Add actor alive interface

envision/tests/test_data_formatter.py

@@ -81,7 +81,7 @@ def covered_data():
                 actor_id="agent_007",
                 lane_id="NE-NW",
                 events=Events(
-                    [], False, False, False, False, False, False, False, True
+                    [], False, False, False, False, False, False, False, True, False
                 ),
                 driven_path=[(4, 4), (2, 2)],
                 point_cloud=[[1, 3], [4, 2]],
@@ -119,17 +119,7 @@ def covered_data():
                 2,  # z
                 -3.14,  # heading
                 20,  # speed
-                (
-                    [],
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    0,
-                    1,
-                ),  # events
+                ([], 0, 0, 0, 0, 0, 0, 0, 1, 0),  # events
                 [
                     [[4, 5, 3, 2.24, 1, 4, 10, 0, 4.96]],
                     [[9, 5, 3, 1.11, 2, 2, 1.2, 1, 9.96]],
@@ -167,7 +157,16 @@ def complex_data():
                         actor_id="agent_007",
                         lane_id="NE-NW",
                         events=Events(
-                            [], False, False, False, False, False, False, False, True
+                            [],
+                            False,
+                            False,
+                            False,
+                            False,
+                            False,
+                            False,
+                            False,
+                            True,
+                            False,
                         ),
                     )
                     for i in range(2)
@@ -193,7 +192,7 @@ def complex_data():
                         2,
                         -3.14,
                         20,
-                        [[], 0, 0, 0, 0, 0, 0, 0, 1],
+                        [[], 0, 0, 0, 0, 0, 0, 0, 1, 0],
                         [],
                         [],
                         [],
@@ -209,7 +208,7 @@ def complex_data():
                         2,
                         -3.14,
                         20,
-                        [[], 0, 0, 0, 0, 0, 0, 0, 1],
+                        [[], 0, 0, 0, 0, 0, 0, 0, 1, 0],
                         [],
                         [],
                         [],

smarts/core/agent_interface.py

@@ -20,7 +20,7 @@
 import warnings
 from dataclasses import dataclass, field, replace
 from enum import IntEnum
-from typing import List, Optional, Union
+from typing import List, Optional, Tuple, Union
 
 from smarts.core.controllers import ActionSpaceType
 from smarts.core.lidar_sensor_params import BasicLidar
@@ -193,6 +193,19 @@ class AgentsAliveDoneCriteria:
     """
 
 
+@dataclass(frozen=True)
+class ActorsAliveDoneCriteria:
+    """Require actors to persist."""
+
+    actors_of_interest: Tuple[str, ...] = ()
+    """Actors that should exist to continue this agent."""
+
+    strict: bool = True
+    """If strict the agent will be done instantly if an actor of interest is not available
+    immediately.
+    """
+
+
 @dataclass(frozen=True)
 class EventConfiguration:
     """Configure the conditions in which an Event is triggered."""
@@ -225,6 +238,8 @@ class DoneCriteria:
     """
     agents_alive: Optional[AgentsAliveDoneCriteria] = None
     """If set, triggers the ego agent to be done based on the number of active agents for multi-agent purposes."""
+    actors_alive: Optional[ActorsAliveDoneCriteria] = None
+    """If set, triggers the ego agent to be done based on actors existing in the simulation."""
 
 
 @dataclass

smarts/core/events.py

@@ -42,3 +42,5 @@ class Events(NamedTuple):
     agents_alive_done: bool
     """True if all configured co-simulating agents are done (if any), else False. 
     This is useful for cases when the vehicle is related to other vehicles."""
+    actors_alive_done: bool
+    """True if described actors have left the simulation."""

smarts/core/sensors.py

@@ -18,6 +18,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 import logging
+import re
 import sys
 import time
 import weakref
@@ -28,7 +29,7 @@
 
 import numpy as np
 
-from smarts.core.agent_interface import AgentsAliveDoneCriteria
+from smarts.core.agent_interface import ActorsAliveDoneCriteria, AgentsAliveDoneCriteria
 from smarts.core.plan import Plan
 from smarts.core.road_map import RoadMap, Waypoint
 from smarts.core.signals import SignalState
@@ -295,9 +296,9 @@ def step(sim, sensor_state):
 
