Fix envision button skip to newest when resumed #663
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envision/web/src/components/app.js
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| @@ -79,7 +79,7 @@ function App({ client }) { | |||
| // checks if there is new simulation running every 3 seconds. | |||
| const interval = setInterval(fetchRunningSim, 3000); | |||
| return () => clearInterval(interval); | |||
| }, []); | |||
| }, [routeMatch]); | |||
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This 1 line fixes a different bug/warning. the history was trying to push the existing route on line 73 because the value of matchedSimulationId could be stale. This results in a warning when running envision in dev mode. Adding routeMatch here makes matchedSimulationId have the most updated value
| onElapsedTimesChanged(...elapsed_times); | ||
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| // play the frames every 50ms | ||
| await sleep(50); |
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Could you please point me to where the rate that Smarts is sending is controlled? (I saw your comment that it's also 20fps, but I'm just curious to look at it.)
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yes, SMARTS is sending frame to envision at the following line: https://github.com/huawei-noah/SMARTS/blob/master/smarts/core/smarts.py#L970 self._envision.send(state)
Here smarts is just sending the frame whenever an episode is done. 20fps is just an estimate. Since when I use 20fps, the visulation looks normal when transitioning from before pause -> pause -> after resume. If I use a higher fps ( sleep less than 50ms) then i can see the vehicle looks like it is driving way faster after resume for a period of time. Then slows down again when reached the latest frame
| @@ -65,7 +65,7 @@ const treeData = [ | |||
| ], | |||
| }, | |||
| { | |||
| title: "Inclucdes Social Agents", | |||
| title: "Includes Social Agents", | |||
| await sleep( | ||
| msInSec * (currentTime - prevElapsedTime) - | ||
| (Date.now() - waitStartTime) | ||
| ); |
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I think this biases towards losing time although it means we will never skip frames.
| // we deduct this amount from the time we will be waiting | ||
| await sleep( | ||
| msInSec * (currentTime - prevElapsedTime) - | ||
| (Date.now() - waitStartTime) |
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Is it possible for this to end up being negative? If so, should we avoid that?
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in very rare situations where the waiting time to get the next frame exceeds the time difference between the frames the sleep time could be negative. However this is fine, calling sleep with a negative numebr sleep(-1000) would return instantly just like sleep(0)
Currently there is a problem with envision's pause button, pausing works, but when resumed, envision will skip directly to the most latest timestamp. This PR fixes this issue.
Summary of changes:
1: in client.js, frames are obtained from the end of the list, which has the most current frame. Changed this to obtain frames from beginning of list.
2: Added a sleep function to have a minimum amount of wait time before loading the next frame. Since after done step 1, when paused, there will be a long list of existing frames waiting to be fetched, if we simply fetch them from list and update worldstate, the update is too fast for react to cause re-render. Previously this wasn't a problem since the speed of giving out available frames is 1 frame per eposide on the smarts side. Envision will always get the frame when it is available and wait for the next available frame.