Implement controllable functionalities

Author: daviduhm

lgsvl/__init__.py

@@ -8,3 +8,4 @@
 from .simulator import Simulator, RaycastHit, WeatherState
 from .sensor import Sensor, CameraSensor, LidarSensor, ImuSensor
 from .agent import AgentType, VehicleControl, AgentState, Vehicle, EgoVehicle, NpcVehicle, Pedestrian, DriveWaypoint, WalkWaypoint, NPCControl
+from .controllable import Controllable

lgsvl/agent.py

@@ -106,7 +106,6 @@ def state(self):
   @state.setter
   @accepts(AgentState)
   def state(self, state):
-    j = state.to_json()
     self.remote.command("agent/state/set", {
       "uid": self.uid,
       "state": state.to_json()

lgsvl/controllable.py

@@ -0,0 +1,48 @@
+#
+# Copyright (c) 2019 LG Electronics, Inc.
+#
+# This software contains code licensed as described in LICENSE.
+#
+
+from .geometry import Transform
+from .utils import accepts
+
+class Controllable:
+  def __init__(self, remote, j):
+    self.remote = remote
+    self.uid = j["uid"]
+    self.type = j["type"]
+    self.transform = Transform.from_json(j)
+    self.valid_actions = j["valid_actions"]
+    self.default_control_policy = j["default_control_policy"]
+
+  @property
+  def current_state(self):
+    j = self.remote.command("controllable/current_state/get", {"uid": self.uid})
+    return j["state"]
+
+  @property
+  def control_policy(self):
+    j = self.remote.command("controllable/control_policy/get", {"uid": self.uid})
+    return j["control_policy"]
+
+  @accepts(str)
+  def control(self, control_policy):
+    self.remote.command("controllable/control_policy/set", {
+      "uid": self.uid,
+      "control_policy": control_policy,
+    })
+
+  def __eq__(self, other):
+    return self.uid == other.uid
+
+  def __hash__(self):
+    return hash(self.uid)
+
+  def __repr__(self):
+    return str({
+      "type": str(self.type),
+      "transform": str(self.transform),
+      "valid_actions": str(self.valid_actions),
+      "default_control_policy": str(self.default_control_policy),
+    })

lgsvl/simulator.py

@@ -9,6 +9,7 @@
 from .sensor import GpsData
 from .geometry import Vector, Transform
 from .utils import accepts
+from .controllable import Controllable
 
 from collections import namedtuple
 
@@ -194,6 +195,6 @@ def raycast(self, origin, direction, layer_mask = -1, max_distance = float("inf"
       return None
     return RaycastHit(hit["distance"], Vector.from_json(hit["point"]), Vector.from_json(hit["normal"]))
 
-  # @accepts(bool)
-  # def set_physics(self, isPhysicsSimple):
-  #   self.remote.command("vehicle/set_npc_physics", {"isPhysicsSimple": isPhysicsSimple})
+  def get_controllables(self):
+    j = self.remote.command("controllable/get/all")
+    return [Controllable(self.remote, controllable) for controllable in j]

quickstart/26-control-traffic-lights.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2019 LG Electronics, Inc.
+#
+# This software contains code licensed as described in LICENSE.
+#
+
+import os
+import lgsvl
+
+sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
+
+scene_name = "BorregasAve"
+
+if sim.current_scene == scene_name:
+  sim.reset()
+else:
+  sim.load(scene_name, 42)
+
+spawns = sim.get_spawn()
+
+state = lgsvl.AgentState()
+state.transform = spawns[0]
+state.velocity = lgsvl.Vector(0, 0, 20)
+ego = sim.add_agent("Jaguar2015XE (Apollo 5.0)", lgsvl.AgentType.EGO, state)
+
+print("Python API Quickstart #26: How to Control Traffic Light")
+
+# Get a list of controllable objects
+controllables = sim.get_controllables()
+print("\n# List of controllable objects in {} scene:".format(scene_name))
+for c in controllables:
+  print(c)
+
+# Pick a traffic light of intrest
+signal = controllables[2]
+
+# Get current controllable states
+print("\n# Current control policy:")
+print(signal.control_policy)
+
+# Create a new control policy
+control_policy = "trigger=50;green=1;yellow=1.5;red=2;green=5;loop"
+
+# Control this traffic light with a new control policy
+signal.control(control_policy)
+
+print("\n# Updated control policy:")
+print(signal.control_policy)
+
+# Get current state of signal
+print("\n# Current signal state before simulation:")
+print(signal.current_state)
+
+seconds = 10
+input("\nPress Enter to run simulation for {} seconds".format(seconds))
+print("\nRunning simulation for {} seconds...".format(seconds))
+sim.run(seconds)
+
+print("\n# Current signal state after simulation:")
+print(signal.current_state)
+print("\nDone!")