Smarts

Added
- Added `get_vehicle_start_time()` method for scenarios with traffic history data. See Issue 1210.
Changed
- If more than one qualifying map file exists in a the `map_spec.source` folder, `get_road_map()` in `default_map_builder.py` will prefer to return the default files (`map.net.xml` or `map.xodr`) if they exist.
- Moved the `smarts_ros` ROS node from the `examples` area into the `smarts.ros` module so that it can be distributed with SMARTS packages.
- Use `Process` to replace `Thread` to speed up the `scl scenario build-all --clean <scenario_dir>` runtime.
Deprecated
Fixed
- Fixed a secondary exception that the `SumoTrafficSimulation` will throw when attempting to close a TraCI connection that is closed by an error.
Removed
Security

Added
- Added Minimum FrameRate tests to measure the fps for `smart.step()` method. See Issue 455.
- Added a ROS wrapper/driver example to wrap SMARTS in a ROS (v1) node.
- Added the ability to pass an optional `time_delta_since_last_step` to SMARTS' `step()` function
to support variable timesteps for co-simulation.
- Added `step_count` and `elapsed_sim_time` to the `Observation` class. See PR 974 and Issues 884 and 918.
- Added `dt` to `Observation` class to inform users of the observations of the variable timestep.
- Added the ability to externally update SMARTS state via a new privileged-access `ExternalProvider`.
- Allow specifying "-latest" as a version suffix for zoo locator strings.
- Added Base CI and dependencies requirement tests for the "darwin" platform (MacOS).
- Extended Imitation Learning codebase to allow importing traffic histories from the Waymo motion dataset and replay in a SMARTS simulation. See PR 1060.
- Added options for dealing with noise when inferring headings while importing traffic history data. See PR 1219.
- Added `ros` extension rule to `setup.py`.
- Added a script to allow users to hijack history vehicles dynamically through a trigger event. See PR 1088.
- Added a `-y` option to `utils/setup/install_deps.sh` to accept installation by default. See issue 1081.
- Added `ParallelEnv` class and a corresponding example to simulate multiple SMARTS environments in parallel, with synchronous or asynchronous episodes.
- Added `smarts.core.utils.import_utils` to help with the dynamic import of modules.
- Added `single_agent` env wrapper and unit test. The wrapper converts a single-agent SMARTS environment's step and reset output to be compliant with gym spaces.
- Added `rgb_image` env wrapper and unit test. The wrapper filters SMARTS environment observation and returns only top-down RGB image as observation.
- Extended the `RoadMap` API to support `OpenDRIVE` map format in `smarts/core/opendrive_road_network.py`. Added 3 new scenarios with `OpenDRIVE` maps. See PR 1186.
- Added a "ReplayAgent" wrapper to allow users to rerun an agent previously run by saving its configurations and inputs. See Issue 971.
- Added `smarts.core.provider.ProviderRecoveryFlags` as flags to determine how `SMARTS` should handle failures in providers. They are as follows:
- `NOT_REQUIRED`: Not needed for the current step. Error causes skip of provider if it should recover but cannot or should not recover.
- `EPISODE_REQUIRED`: Needed for the current episode. Results in episode ending if it should recover but cannot or should not recover.
- `EXPERIMENT_REQUIRED`: Needed for the experiment. Results in exception if it should recover but cannot or should not recover.
- `ATTEMPT_RECOVERY`: Provider should attempt to recover from the exception or disconnection.
- Added recovery options for providers in `smarts.core.provider.Provider`. These include:
- Add `recover()` method to providers to attempt to recover from errors and disconnection.
- Add `connected` property to providers to check if the provider is still connected.
- Added recovery options to `smarts.core.smarts.SMARTS.add_provider()`
- Add `recovery_flags` argument to configure the recovery options if the provider disconnects or throws an exception.
