Scenario Caching

.gitignore

@@ -108,6 +108,7 @@ shifted_map-AUTOGEN.net.xml
 *.pkl
 *.shf
 *.tfrecord*
+build.db
 
 # Manually generated sumo route files
 !zoo/evaluation/scenarios/**/traffic/*.rou.xml

CHANGELOG.md

@@ -50,6 +50,10 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Renamed `examples/history_vehicles_replacement_for_imitation_learning.py` to `examples/traffic_histories_vehicle_replacement.py`.
 - `SumoTrafficSimulation` will now try to hand-off the vehicles it controls to the new SMARTS background traffic provider by default if the Sumo provider crashes.
 - SMARTS now gives an error about a suspected lack of junction edges in sumo maps on loading of them.
+- Scenario build artifacts are now cached and built incrementally, meaning that subsequent builds (without the `clean` option) will only build the artifacts that depend on the changed DSL objects
+- All build artifacts are now in a local `build/` directory in each scenario's directory
+- The `allow_offset_map` option has been removed. This must now be set in a `MapSpec` object in the scenario.py if this option is needed
+- All scenarios must have a `scenario.py`, and must call `gen_scenario()`, rather than the individual `gen_` functions, which are now private
 
 ### Removed
 - Removed support for deprecated json-based and YAML formats for traffic histories.

cli/studio.py

@@ -42,32 +42,25 @@ def scenario_cli():
     default=False,
     help="Clean previously generated artifacts first",
 )
-@click.option(
-    "--allow-offset-map",
-    is_flag=True,
-    default=False,
-    help="Allows road network to be offset from the origin. If not specified, creates a new network file if necessary.",
-)
 @click.option(
     "--seed",
     type=int,
     default=42,
     help="Set the base seed of the scenario.",
 )
 @click.argument("scenario", type=click.Path(exists=True), metavar="<scenario>")
-def build(clean: bool, allow_offset_map: bool, scenario: str, seed: int):
+def build(clean: bool, scenario: str, seed: int):
     click.echo(f"build-scenario {scenario}")
 
     from smarts.sstudio.scenario_construction import build_scenario
 
     assert seed == None or isinstance(seed, (int))
 
-    build_scenario(clean, allow_offset_map, scenario, seed, click.echo)
+    build_scenario(clean, scenario, seed, click.echo)
 
 
 def _build_scenario_proc(
     clean: bool,
-    allow_offset_map: bool,
     scenario: str,
     semaphore: synchronize.Semaphore,
     seed: int,
@@ -76,7 +69,7 @@ def _build_scenario_proc(
 
     semaphore.acquire()
     try:
-        build_scenario(clean, allow_offset_map, scenario, seed, click.echo)
+        build_scenario(clean, scenario, seed, click.echo)
     finally:
         semaphore.release()
 
@@ -104,26 +97,19 @@ def _is_scenario_folder_to_build(path: str) -> bool:
     default=False,
     help="Clean previously generated artifacts first",
 )
-@click.option(
-    "--allow-offset-maps",
-    is_flag=True,
-    default=False,
-    help="Allows road networks (maps) to be offset from the origin. If not specified, a new network file is created if necessary.  Defaults to False except when there's Traffic History data associated with the scenario.",
-)
 @click.option(
     "--seed",
     type=int,
     default=42,
     help="Set the base seed of the scenarios.",
 )
 @click.argument("scenarios", nargs=-1, metavar="<scenarios>")
-def build_all(clean: bool, allow_offset_maps: bool, scenarios: List[str], seed: int):
-    build_scenarios(clean, allow_offset_maps, scenarios, seed)
+def build_all(clean: bool, scenarios: List[str], seed: int):
+    build_scenarios(clean, scenarios, seed)
 
 
 def build_scenarios(
     clean: bool,
-    allow_offset_maps: bool,
     scenarios: List[str],
     seed: Optional[int] = None,
 ):
@@ -142,7 +128,7 @@ def build_scenarios(
                 scenario = f"{scenarios_path}/{p.relative_to(scenarios_path)}"
                 proc = Process(
                     target=_build_scenario_proc,
-                    args=(clean, allow_offset_maps, scenario, sema, seed),
+                    args=(clean, scenario, sema, seed),
                 )
                 all_processes.append((scenario, proc))
                 proc.start()

cli/tests/test_studio.py

@@ -22,6 +22,7 @@
 import os
 import shutil
 import tempfile
+import time
 from xml.etree.ElementTree import ElementTree
 
