Merge pull request #1693 from AisenGinn/bubble_shape_new

* changing state_unpacker.js to display bubble, added ConfigurableZone into bubble

* changed roadmap argument to optional.

* added check for parallel line and number of points check.

* added changelog for ConfigurableZone.

* slightly modified changelog.

* modified descriptions of ConfigurableZone and simplied polygon check.

* added traffic_singals into state_unpacker.js and modified condition of valid polygon check.

* added additional len check for configurable bubble.

* modified changelog.

* added detail description of bubble that does not have a valid closed loop zone.

CHANGELOG.md

@@ -12,6 +12,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Added
 - Added single vehicle `Trip` into type. 
 - Added new video record ultility using moviepy.
+- Added `ConfigurableZone` for `Zone` object to types which enable users to build bubble by providing coordinates of the polygon.
 ### Deprecated
 ### Changed
 ### Removed

envision/web/src/helpers/state_unpacker.js

@@ -33,9 +33,10 @@ const WorldState = Object.freeze({
   SCENARIO_ID: 1,
   SCENARIO_NAME: 2,
   TRAFFIC: 3,
-  BUBBLES: 4,
-  SCORES: 5,
-  EGO_AGENT_IDS: 6,
+  TRAFFIC_SIGNALS: 4,
+  BUBBLES: 5,
+  SCORES: 6,
+  EGO_AGENT_IDS: 7,
 });
 
 const Traffic = Object.freeze({

smarts/sstudio/types.py

@@ -27,7 +27,7 @@
 from dataclasses import dataclass, field
 from enum import IntEnum
 from sys import maxsize
-from typing import Any, Callable, Dict, NewType, Optional, Sequence, Tuple, Union
+from typing import Any, Callable, Dict, NewType, Optional, Sequence, Tuple, Union, List
 
 import numpy as np
 from shapely.affinity import rotate as shapely_rotate
@@ -38,6 +38,7 @@
     MultiPolygon,
     Point,
     Polygon,
+    box,
 )
 from shapely.ops import split, unary_union
 
@@ -691,7 +692,7 @@ class GroupedLapMission:
 class Zone:
     """The base for a descriptor that defines a capture area."""
 
-    def to_geometry(self, road_map: RoadMap) -> Polygon:
+    def to_geometry(self, road_map: Optional[RoadMap] = None) -> Polygon:
         """Generates the geometry from this zone."""
         raise NotImplementedError
 
@@ -852,6 +853,55 @@ def to_geometry(self, road_map: Optional[RoadMap] = None) -> Polygon:
         return shapely_translate(poly, xoff=x, yoff=y)
 
 
+@dataclass(frozen=True)
+class ConfigurableZone(Zone):
+    """A descriptor for a zone with user-defined geometry."""
+
+    ext_coordinates: List[Tuple[float, float]]
+    """external coordinates of the polygon
+    < 2 points provided: error
+    = 2 points provided: generates a box using these two points as diagonal
+    > 2 points provided: generates a polygon according to the coordinates"""
+    rotation: Optional[float] = None
+    """The heading direction of the bubble(radians, clock-wise rotation)"""
+
+    def __post_init__(self):
+        if (
+            not self.ext_coordinates
+            or len(self.ext_coordinates) < 2
+            or not isinstance(self.ext_coordinates[0], tuple)
+        ):
+            raise ValueError(
+                "Two points or more are needed to create a polygon. (less than two points are provided)"
+            )
+
+        x_set = set(point[0] for point in self.ext_coordinates)
+        y_set = set(point[1] for point in self.ext_coordinates)
+        if len(x_set) == 1 or len(y_set) == 1:
+            raise ValueError(
+                "Parallel line cannot form a polygon. (points provided form a parallel line)"
+            )
+
+    def to_geometry(self, road_map: Optional[RoadMap] = None) -> Polygon:
+        """Generate a polygon according to given coordinates"""
+        poly = None
+        if (
+            len(self.ext_coordinates) == 2
+        ):  # if user only specified two points, create a box
+            x_min = min(self.ext_coordinates[0][0], self.ext_coordinates[1][0])
+            x_max = max(self.ext_coordinates[0][0], self.ext_coordinates[1][0])
+            y_min = min(self.ext_coordinates[0][1], self.ext_coordinates[1][1])
+            y_max = max(self.ext_coordinates[0][1], self.ext_coordinates[1][1])
+            poly = box(x_min, y_min, x_max, y_max)
+
+        else:  # else create a polygon according to the coordinates
+            poly = Polygon(self.ext_coordinates)
+
+        if self.rotation is not None:
+            poly = shapely_rotate(poly, self.rotation, use_radians=True)
+        return poly
+
+
 @dataclass(frozen=True)
 class BubbleLimits:
     """Defines the capture limits of a bubble."""
@@ -928,6 +978,20 @@ def __post_init__(self):
                 "Only boids can have keep_alive enabled (for persistent boids)"
             )
 
+        if not isinstance(self.zone, MapZone):
+            poly = self.zone.to_geometry(road_map=None)
+            if not poly.is_valid:
+                follow_id = (
+                    self.follow_actor_id
+                    if self.follow_actor_id
+                    else self.follow_vehicle_id
+                )
+                raise ValueError(
+                    f"The zone polygon of {type(self.zone).__name__} of moving {self.id} which following {follow_id} is not a valid closed loop"
+                    if follow_id
+                    else f"The zone polygon of {type(self.zone).__name__} of fixed position {self.id} is not a valid closed loop"
+                )
+
     @staticmethod
     def to_actor_id(actor, mission_group):
         """Mashes the actor id and mission group to create what needs to be a unique id."""