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Ensure ego observation road, lane, lane index fields are filled. #1574

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merged 3 commits into from
Aug 23, 2022
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Ensure ego observation road, lane, lane index fields are filled. #1574

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a111381
Ensure ego observation road, lane, lane index fields are filled.
Gamenot Aug 19, 2022
7d2d1ca
Avoid lane_index=None in neighbours. (#1583)
Adaickalavan Aug 23, 2022
ae029e1
Merge branch 'develop' into tucker/bugfix-match_observation_interface
Adaickalavan Aug 23, 2022
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
- Truncated all waypoint paths returned by `FormatObs` wrapper to be of the same length. Previously, variable waypoint-path lengths caused inhomogenous shape error in numpy array.
- Fixed a bug where traffic providers would leak across instances due to the ~~(awful design decision of python)~~ reference types defaults in arguments sharing across instances.
- Fixed minor bugs causing some Waymo maps not to load properly.
- Fixed issue where the ego vehicle observation was returning `None` for the nearby `lane_id`, `lane_index`, and `road_id`. These now default to constants `off_lane`, `-1`, and `off_road` respectively.

## [0.6.1]
### Added
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10 changes: 7 additions & 3 deletions smarts/core/sensors.py
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Expand Up @@ -43,6 +43,10 @@

logger = logging.getLogger(__name__)

EGO_LANE_ID_CONSTANT = "off_lane"
EGO_ROAD_ID_CONSTANT = "off_road"
EGO_LANE_INDEX_CONSTANT = -1


class VehicleObservation(NamedTuple):
"""Perceived vehicle information."""
Expand Down Expand Up @@ -326,9 +330,9 @@ def observe(sim, agent_id, sensor_state, vehicle) -> Tuple[Observation, bool]:
if vehicle.subscribed_to_lane_position_sensor:
ego_lane_pos = vehicle.lane_position_sensor(closest_lane, vehicle)
else:
ego_lane_id = None
ego_lane_index = None
ego_road_id = None
ego_lane_id = EGO_LANE_ID_CONSTANT
ego_lane_index = EGO_LANE_INDEX_CONSTANT
ego_road_id = EGO_ROAD_ID_CONSTANT
ego_vehicle_state = vehicle.state

acceleration_params = {
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