 
@@ -53,10 +54,10 @@ def test_scenario_generation_unchanged():
             assert _hashseed not in (None, "random"), f"PYTHONHASHSEED is {_hashseed}"
 
             shutil.copytree("scenarios/sumo", loc1)
-            build_scenarios(True, True, [loc1], 42)
+            build_scenarios(True, [loc1], 42)
 
             shutil.copytree("scenarios/sumo", loc2)
-            build_scenarios(True, True, [loc2], 42)
+            build_scenarios(True, [loc2], 42)
 
             for dirpath, dirnames, files in os.walk(loc1):
                 if "traffic" in dirpath:
@@ -67,3 +68,24 @@ def test_scenario_generation_unchanged():
                         number_of_comparisons_greater_than_0 = True
 
     assert number_of_comparisons_greater_than_0
+
+
+def test_scenario_build_caching():
+    from cli.studio import build_scenarios
+
+    with tempfile.TemporaryDirectory() as temp_dir1:
+        scenario_dir = temp_dir1 + "/scenario"
+        shutil.copytree("scenarios/sumo/loop", scenario_dir)
+
+        # Clean & build the scenario
+        start = time.time()
+        build_scenarios(True, [scenario_dir])
+        elapsed1 = time.time() - start
+
+        # Build again without cleaning
+        start = time.time()
+        build_scenarios(False, [scenario_dir])
+        elapsed2 = time.time() - start
+
+        # Second build should be much faster because of caching
+        assert 2 * elapsed2 < elapsed1

docs/minimal_scenario_studio.py

@@ -1,9 +1,7 @@
 from pathlib import Path
 
 from smarts.sstudio import types as t
-from smarts.sstudio import gen_traffic, gen_bubbles, gen_missions
-
-scenario = str(Path(__file__).parent)
+from smarts.sstudio import gen_scenario
 
 # Definition of a traffic flow
 traffic = t.Traffic(
@@ -22,12 +20,11 @@
     ]
 )
 
-# The call to generate traffic
-gen_traffic(scenario, traffic, name="basic")
+missions = [
+    t.Mission(t.Route(begin=("west", 0, 0), end=("east", 0, "max"))),
+]
 
-gen_missions(
-    scenario,
-    [
-        t.Mission(t.Route(begin=("west", 0, 0), end=("east", 0, "max"))),
-    ],
+gen_scenario(
+    t.Scenario(traffic={"basic": traffic}, ego_missions=missions),
+    output_dir=Path(__file__).parent,
 )

docs/sim/scenario_studio.rst

@@ -46,8 +46,6 @@ Generate traffic
       ]
   )
 
-  gen_traffic(scenario_path, traffic, name="all", output_dir=scenario_path, seed=seed_, overwrite=True)
-
 Note that the `engine` argument to `Traffic` can either be `"SUMO"` or `"SMARTS"`, with `"SUMO"` being the default.
 As `"SUMO"` can only be used on Sumo-format "road networks", if you need
 to run SMARTS with another map type you may need to change to the `"SMARTS"` engine.
@@ -58,7 +56,7 @@ See more config for `TrafficActor` in :class:`smarts.sstudio.types`.
 
 Flow can be used to generate repeated vehicle runs on the same route, you can config vehicle route and depart rate here.
 
-After the `gen_traffic` function is run, a dir named "traffic" containing vehicle config xmls will be created under output_dir.
+After `traffic` is provided to the `gen_scenario` function, a dir named "traffic" will be created under output_dir which contains background vehicle and route definitions.
 
 
 This a short file example of how it works:
@@ -81,33 +79,30 @@ Generate missions
 =================
 
 The Scenario Studio of SMARTS also allows generation of *missions* for ego agents and social agents. These missions are similar
-to routes for social vehicles. When we run `gen_missions`, "missions.rou.xml" file will be created under the output dir:
+to routes for social vehicles. When we run `gen_scenario`, "missions.rou.xml" file will be created under the output dir:
 
 .. code-block:: python
 
-  # agent missions
-  gen_missions(
-      scenario,
-      missions=[Mission(Route(begin=("edge0", 0, "random"), end=("edge1", 0, "max"),)),],
-      seed=seed_,
-  )
+  missions = [
+    Mission(Route(begin=("edge0", 0, "random"), end=("edge1", 0, "max"))),
+  ]
 
 =====================
 Generate friction map
 =====================
 
-The Scenario Studio of SMARTS also allows generation of *friction map* which consists of a list of *surface patches* for ego agents and social agents. These surface patches are using PositionalZone as in the case of bubbles. When we run `gen_friction_map`, "friction_map.pkl" file will be created under the output dir:
+The Scenario Studio of SMARTS also allows the generation of a *friction map* which consists of a list of *surface patches* for ego agents and social agents. These surface patches are using PositionalZone as in the case of bubbles. When we run `gen_scenario` passing in `friction_maps`, a "friction_map.pkl" file will be created under the output dir:
 
