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from enum import Enum
from typing import Dict, List, NamedTuple, Optional, Sequence, Tuple, Union
from smarts.core.events import Events
[docs]class TrafficActorType(str, Enum):
"""Traffic actor type information to help distinguish actors from each other."""
SocialVehicle = "social_vehicle"
SocialAgent = "social_agent"
Agent = "agent"
[docs]class VehicleType(str, Enum):
"""Vehicle classification type information."""
Bus = "bus"
Coach = "coach"
Truck = "truck"
Trailer = "trailer"
Car = "car"
Motorcycle = "motorcycle"
Pedestrian = "pedestrian"
[docs]class TrafficActorState(NamedTuple):
"""Individual traffic actor state and meta information."""
actor_type: TrafficActorType
vehicle_type: Union[VehicleType, str] # TODO: Restrict to VehicleType only
position: Tuple[float, float, float]
heading: float
speed: float
name: str = ""
actor_id: Optional[str] = None
events: Events = None
waypoint_paths: Sequence = []
driven_path: Sequence[Tuple[float, float]] = []
point_cloud: Sequence = []
mission_route_geometry: Sequence[Sequence[Tuple[float, float]]] = None
lane_id: Optional[str] = None
interest: bool = False
[docs]class SignalLightState(str, Enum):
"""Possible states for an individual traffic signal light."""
# TODO: add flashing and arrow states too...
Unknown = "unknown"
Off = "off"
Stop = "stop"
Caution = "caution"
Go = "go"
[docs]class SignalState(NamedTuple):
"""State for an individual traffic signal and meta information."""
signal_id: str
signal_light_state: SignalLightState
signal_position: Tuple[float, float, float]
[docs]class State(NamedTuple):
"""A full representation of a single frame of an envision simulation step."""
traffic: Dict[str, TrafficActorState]
signals: Dict[str, SignalState]
scenario_id: str
scenario_name: str
# sequence of x, y coordinates
bubbles: Sequence[Sequence[Tuple[float, float]]]
scores: Dict[str, float]
ego_agent_ids: List[str]
frame_time: float
[docs]class Preamble(NamedTuple):
"""Information for startup and synchronization between client and server."""
scenarios: Sequence[str]
"""Directories of simulated scenarios."""