Merge pull request #101 from huawei-noah/vehicle-index-diff-poc

huawei-noah · Nov 10, 2020 · 8632127 · 8632127
2 parents d732b38 + 75cb7be
commit 8632127
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Showing 12 changed files with 649 additions and 501 deletions.
diff --git a/smarts/core/agent_manager.py b/smarts/core/agent_manager.py
@@ -23,11 +23,9 @@
 from envision.types import format_actor_id
 
 from .mission_planner import MissionPlanner
-from .scenario import Scenario
-from .sensors import Sensors
-from .vehicle import VehicleState, Vehicle
-from .controllers import ActionSpaceType
 from .remote_agent_buffer import RemoteAgentBuffer
+from .sensors import Sensors
+from .vehicle import VehicleState
 
 
 class AgentManager:
@@ -137,17 +135,15 @@ def observe(self, sim):
         }
 
         for agent_id in self.active_agents:
-            agent_interface = self._agent_interfaces[agent_id]
             # An agent may be pointing to its own vehicle or observing a social vehicle
-
-            indices = sim.vehicle_index.vehicle_indices_by_actor_id(
-                agent_id, columns=["vehicle_id", "shadow_actor_id"],
+            vehicle_ids = sim.vehicle_index.vehicle_ids_by_actor_id(
+                agent_id, include_shadowers=True
             )
 
             if self.is_boid_agent(sim, agent_id):
                 vehicles = [
                     sim.vehicle_index.vehicle_by_id(vehicle_id)
-                    for vehicle_id in indices["vehicle_id"]
+                    for vehicle_id in vehicle_ids
                 ]
                 # returns format of {<agent_id>: {<vehicle_id>: {...}}}
                 sensor_states = {
@@ -174,26 +170,26 @@ def observe(self, sim):
                     for (vehicle_id, sensor_state) in sensor_states.items()
                 }
             else:
-                assert len(indices["vehicle_id"]) == 1, (
-                    "Unless this vehicle is part of a boid then we should only have a"
+                assert len(vehicle_ids) == 1, (
+                    "Unless this vehicle is part of a boid then we should only have a "
                     f"single vehicle under agent_id={agent_id}\n "
-                    f"(vehicle_ids={indices['vehicle_id']})"
+                    f"(vehicle_ids={vehicle_ids})"
                 )
 
-                vehicle = sim.vehicle_index.vehicle_by_id(indices["vehicle_id"][0])
+                vehicle = sim.vehicle_index.vehicle_by_id(vehicle_ids[0])
                 sensor_state = sim.vehicle_index.sensor_state_for_vehicle_id(vehicle.id)
                 observations[agent_id], dones[agent_id] = Sensors.observe(
                     sim, agent_id, sensor_state, vehicle
                 )
 
-                # It is not a shadow agent's fault if it is done
-                if indices["shadow_actor_id"][0] == agent_id:
-                    dones[agent_id] = False
-                else:
+                if sim.vehicle_index.vehicle_is_hijacked(vehicle.id):
                     logging.log(
                         logging.DEBUG,
                         f"Agent `{agent_id}` has raised done with {observations[agent_id].events}",
                     )
+                else:
+                    # It is not a shadowing agent's fault if it is done
+                    dones[agent_id] = False
 
                 rewards[agent_id] = vehicle.trip_meter_sensor(increment=True)
                 scores[agent_id] = vehicle.trip_meter_sensor()