216 lines
9.1 KiB
Python
216 lines
9.1 KiB
Python
import numpy as np
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from metadrive.component.navigation_module.node_network_navigation import NodeNetworkNavigation
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from metadrive.envs.scenario_env import ScenarioEnv
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from metadrive.component.vehicle.vehicle_type import DefaultVehicle, vehicle_class_to_type
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import math
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import logging
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from collections import defaultdict
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from typing import Union, Dict, AnyStr
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from metadrive.engine.logger import get_logger, set_log_level
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from metadrive.type import MetaDriveType
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class PolicyVehicle(DefaultVehicle):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.policy = None
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self.destination = None
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def set_policy(self, policy):
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self.policy = policy
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def set_destination(self, des):
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self.destination = des
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def act(self, observation, policy=None):
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if self.policy is not None:
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return self.policy.act(observation)
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else:
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return self.action_space.sample()
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def before_step(self, action):
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self.last_position = self.position # 2D vector
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self.last_velocity = self.velocity # 2D vector
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self.last_speed = self.speed # Scalar
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self.last_heading_dir = self.heading
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if action is not None:
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self.last_current_action.append(action)
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self._set_action(action)
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def is_done(self):
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# arrive or crash
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pass
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vehicle_class_to_type[PolicyVehicle] = "default"
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class MultiAgentScenarioEnv(ScenarioEnv):
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@classmethod
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def default_config(cls):
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config = super().default_config()
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config.update(dict(
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data_directory=None,
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num_controlled_agents=3,
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horizon=1000,
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))
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return config
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def __init__(self, config, agent2policy):
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self.policy = agent2policy
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self.controlled_agents = {}
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self.controlled_agent_ids = []
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self.obs_list = []
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self.round = 0
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super().__init__(config)
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@property
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def num_controlled_in_scenario(self) -> int:
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"""整个场景中受控车轨迹总数（car_birth_info_list 长度），会在不同 show_time 陆续 spawn。"""
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return len(getattr(self, "car_birth_info_list", []))
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def reset(self, seed: Union[None, int] = None):
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self.round = 0
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if self.logger is None:
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self.logger = get_logger()
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log_level = self.config.get("log_level", logging.DEBUG if self.config.get("debug", False) else logging.INFO)
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set_log_level(log_level)
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self.lazy_init()
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self._reset_global_seed(seed)
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if self.engine is None:
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raise ValueError("Broken MetaDrive instance.")
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self.background_vehicles = getattr(self, "background_vehicles", {})
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self.car_birth_info_list, self.background_vehicles, _obj_to_clean = self._build_birth_lists_from_traffic()
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for scenario_id in _obj_to_clean:
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self.engine.traffic_manager.current_traffic_data.pop(scenario_id)
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# Clear vehicles we spawned via engine.spawn_object() so _object_clean_check() passes
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ids_to_clear = [v.id for v in self.controlled_agents.values()]
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if ids_to_clear:
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self.engine.clear_objects(ids_to_clear)
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self.controlled_agents.clear()
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self.controlled_agent_ids.clear()
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self.engine.reset()
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self.reset_sensors()
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self.engine.taskMgr.step()
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self.lanes = self.engine.map_manager.current_map.road_network.graph
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if self.top_down_renderer is not None:
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self.top_down_renderer.clear()
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self.engine.top_down_renderer = None
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self.dones = {}
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self.episode_rewards = defaultdict(float)
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self.episode_lengths = defaultdict(int)
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super().reset(seed) # 初始化场景
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self._spawn_controlled_agents()
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return self._get_all_obs()
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def _build_birth_lists_from_traffic(self):
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"""Build car_birth_info_list and obj_to_clean from current_traffic_data. Override for filtered (lane/static) selection."""