     @classmethod
     def _agents_alive_done_check(
-        cls, agent_manager, agents_alive: AgentsAliveDoneCriteria
+        cls, agent_manager, agents_alive: Optional[AgentsAliveDoneCriteria]
     ):
-        if not agents_alive:
+        if agents_alive is None:
             return False
 
         if (
@@ -333,6 +334,39 @@ def _agents_alive_done_check(
 
         return False
 
+    @classmethod
+    def _actors_alive_done_check(
+        cls,
+        vehicle_index,
+        sensor_state,
+        actors_alive: Optional[ActorsAliveDoneCriteria],
+    ):
+        if actors_alive is None:
+            return False
+
+        sensor_state: SensorState = sensor_state
+        from smarts.core.vehicle_index import VehicleIndex
+
+        vehicle_index: VehicleIndex = vehicle_index
+
+        pattern = re.compile(
+            "|".join(rf"(?:{aoi})" for aoi in actors_alive.actors_of_interest)
+        )
+        ## TODO optimization to get vehicles that were added and removed last step
+        ## TODO second optimization to check for already known vehicles
+        for vehicle_id in vehicle_index.vehicle_ids():
+            # get vehicles by pattern
+            if pattern.match(vehicle_id):
+                sensor_state.seen_interest_actors = True
+                return False
+        if actors_alive.strict or sensor_state.seen_interest_actors:
+            # if agent requires the actor to exist immediately
+            # OR if previously seen relevant actors but no actors match anymore
+            return True
+
+        ## if never seen a relevant actor
+        return False
+
     @classmethod
     def _is_done_with_events(cls, sim, agent_id, vehicle, sensor_state):
         interface = sim.agent_manager.agent_interface_for_agent_id(agent_id)
@@ -354,6 +388,9 @@ def _is_done_with_events(cls, sim, agent_id, vehicle, sensor_state):
         agents_alive_done = cls._agents_alive_done_check(
             sim.agent_manager, done_criteria.agents_alive
         )
+        actors_alive_done = cls._actors_alive_done_check(
+            sim.vehicle_index, sensor_state, done_criteria.actors_alive
+        )
 
         done = not sim.resetting and (
             (is_off_road and done_criteria.off_road)
@@ -365,6 +402,7 @@ def _is_done_with_events(cls, sim, agent_id, vehicle, sensor_state):
             or (is_off_route and done_criteria.off_route)
             or (is_wrong_way and done_criteria.wrong_way)
             or agents_alive_done
+            or actors_alive_done
         )
 
         events = Events(
@@ -377,6 +415,7 @@ def _is_done_with_events(cls, sim, agent_id, vehicle, sensor_state):
             wrong_way=is_wrong_way,
             not_moving=is_not_moving,
             agents_alive_done=agents_alive_done,
+            actors_alive_done=actors_alive_done,
         )
 
         return done, events
@@ -519,11 +558,21 @@ def __init__(self, max_episode_steps: int, plan):
         self._max_episode_steps = max_episode_steps
         self._plan = plan
         self._step = 0
+        self._seen_interest_actors = False
 
     def step(self):
         """Update internal state."""
         self._step += 1
 
+    @property
+    def seen_interest_actors(self) -> bool:
+        """If a relevant actor has been spotted before."""
+        return self._seen_interest_actors
+
+    @seen_interest_actors.setter
+    def seen_interest_actors(self, value: bool):
+        self._seen_interest_actors = value
+
     @property
     def reached_max_episode_steps(self) -> bool:
         """Inbuilt sensor information that describes if episode step limit has been reached."""

smarts/core/utils/tests/fixtures.py

@@ -59,6 +59,7 @@ def large_observation():
             reached_goal=False,
             reached_max_episode_steps=False,
             agents_alive_done=False,
+            actors_alive_done=False,
         ),
         ego_vehicle_state=EgoVehicleObservation(
             id="AGENT-007-07a0ca6e",

smarts/env/utils/observation_conversion.py

@@ -574,6 +574,13 @@ def __call__(self, agent_interface: AgentInterface) -> BaseSpaceFormat:
 )
 
 
+events_actors_alive_done_space_format = StandardSpaceFormat(
+    lambda obs: np.int64(obs.events.actors_alive_done),
+    lambda _: True,
+    "actors_alive_done",
+    _DISCRETE2_SPACE,
+)
+
 events_agents_alive_done_space_format = StandardSpaceFormat(
     lambda obs: np.int64(obs.events.agents_alive_done),
     lambda _: True,
@@ -841,6 +848,7 @@ def name(self):
 
 events_space_format = StandardCompoundSpaceFormat(
     space_generators=[
+        events_actors_alive_done_space_format,
         events_agents_alive_done_space_format,
         events_collisions_space_format,
         events_not_moving_space_format,