 .. code-block:: python
 
-  # friction map
-  gen_friction_map(
-      scenario,
-      surface_patches=[RoadSurfacePatch(PositionalZone(pos=(153, -100), size=(2000, 6000)),
-      begin_time=0,
-      end_time=20,
-      friction_coefficient=0.5)]
-  )
+  friction_maps = [
+    RoadSurfacePatch(
+        PositionalZone(pos=(153, -100), size=(2000, 6000)),
+        begin_time=0,
+        end_time=20,
+        friction_coefficient=0.5,
+    ),
+  ]
 
 =================
 Generate road map
@@ -134,8 +129,6 @@ define a `MapSpec` object in your `scenario.py`.
 
   map_spec = MapSpec(source="path_or_uri", builder_fn=custom_map_builder)
 
-  gen_map(map_spec)
-
 
 Convert an existing map to SUMO
 -------------------------------

examples/env/figure_eight_env.py

@@ -25,7 +25,7 @@ def entry_point(*args, **kwargs):
     ## Note: can build the scenario here
     from smarts.sstudio.scenario_construction import build_scenario
 
-    build_scenario(clean=True, allow_offset_map=True, scenario=scenario)
+    build_scenario(clean=True, scenario=scenario)
     hiwayenv = HiWayEnv(
         agent_specs={"agent-007": agent_spec},
         scenarios=[scenario],

examples/rl/racing/run.py

@@ -53,7 +53,6 @@ def main(args: argparse.Namespace):
     # Build the scenarios.
     _build_all_scenarios(
         clean=True,
-        allow_offset_maps=False,
         scenarios=[config_env["scenarios_dir"]],
         seed=_SEED,
     )

scenarios/open_drive/od_4lane/scenario.py

@@ -6,5 +6,4 @@
 gen_scenario(
     Scenario(),
     output_dir=str(Path(__file__).parent),
-    overwrite=True,
 )

scenarios/open_drive/od_merge/scenario.py

@@ -10,5 +10,4 @@
         ego_missions=ego_missions,
     ),
     output_dir=str(Path(__file__).parent),
-    overwrite=True,
 )

scenarios/open_drive/od_newmarket/scenario.py

@@ -6,5 +6,4 @@
 gen_scenario(
     Scenario(),
     output_dir=str(Path(__file__).parent),
-    overwrite=True,
 )

scenarios/sumo/figure_eight/scenario.py

@@ -0,0 +1,9 @@
+from pathlib import Path
+
+from smarts.sstudio.genscenario import gen_scenario
+from smarts.sstudio.types import Scenario
+
+gen_scenario(
+    scenario=Scenario(),
+    output_dir=Path(__file__).parent,
+)

scenarios/sumo/intersections/2lane/scenario.py

@@ -1,18 +1,18 @@
-import os
+from pathlib import Path
 
-from smarts.sstudio import gen_traffic
+from smarts.sstudio.genscenario import gen_scenario
 from smarts.sstudio.types import (
     Distribution,
     Flow,
     JunctionModel,
     LaneChangingModel,
+    MapSpec,
     Route,
+    Scenario,
     Traffic,
     TrafficActor,
 )
 
-scenario = os.path.dirname(os.path.realpath(__file__))
-
 impatient_car = TrafficActor(
     name="car",
     speed=Distribution(sigma=0.2, mean=1.0),
@@ -53,14 +53,16 @@
     ("east-EW", "north-SN"),
 ]
 
+traffic = {}
+
 for name, routes in {
     "vertical": vertical_routes,
     "horizontal": horizontal_routes,
     "unprotected_left": turn_left_routes,
     "turns": turn_left_routes + turn_right_routes,
     "all": vertical_routes + horizontal_routes + turn_left_routes + turn_right_routes,
 }.items():
-    traffic = Traffic(
+    traffic[name] = Traffic(
         flows=[
             Flow(
                 route=Route(
@@ -75,4 +77,13 @@
         ]
     )
 
-    gen_traffic(scenario, traffic, name=name)
+gen_scenario(
+    scenario=Scenario(
+        traffic=traffic,
+        map_spec=MapSpec(
+            source=Path(__file__).parent,
+            shift_to_origin=True,
+        ),
+    ),
+    output_dir=Path(__file__).parent,
+)