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_obj_to_clean_this_frame = []
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car_birth_info_list = []
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for scenario_id, track in self.engine.traffic_manager.current_traffic_data.items():
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if scenario_id == self.engine.traffic_manager.sdc_scenario_id:
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continue
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if track["type"] == MetaDriveType.VEHICLE:
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_obj_to_clean_this_frame.append(scenario_id)
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valid = track["state"]["valid"]
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first_show = int(np.argmax(valid)) if valid.any() else -1
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last_show = len(valid) - 1 - int(np.argmax(valid[::-1])) if valid.any() else -1
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car_birth_info_list.append({
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"id": track["metadata"]["object_id"],
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"show_time": first_show,
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"begin": (track["state"]["position"][first_show, 0], track["state"]["position"][first_show, 1]),
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"heading": track["state"]["heading"][first_show],
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"end": (track["state"]["position"][last_show, 0], track["state"]["position"][last_show, 1]),
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})
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return car_birth_info_list, {}, _obj_to_clean_this_frame
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def _spawn_controlled_agents(self):
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# ego_vehicle = self.engine.agent_manager.active_agents.get("default_agent")
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# ego_position = ego_vehicle.position if ego_vehicle else np.array([0, 0])
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for car in self.car_birth_info_list:
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if car['show_time'] == self.round:
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agent_id = f"controlled_{car['id']}"
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vehicle = self.engine.spawn_object(
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PolicyVehicle,
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vehicle_config={},
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position=car['begin'],
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heading=car['heading']
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)
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vehicle.reset(position=car['begin'], heading=car['heading'])
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vehicle.set_policy(self.policy)
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vehicle.set_destination(car['end'])
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self.controlled_agents[agent_id] = vehicle
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self.controlled_agent_ids.append(agent_id)
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# ✅ 关键：注册到引擎的 active_agents，才能参与物理更新
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self.engine.agent_manager.active_agents[agent_id] = vehicle
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def _get_all_obs(self):
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# position, velocity, heading, lidar, navigation, TODO: trafficlight -> list
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self.obs_list = []
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for agent_id, vehicle in self.controlled_agents.items():
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state = vehicle.get_state()
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traffic_light = 0
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for lane in self.lanes.values():
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if lane.lane.point_on_lane(state['position'][:2]):
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if self.engine.light_manager.has_traffic_light(lane.lane.index):
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traffic_light = self.engine.light_manager._lane_index_to_obj[lane.lane.index].status
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if traffic_light == 'TRAFFIC_LIGHT_GREEN':
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traffic_light = 1
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elif traffic_light == 'TRAFFIC_LIGHT_YELLOW':
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traffic_light = 2
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elif traffic_light == 'TRAFFIC_LIGHT_RED':
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traffic_light = 3
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else:
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traffic_light = 0
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break
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lidar = self.engine.get_sensor("lidar").perceive(num_lasers=80, distance=30, base_vehicle=vehicle,
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physics_world=self.engine.physics_world.dynamic_world)
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side_lidar = self.engine.get_sensor("side_detector").perceive(num_lasers=10, distance=8,
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base_vehicle=vehicle,
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physics_world=self.engine.physics_world.static_world)
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lane_line_lidar = self.engine.get_sensor("lane_line_detector").perceive(num_lasers=10, distance=3,
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base_vehicle=vehicle,
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physics_world=self.engine.physics_world.static_world)
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obs = (state['position'][:2] + list(state['velocity']) + [state['heading_theta']]
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+ lidar[0] + side_lidar[0] + lane_line_lidar[0] + [traffic_light]
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+ list(vehicle.destination))
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self.obs_list.append(obs)
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return self.obs_list
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def step(self, action_dict: Dict[AnyStr, Union[list, np.ndarray]]):
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self.round += 1
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for agent_id, action in action_dict.items():
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if agent_id in self.controlled_agents:
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self.controlled_agents[agent_id].before_step(action)
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self.engine.step()
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self.engine.after_step()
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for agent_id in action_dict:
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if agent_id in self.controlled_agents:
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self.controlled_agents[agent_id].after_step()
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self._spawn_controlled_agents()
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obs = self._get_all_obs()
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rewards = {aid: 0.0 for aid in self.controlled_agents}
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dones = {aid: False for aid in self.controlled_agents}
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dones["__all__"] = self.episode_step >= self.config["horizon"]
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infos = {aid: {} for aid in self.controlled_agents}
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return obs, rewards, dones, infos |