- Added `driving_in_traffic` reinforcement learning example. An ego agent is trained using DreamerV2 to drive as far and as fast as possible in heavy traffic, without colliding or going off-road.
- Added `smarts.core.smarts.SMARTSDestroyedError` which describes use of a destroyed `SMARTS` instance.
Changed
- `test-requirements` github action job renamed to `check-requirements-change` and only checks for requirements changes without failing.
- Moved examples tests to `examples` and used relative imports to fix a module collision with `aiohttp`'s `examples` module.
- Made changes to log sections of the scenario step in `smarts.py` to help evaluate smarts performance problems. See Issue 661.
- Introducted `RoadMap` class to abstract away from `SumoRoadNetwork`
and allow for (eventually) supporting other map formats. See Issue 830 and PR 1048.
This had multiple cascading ripple effects (especially on Waypoint generation and caching,
Missions/Plans/Routes and road/lane-related sensors). These include:
- Removed the `AgentBehavior` class and the `agent_behavior` parameter to `AgentInterface`.
- Moved the definition of `Waypoint` from `smarts.core.mission_planner` to `smarts.core.road_map`.
- Moved the definition of `Mission` and `Goal` classes from `smarts.core.scenario` to `smarts.core.plan`.
- Added `MapSpec` to the SStudio DSL types and introduced a simple builder pattern for creating `RoadMap` objects.
- Changed the type hint for `EgoVehicleObservation`: it returns a numpy array (and always has).
- Raised a warning message for building scenarios without `map.net.xml` file. See PR 1161.
- Updated `smarts/env/hiway_env.py` to support `OpenDRIVE` maps so that the `SMARTS` object is instantiated without the `SUMO` traffic provider and social agents. See PR 1215.
- Public `SMARTS` methods will throw `smarts.core.smarts.SMARTSDestroyedError` if `SMARTS.destroy()` has previously been called on the `SMARTS` instance.
Fixed
- Fix lane vector for the unique cases of lane offset >= lane's length. See PR 1173.
- Logic fixes to the `_snap_internal_holes` and `_snap_external_holes` methods in `smarts.core.sumo_road_network.py` for crude geometry holes of sumo road map. Re-adjusted the entry position of vehicles in `smarts.sstudio.genhistories.py` to avoid false positive events. See PR 992.
- Prevent `test_notebook.ipynb` cells from timing out by increasing time to unlimited using `/metadata/execution/timeout=65536` within the notebook for regular uses, and `pytest` call with `--nb-exec-timeout 65536` option for tests. See for more details: "https://jupyterbook.org/content/execute.html#setting-execution-timeout" and "https://pytest-notebook.readthedocs.io/en/latest/user_guide/tutorial_intro.html#pytest-fixture".
- Stop `multiprocessing.queues.Queue` from throwing an error by importing `multiprocessing.queues` in `envision/utils/multiprocessing_queue.py`.
- Prevent vehicle insertion on top of ignored social vehicles when the `TrapManager` defaults to emitting a vehicle for the ego to control. See PR 1043
- Prevent `TrapManager`from trapping vehicles in Bubble airlocks. See Issue 1064.
- Social-agent-buffer is instantiated only if the scenario requires social agents
- Mapped Polygon object output of Route.geometry() to sequence of coordinates.
- Updated deprecated Shapely functionality.
- Fixed the type of `position` (pose) fields emitted to envision to match the existing type hints of `tuple`.
- Properly detect whether waypoint is present in mission route, while computing distance travelled by agents with missions in TripMeterSensor.
- Fixed `test_notebook` timeout by setting `pytest --nb-exec-timeout 65536`.
Deprecated
- The `timestep_sec` property of SMARTS is being deprecated in favor of `fixed_timesep_sec`
for clarity since we are adding the ability to have variable time steps.
Removed
- Remove `ray_multi_instance` example when running `make sanity-test`
- Removed deprecated fields from `AgentSpec`: `policy_builder`, `policy_params`, and `perform_self_test`.
- Removed deprecated class `AgentPolicy` from `agent.py`.
- Removed `route_waypoints` attribute from `smarts.core.sensors.RoadWaypoints`.

