vehicleMeshTemplates) => {
   for (const [_, mesh] of Object.entries(vehicleMeshTemplates)) {
     if (mesh == null) {
@@ -54,6 +66,8 @@ export default function Vehicles({
   worldState,
   vehicleRootUrl,
   egoView,
+  setVehicleSelected,
+  setDebugInfo,
 }) {
   if (scene == null) {
     return null;
@@ -164,6 +178,7 @@ export default function Vehicles({
     // Create new meshes
     for (const meshId of vehicleMeshIdsToAdd) {
       let state = worldState.traffic[meshId];
+
       // Vehicle mesh
       let filename = vehicleMeshFilename(state.actor_type, state.vehicle_type);
       if (!vehicleMeshTemplates[filename]) {
@@ -187,31 +202,52 @@ export default function Vehicles({
         rootMesh.addChild(instancedSubMesh);
       }
 
-      // Render bounding box for social vehicle
-      if (state.actor_type == ActorTypes.SOCIAL_VEHICLE) {
-        let boundingInfo = vehicleMeshTemplates[filename].getBoundingInfo();
-        let boxSize = boundingInfo.boundingBox.extendSize.scale(2);
-        let box = MeshBuilder.CreateBox(
-          `boundingbox-${meshId}`,
-          {
-            height: boxSize.y + 0.1,
-            width: boxSize.x + 0.1,
-            depth: boxSize.z + 0.1,
-          },
-          scene
-        );
-        box.position = boundingInfo.boundingBox.center;
-
-        let boxMaterial = new StandardMaterial(
-          `boundingbox-${meshId}-material`,
-          scene
-        );
-        boxMaterial.diffuseColor = new Color4(...color);
-        boxMaterial.specularColor = new Color3(0, 0, 0);
-        boxMaterial.alpha = 0.75;
-        box.material = boxMaterial;
-        rootMesh.addChild(box);
-      }
+      let boundingInfo = vehicleMeshTemplates[filename].getBoundingInfo();
+      let boxSize = boundingInfo.boundingBox.extendSize.scale(2);
+      let box = MeshBuilder.CreateBox(
+        `boundingbox-${meshId}`,
+        {
+          height: boxSize.y + 0.1,
+          width: boxSize.x + 0.1,
+          depth: boxSize.z + 0.1,
+        },
+        scene
+      );
+
+      let boxMaterial = new StandardMaterial(
+        `boundingbox-${meshId}-material`,
+        scene
+      );
+      boxMaterial.diffuseColor = new Color4(...SceneColors.Selection);
+      boxMaterial.specularColor = new Color3(0, 0, 0);
+      boxMaterial.alpha = 0.0;
+
+      box.material = boxMaterial;
+      box.position = boundingInfo.boundingBox.center;
+      box.actionManager = new ActionManager(scene);
+      box.actionManager.registerAction(
+        new ExecuteCodeAction(ActionManager.OnPointerOverTrigger, function (
+          evt
+        ) {
+          boxMaterial.alpha = 0.5;
+          setVehicleSelected(true);
+          let debugInfo = {};
+          for (const prop of DEBUG_PROPS) {
+            debugInfo[prop] = state[prop];
+          }
+          setDebugInfo(debugInfo);
+        })
+      );
+      box.actionManager.registerAction(
+        new ExecuteCodeAction(ActionManager.OnPointerOutTrigger, function (
+          evt
+        ) {
+          boxMaterial.alpha = 0.0;
+          setVehicleSelected(false);
+          setDebugInfo({});
+        })
+      );
+      rootMesh.addChild(box);
 
       rootMesh.metadata = {};
       rootMesh.metadata.actorType = state.actor_type;

envision/web/src/helpers/scene_colors.js

@@ -51,6 +51,7 @@ export const SceneColors = Object.freeze({
   SocialAgent: Silver,
   SocialVehicle: Silver,
   Road: DarkGrey,
+  Selection: LightBlue,
   EgoWaypoint: CyanTransparent,
   EgoDrivenPath: CyanTransparent,
   BubbleLine: LightGreyTransparent,

smarts/core/opendrive_road_network.py

@@ -78,7 +78,7 @@
 
 from smarts.core.road_map import RoadMap, RoadMapWithCaches, Waypoint
 from smarts.core.route_cache import RouteWithCache
-from smarts.core.utils.geometry import generate_mesh_from_polygons
+from smarts.core.utils.geometry import generate_meshes_from_polygons
 from smarts.core.utils.key_wrapper import KeyWrapper
 from smarts.core.utils.math import (
     CubicPolynomial,
@@ -770,9 +770,14 @@ def _make_glb_from_polys(self):
         polygons = []
         for lane_id in self._lanes:
             lane = self._lanes[lane_id]
-            polygons.append(lane.shape())
+            metadata = {
+                "road_id": lane.road.road_id,
+                "lane_id": lane_id,
+                "lane_index": lane.index,
+            }
+            polygons.append((lane.shape(), metadata))
 
-        mesh = generate_mesh_from_polygons(polygons)
+        meshes = generate_meshes_from_polygons(polygons)
 
         # Attach additional information for rendering as metadata in the map glb
         # <2D-BOUNDING_BOX>: four floats separated by ',' (<FLOAT>,<FLOAT>,<FLOAT>,<FLOAT>),
@@ -791,11 +796,17 @@ def _make_glb_from_polys(self):
         metadata["lane_dividers"] = lane_dividers
         metadata["edge_dividers"] = road_dividers
 
-        mesh.visual = trimesh.visual.TextureVisuals(
-            material=trimesh.visual.material.PBRMaterial()
-        )
+        for mesh in meshes:
+            mesh.visual = trimesh.visual.TextureVisuals(
+                material=trimesh.visual.material.PBRMaterial()
+            )
 
-        scene.add_geometry(mesh)
+            road_id = mesh.metadata["road_id"]
+            lane_id = mesh.metadata.get("lane_id")
+            name = f"{road_id}"
+            if lane_id is not None:
+                name += f"-{lane_id}"
+            scene.add_geometry(mesh, name, extras=mesh.metadata)
         return _GLBData(gltf.export_glb(scene, extras=metadata, include_normals=True))
 
     def _compute_traffic_dividers(self):