Merge pull request #158 from inverted-ai/drive_with_pedestrian_updates

python client tests for drive with pedestrians, cpp client agent attribute bug fixes

invertedai_cpp/Dockerfile

@@ -16,4 +16,6 @@ RUN curl -fsSL https://bazel.build/bazel-release.pub.gpg | gpg --dearmor >bazel-
 COPY . /usr/src/myapp
 WORKDIR /usr/src/myapp
 
+RUN chmod 755 ./run_all_tests.sh
+
 CMD ["/bin/bash"]

invertedai_cpp/examples/BUILD

@@ -44,4 +44,35 @@ cc_binary(
         "@boost//:beast",
         "@opencv",
     ],
+)
+
+cc_binary(
+    name = "initialize_tests",
+    srcs = ["initialize_tests.cc"],
+    data = [
+        "initialize_body.json",
+        "initialize_sampling_with_types.json",
+        "initialize_with_states_and_attributes.json",
+    ],
+    deps = [
+        "//invertedai:api",
+        "@boost//:beast",
+        "@opencv",
+    ],
+)
+
+cc_binary(
+    name = "drive_tests",
+    srcs = ["drive_tests.cc"],
+    data = [
+        "drive_body.json",
+        "initialize_body.json",
+        "initialize_sampling_with_types.json",
+        "initialize_with_states_and_attributes.json",
+    ],
+    deps = [
+        "//invertedai:api",
+        "@boost//:beast",
+        "@opencv",
+    ],
 )

invertedai_cpp/examples/drive_body.json

@@ -14,6 +14,18 @@
             7.58
         ]
     ],
+    "agent_attributes": [
+        [
+            5.10,
+            4.65,
+            1.23
+        ],
+        [
+            4.79,
+            4.58,
+            1.17
+        ]
+    ],
     "recurrent_states": null,
     "get_birdview": true,
     "get_infractions": true,

invertedai_cpp/examples/drive_tests.cc

@@ -0,0 +1,73 @@
+#include <cstdlib>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "../invertedai/api.h"
+
+using tcp = net::ip::tcp;    // from <boost/asio/ip/tcp.hpp>
+using json = nlohmann::json; // from <json.hpp>
+
+int main(int argc, char **argv) {
+  // Set up drive scenarios from initialize
+  const char* tests[] =
+  {
+    "examples/initialize_body.json",
+    "examples/initialize_with_states_and_attributes.json",
+    "examples/initialize_sampling_with_types.json"
+  };
+
+   try {
+    const int timestep = std::stoi(argv[1]);
+    const std::string api_key(argv[2]);
+
+    net::io_context ioc;
+    ssl::context ctx(ssl::context::tlsv12_client);
+    // configure connection setting
+    invertedai::Session session(ioc, ctx);
+    session.set_api_key(api_key);
+    session.connect();
+    int i = 0;
+    for (const char *test : tests) {
+        invertedai::InitializeRequest init_req(invertedai::read_file(test));
+        invertedai::InitializeResponse init_res = invertedai::initialize(init_req, &session);
+        auto image = cv::imdecode(init_res.birdview(), cv::IMREAD_COLOR);
+        cv::cvtColor(image, image, cv::COLOR_BGR2RGB);
+        int frame_width = image.rows;
+        int frame_height = image.cols;
+        std::string drive_video_name = "drive_test_" + std::to_string(i) + ".avi";
+        cv::VideoWriter video(
+            drive_video_name,
+            cv::VideoWriter::fourcc('M', 'J', 'P', 'G'),
+            10,
+            cv::Size(frame_width, frame_height)
+        );
+        i += 1;
+        invertedai::DriveRequest drive_req(invertedai::read_file("examples/drive_body.json"));
+        drive_req.set_location(init_req.location());
+        drive_req.update(init_res);
+
+        for (int t = 0; t < timestep; t++) {
+          // step the simulation by driving the agents
+          invertedai::DriveResponse drive_res = invertedai::drive(drive_req, &session);
+          // use opencv to decode and save the bird's eye view image of the
+          // simulation
+          auto image = cv::imdecode(drive_res.birdview(), cv::IMREAD_COLOR);
+          cv::cvtColor(image, image, cv::COLOR_BGR2RGB);
+          video.write(image);
+          drive_req.update(drive_res);
+          std::cout << "Remaining iterations: " << timestep - t << std::endl;
+        }
+        video.release();
+    }
+  } catch (std::exception const &e) {
+    std::cerr << "Error: " << e.what() << std::endl;
+    return EXIT_FAILURE;
+  }
+  return EXIT_SUCCESS;
+}

invertedai_cpp/examples/initialize_body.json

@@ -1,11 +1,11 @@
 {
-    "location": "iai:ubc_roundabout",
+    "location": "carla:Town03",
     "num_agents_to_spawn": 10,
     "states_history": null,
     "agent_attributes": null,
     "traffic_light_state_history": null,
-    "get_birdview": false,
-    "get_infractions": false,
+    "get_birdview": true,
+    "get_infractions": true,
     "random_seed": null,
     "location_of_interest": null
 }