Added
- Dockerfile for headless machines.
- Singularity definition file and instructions to build/run singularity containers.
- Support multiple outgoing edges from SUMO maps.
- Added a Cross RL Social Agent in `zoo/policies` as a concrete training examples. See PR 700.
- Made `Ray` and its module `Ray[rllib]` optional as a requirement/dependency to setup SMARTS. See Issue 917.
Fixed
- Suppress messages in docker containers from missing `/dev/input` folder.
- When code runs on headless machine, panda3d will fallback to using `p3headlessgl` option to render images without requiring X11.
- Fix the case where mapping a blank repository to the docker container `/src` directory via `-v $SMARTS_REPO/src` as directed in the `README` will cause `scl` and other commands to not work.
- Fix case where multiple outgoing edges could cause non-determinism.

Added
- Added `ActionSpace.Imitation` and a controller to support it. See Issue 844.
- Added a `TraverseGoal` goal for imitation learning agents. See Issue 848.
- Added `README_pypi.md` to update to the general user installation PyPI instructions. See Issue 828.
- Added a new utility experiment file `cli/run.py` to replace the context given by `supervisord.conf`. See PR 911.
- Added `scl zoo install` command to install zoo policy agents at the specified paths. See Issue 603.
- Added a `FrameStack` wrapper which returns stacked observations for each agent.
Changed
- `history_vehicles_replacement_for_imitation_learning.py` now uses new Imitation action space. See Issue 844.
- Updated and removed some package versions to ensure that Python3.8 is supported by SMARTS. See issue 266.
- Refactored `Waypoints` into `LanePoints` (static, map-based) and `Waypoints` (dynamic). See Issue 829.
- Vehicles with a `BoxChassis` can now use an `AccelerometerSensor` too.
- When importing NGSIM history data, vehicle speeds are recomputed.
- Allow custom sizes for agent vehicles in history traffic missions.
- Refactored the top level of the SMARTS module to make it easier to navigate the project and understand its structure. See issue 776.
- Made Panda3D and its modules optional as a requirement/dependencies to setup SMARTS. See Issue 883.
- Updated the `Tensorflow` version to `2.2.1` for rl-agent and bump up its version to `1.0`. See Issue 211.
- Made `Ray` and its module `Ray[rllib]` optional as a requirement/dependency to setup SMARTS. See Issue 917.
- Added an error if a `SMARTS` instance reaches program exit without a manual `del` of the instance or a call to `SMARTS.destroy()`.
Fixed
- Allow for non-dynamic action spaces to have action controllers. See PR 854.
- Fix a minor bug in `sensors.py` which triggered `wrong_way` event when the vehicle goes into an intersection. See Issue 846.
- Limited the number of workers SMARTS will use to establish remote agents so as to lower memory footprint.
- Patched a restart of SUMO every 50 resets to avoid rampant memory growth.
- Fix bugs in `AccelerometerSensor`. See PR 878.
- Ensure that `yaw_rate` is always a scalar in `EgoVehicleObservation`.
- Fix the internal holes created at sharp turns due to crude map geometry. See issue 900.
- Fixed an args count error caused by `websocket.on_close()` sending a variable number of args.
- Fixed the multi-instance display of `envision`. See Issue 784.
- Caught abrupt terminate signals, in order to shutdown zoo manager and zoo workers.
- Include tire model in package by moving `tire_parameters.yaml` from `./examples/tools` to `./smarts/core/models`. See Issue 1140
- Fixed an issue where `SMARTS.destroy()` would still cause `SMARTS.__del__()` to throw an error at program exit.
Removed
- Removed `pview` from `make` as it refers to `.egg` file artifacts that we no longer keep around.
- Removed `supervisord.conf` and `supervisor` from dependencies and requirements. See Issue 802.

Added
- Added `sanity-test` script and asked new users to run `sanity-test` instead of `make test` to ease the setup
process
- Added `on_shoulder` as part of events in observation returned from each step of simulation
- Added description of map creation and how to modify the map to allow users to create their own traffic routes in docs
- Added reference to SMARTS paper in front page of docs
- Only create `Renderer` on demand if vehicles are using camera-based sensors. See issue 725.
- Added glb models for pedestrians and motorcycles
- Added `near realtime` mode and `uncapped` mode in Envision
- Added `--allow-offset-map` option for `scl scenario build` to prevent auto-shifting of Sumo road networks
- Added options in `DoneCriteria` to trigger ego agent to be done based on other agent's done situation
Changed
- Refactored SMARTS class to not inherit from Panda3D's ShowBase; it's aggregated instead. See issue 597.
- Updated imitation learning examples.
Fixed
- Fixed the bug of events such as off_road not registering in observation when off_road is set to false in DoneCriteria
- Fixed Sumo road network offset bug for shifted maps. See issue 716.
- Fixed traffic generation offset bug for shifted maps. See issue 790.
- Fixed bugs in traffic history and changed interface to it. See issue 732.
- Update `ego_open_agent` to use the package instead of the zoo directory version.
- Quieted error logs generated by failed Envision connections as well as noisy pybullet log messages. See issue 819.
- Removed all coverage files created during make test. See issue 826.
- Removed scenarios and examples modules from pip installation. See issue 833.

Added
- This CHANGELOG as a change log to help keep track of changes in the SMARTS project that can get easily lost.
- Hosted Documentation on `readthedocs` and pointed to the smarts paper and useful parts of the documentation in the README.
- Running imitation learning will now create a cached `history_mission.pkl` file in scenario folder that stores
the missions for all agents.
- Added ijson as a dependency.
- Added `cached-property` as a dependency.
Changed
- Lowered CPU cost of waypoint generation. This will result in a small increase in memory usage.
- Set the number of processes used in `make test` to ignore 2 CPUs if possible.
- Use the dummy OpEn agent (open-agent version 0.0.0) for all examples.
- Improved performance by removing unused traffic light functionality.
- Limit the memory use of traffic histories by incrementally loading the traffic history file with a worker process.
Fixed
- In order to avoid precision issues in our coordinates with big floating point numbers, we now initially shift road networks (maps) that are offset back to the origin using [netconvert](https://sumo.dlr.de/docs/netconvert.html). We adapt Sumo vehicle positions to take this into account to allow Sumo to continue using the original coordinate system. See Issue #325. This fix will require all scenarios to be rebuilt (`scl scenario build-all --clean ./scenarios`).
- Cleanly close down the traffic history provider thread. See PR 665.
- Improved the disposal of a SMARTS instance. See issue 378.
- Envision now resumes from current frame after un-pausing.
- Skipped generation of cut-in waypoints if they are further off-road than SMARTS currently supports to avoid process crash.
- Fix envision error 15 by cleanly shutting down the envision worker process.

[Format] - 2021-03-12
Added
– Describe any new features that have been added since the last version was released.
Changed
– Note any changes to the software’s existing functionality.
Deprecated
– Note any features that were once stable but are no longer and have thus been scheduled for removal.
Fixed
– List any bugs or errors that have been fixed in a change.
Removed
– Note any features that have been deleted and removed from the software.
Security
– Invite users to upgrade and avoid fixed software vulnerabilities.

[Version] - XXXX-XX-XX
Added
Changed
Deprecated
Fixed
Removed
Security