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* Add interface to start extraction * Move renderer out * Update smarts/core/renderer_base.py Co-authored-by: Saul Field <[email protected]> * Fix renderer inheritance. * Finish extraction * Update tests. * Update changelog. * Fix typing issue. --------- Co-authored-by: Saul Field <[email protected]>
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| # Copyright (C) 2020. 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. | ||
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| # to allow for typing to refer to class being defined (Renderer) | ||
| from __future__ import annotations | ||
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| import logging | ||
| from dataclasses import dataclass | ||
| from enum import IntEnum | ||
| from typing import Tuple | ||
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| import numpy as np | ||
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| from .coordinates import Pose | ||
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| class DEBUG_MODE(IntEnum): | ||
| """The rendering debug information level.""" | ||
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| SPAM = 1 | ||
| DEBUG = 2 | ||
| INFO = 3 | ||
| WARNING = 4 | ||
| ERROR = 5 | ||
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| @dataclass | ||
| class OffscreenCamera: | ||
| """A camera used for rendering images to a graphics buffer.""" | ||
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| renderer: RendererBase | ||
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| def wait_for_ram_image(self, img_format: str, retries=100): | ||
| """Attempt to acquire a graphics buffer.""" | ||
| # Rarely, we see dropped frames where an image is not available | ||
| # for our observation calculations. | ||
| # | ||
| # We've seen this happen fairly reliable when we are initializing | ||
| # a multi-agent + multi-instance simulation. | ||
| # | ||
| # To deal with this, we can try to force a render and block until | ||
| # we are fairly certain we have an image in ram to return to the user | ||
| raise NotImplementedError | ||
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| def update(self, pose: Pose, height: float): | ||
| """Update the location of the camera. | ||
| Args: | ||
| pose: | ||
| The pose of the camera target. | ||
| height: | ||
| The height of the camera above the camera target. | ||
| """ | ||
| raise NotImplementedError | ||
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| @property | ||
| def image_dimensions(self) -> Tuple[int, int]: | ||
| """The dimensions of the output camera image.""" | ||
| raise NotImplementedError | ||
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| @property | ||
| def position(self) -> Tuple[float, float, float]: | ||
| """The position of the camera.""" | ||
| raise NotImplementedError | ||
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| @property | ||
| def heading(self) -> float: | ||
| """The heading of this camera.""" | ||
| raise NotImplementedError | ||
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| def teardown(self): | ||
| """Clean up internal resources.""" | ||
| raise NotImplementedError | ||
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| class RendererBase: | ||
| """The base class for rendering | ||
| Returns: | ||
| RendererBase: | ||
| """ | ||
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| @property | ||
| def id(self): | ||
| """The id of the simulation rendered.""" | ||
| raise NotImplementedError | ||
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| @property | ||
| def is_setup(self) -> bool: | ||
| """If the renderer has been fully initialized.""" | ||
| raise NotImplementedError | ||
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| @property | ||
| def log(self) -> logging.Logger: | ||
| """The rendering logger.""" | ||
| raise NotImplementedError | ||
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| def remove_buffer(self, buffer): | ||
| """Remove the rendering buffer.""" | ||
| raise NotImplementedError | ||
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| def setup(self, scenario): | ||
| """Initialize this renderer.""" | ||
| raise NotImplementedError | ||
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| def render(self): | ||
| """Render the scene graph of the simulation.""" | ||
| raise NotImplementedError | ||
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| def reset(self): | ||
| """Reset the render back to initialized state.""" | ||
| raise NotImplementedError | ||
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| def step(self): | ||
| """provided for non-SMARTS uses; normally not used by SMARTS.""" | ||
| raise NotImplementedError | ||
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| def sync(self, sim_frame): | ||
| """Update the current state of the vehicles within the renderer.""" | ||
| raise NotImplementedError | ||
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| def teardown(self): | ||
| """Clean up internal resources.""" | ||
| raise NotImplementedError | ||
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| def destroy(self): | ||
| """Destroy the renderer. Cleans up all remaining renderer resources.""" | ||
| raise NotImplementedError | ||
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| def create_vehicle_node(self, glb_model: str, vid: str, color, pose: Pose): | ||
| """Create a vehicle node.""" | ||
| raise NotImplementedError | ||
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| def begin_rendering_vehicle(self, vid: str, is_agent: bool): | ||
| """Add the vehicle node to the scene graph""" | ||
| raise NotImplementedError | ||
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| def update_vehicle_node(self, vid: str, pose: Pose): | ||
| """Move the specified vehicle node.""" | ||
| raise NotImplementedError | ||
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| def remove_vehicle_node(self, vid: str): | ||
| """Remove a vehicle node""" | ||
| raise NotImplementedError | ||
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| def camera_for_id(self, camera_id) -> OffscreenCamera: | ||
| """Get a camera by its id.""" | ||
| raise NotImplementedError | ||
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| def build_offscreen_camera( | ||
| self, | ||
| name: str, | ||
| mask: int, | ||
| width: int, | ||
| height: int, | ||
| resolution: float, | ||
| ) -> OffscreenCamera: | ||
| """Generates a new offscreen camera.""" | ||
| raise NotImplementedError |
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