invertedai_cpp/examples/initialize_sampling_with_types.json

@@ -0,0 +1,17 @@
+{
+    "location": "carla:Town04",
+    "num_agents_to_spawn": 10,
+    "states_history": null,
+    "agent_attributes": [
+        ["car"],
+        ["pedestrian"],
+        [],
+        ["pedestrian"],
+        ["pedestrian"]
+    ],
+    "traffic_light_state_history": null,
+    "get_birdview": true,
+    "get_infractions": true,
+    "random_seed": null,
+    "location_of_interest": null
+}

invertedai_cpp/examples/initialize_tests.cc

@@ -0,0 +1,49 @@
+#include <cstdlib>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "../invertedai/api.h"
+
+using tcp = net::ip::tcp;    // from <boost/asio/ip/tcp.hpp>
+using json = nlohmann::json; // from <json.hpp>
+
+int main(int argc, char **argv) {
+  // list of test scenarios to run
+  const char* tests[] =
+  {
+    "examples/initialize_body.json",
+    "examples/initialize_with_states_and_attributes.json",
+    "examples/initialize_sampling_with_types.json"
+  };
+
+  try {
+    const std::string api_key(argv[1]);
+
+    net::io_context ioc;
+    ssl::context ctx(ssl::context::tlsv12_client);
+    // configure connection setting
+    invertedai::Session session(ioc, ctx);
+    session.set_api_key(api_key);
+    session.connect();
+    int i = 0;
+    for (const char *test : tests) {
+        invertedai::InitializeRequest init_req(invertedai::read_file(test));
+        invertedai::InitializeResponse init_res = invertedai::initialize(init_req, &session);
+        auto image = cv::imdecode(init_res.birdview(), cv::IMREAD_COLOR);
+        cv::cvtColor(image, image, cv::COLOR_BGR2RGB);
+        std::string img_name = "initialize_test_" + std::to_string(i) + ".png";
+        cv::imwrite(img_name, image);
+        i += 1;
+    }
+  } catch (std::exception const &e) {
+    std::cerr << "Error: " << e.what() << std::endl;
+    return EXIT_FAILURE;
+  }
+  return EXIT_SUCCESS;
+}

invertedai_cpp/examples/initialize_with_states_and_attributes.json

@@ -0,0 +1,81 @@
+{
+    "location": "canada:ubc_roundabout",
+    "num_agents_to_spawn": 10,
+    "states_history": [
+        [
+            [
+                -11.38,
+                25.95,
+                -1.09,
+                9.42
+            ],
+            [
+                48.3,
+                13.65,
+                0.11,
+                0.95
+            ],
+            [
+                -5.81,
+                -37.0,
+                0.15,
+                0.47
+            ],
+            [
+                -11.75,
+                24.38,
+                -2.29,
+                0.98
+            ],
+            [
+                36.69,
+                6.91,
+                -3.07,
+                6.18
+            ]
+        ]
+    ],
+    "agent_attributes": [
+        [
+            5.15,
+            2.43,
+            1.96,
+            "car"
+        ],
+        [
+            1.2,
+            1.51,
+            null,
+            "pedestrian"
+        ],
+        [
+            5.11,
+            2.17,
+            1.94,
+            "car"
+        ],
+        [
+            1.16,
+            1.41,
+            null,
+            "pedestrian"
+        ],
+        [
+            5.18,
+            2.22,
+            1.97,
+            "car"
+        ],
+        [
+
+        ],
+        [
+            "pedestrian"
+        ]
+    ],
+    "traffic_light_state_history": null,
+    "get_birdview": true,
+    "get_infractions": true,
+    "random_seed": null,
+    "location_of_interest": null
+}

invertedai_cpp/invertedai/BUILD

@@ -4,6 +4,9 @@ cc_library(
     name = "data_utils",
     srcs = ["data_utils.cc"],
     hdrs = ["data_utils.h"],
+    deps = [
+    "//invertedai/externals:json",
+    ],
 )
 
 cc_library(

invertedai_cpp/invertedai/blame_request.cc

@@ -1,6 +1,7 @@
 #include "blame_request.h"
 
 #include "externals/json.hpp"
+#include <iostream>
 
 using json = nlohmann::json;
 
@@ -28,12 +29,7 @@ BlameRequest::BlameRequest(const std::string &body_str) {
   }
   this->agent_attributes_.clear();
   for (const auto &element : this->body_json_["agent_attributes"]) {
-    AgentAttributes agent_attribute = {
-      element[0], 
-      element[1], 
-      element[2], 
-      element[3]
-    };
+    AgentAttributes agent_attribute(element);
     this->agent_attributes_.push_back(agent_attribute);
   }
   if (this->body_json_["traffic_light_state_history"].is_null()) {
@@ -85,12 +81,7 @@ void BlameRequest::refresh_body_json_() {
   }
   this->body_json_["agent_attributes"].clear();
   for (const AgentAttributes &agent_attribute : this->agent_attributes_) {
-    json element = {
-      agent_attribute.length, 
-      agent_attribute.width,
-      agent_attribute.rear_axis_offset,
-      agent_attribute.agent_type
-    };
+    json element = agent_attribute.toJson();
     this->body_json_["agent_attributes"].push_back(element);
   }
   if (this->traffic_light_state_history_.has_value()) {