add cpp client initialize tests

Author: rf-ivtdai

invertedai_cpp/examples/BUILD

@@ -44,4 +44,32 @@ 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",
+    ],
+    deps = [
+        "//invertedai:api",
+        "@boost//:beast",
+        "@opencv",
+    ],
 )

invertedai_cpp/examples/drive_tests.cc

@@ -1,8 +1,8 @@
 {
-    "location": "iai:ubc_roundabout",
+    "location": "carla:Town03",
     "num_agents_to_spawn": 10,
     "states_history": null,
-    "agent_attributes": [[], []],
+    "agent_attributes": null,
     "traffic_light_state_history": null,
     "get_birdview": false,
     "get_infractions": false,

invertedai_cpp/examples/initialize_body.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_sampling_with_types.json

@@ -0,0 +1,67 @@
+#include <cstdlib>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+#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) {
+  try {
+    const std::string location(argv[1]);
+    const int agent_num = std::stoi(argv[2]);
+    const std::string api_key(argv[3]);
+
+    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();
+
+    // construct request for getting information about the location
+    invertedai::LocationInfoRequest loc_info_req(invertedai::read_file("examples/location_info_body.json"));
+    loc_info_req.set_location(location);
+
+    // get response of location information
+    invertedai::LocationInfoResponse loc_info_res = invertedai::location_info(loc_info_req, &session);
+
+    // use opencv to decode and save the bird's eye view image of the simulation
+    auto image = cv::imdecode(loc_info_res.birdview_image(), cv::IMREAD_COLOR);
+    cv::cvtColor(image, image, cv::COLOR_BGR2RGB);
+    int frame_width = image.rows;
+    int frame_height = image.cols;
+    cv::VideoWriter video(
+      "initialize_test_run.avi",
+      cv::VideoWriter::fourcc('M', 'J', 'P', 'G'),
+      10,
+      cv::Size(frame_width, frame_height)
+    );
+
+    // construct request for initializing the simulation (placing NPCs on the
+    // map)
+    invertedai::InitializeRequest init_req(invertedai::read_file("examples/initialize_with_states_and_attributes.json"));
+    // set the location
+    init_req.set_location(location);
+    // set the number of agents
+    init_req.set_num_agents_to_spawn(agent_num);
+    // get the response of simulation initialization
+    invertedai::InitializeResponse init_res = invertedai::initialize(init_req, &session);
+
+    image = cv::imdecode(init_res.birdview(), cv::IMREAD_COLOR);
+    cv::cvtColor(image, image, cv::COLOR_BGR2RGB);
+    video.write(image);
+    video.release();
+  } catch (std::exception const &e) {
+    std::cerr << "Error: " << e.what() << std::endl;
+    return EXIT_FAILURE;
+  }
+  return EXIT_SUCCESS;
+}

invertedai_cpp/examples/initialize_tests.cc

@@ -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
+}