Merge branch 'master' into tucker/feature-gpu-images

.github/workflows/ci-auto-commit-linux.yml

@@ -24,7 +24,7 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Install SMARTS

.github/workflows/ci-auto-commit-mac.yml

@@ -11,20 +11,20 @@ env:
 
 jobs:
   auto-commit-mac:
-    runs-on: macos-11
+    runs-on: macos-12
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: "3.8"
+          python-version: "3.9"
       - name: Update requirements
         run: |
           cd $GITHUB_WORKSPACE
-          python3.8 -m venv ${{env.venv_dir}}
+          python3.9 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4

.github/workflows/ci-base-tests-linux.yml

@@ -23,7 +23,7 @@ jobs:
           - ./examples/tests/test_examples.py
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Install dependencies
         run: |
           python3.8 -m venv ${{env.venv_dir}}
@@ -65,6 +65,7 @@ jobs:
             --ignore=./smarts/core/tests/test_smarts_memory_growth.py \
             --ignore=./smarts/core/tests/test_env_frame_rate.py \
             --ignore=./smarts/env/tests/test_benchmark.py \
+            --ignore=./smarts/core/utils/tests/test_traci_port_acquisition.py \
             -k 'not test_long_determinism'
 
   examples-rl:
@@ -78,7 +79,7 @@ jobs:
           - e11_platoon
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Install dependencies
         run: |
           cd ${GITHUB_WORKSPACE}/examples/${{matrix.tests}}
@@ -110,7 +111,7 @@ jobs:
           - e11_platoon
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Install dependencies
         run: |
           cd ${GITHUB_WORKSPACE}

.github/workflows/ci-base-tests-mac.yml

@@ -12,7 +12,7 @@ env:
 
 jobs:
   base-tests-mac:
-    runs-on: macos-11
+    runs-on: macos-12
     strategy:
       matrix:
         tests:
@@ -26,15 +26,13 @@ jobs:
           - ./smarts/ray
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
-      - name: Setup Python
-        run: |
-          brew update
-          brew install [email protected]
-          brew unlink [email protected]
-          brew link --force --overwrite [email protected]
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.9"
       - name: Setup SUMO
         run: |
           brew install xquartz
@@ -43,7 +41,7 @@ jobs:
           brew install geos
       - name: Install dependencies
         run: |
-          python3.8 -m venv ${{env.venv_dir}}
+          python3.9 -m venv ${{env.venv_dir}}
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
@@ -71,4 +69,5 @@ jobs:
             --ignore=./smarts/core/tests/test_renderers.py \
             --ignore=./smarts/core/tests/test_smarts.py \
             --ignore=./smarts/core/tests/test_env_frame_rate.py \
-            --ignore=./smarts/core/tests/test_observations.py
+            --ignore=./smarts/core/tests/test_observations.py \
+            --ignore=./smarts/core/utils/tests/test_traci_port_acquisition.py

.github/workflows/ci-format.yml

@@ -12,7 +12,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Check header
         run: |
           cd $GITHUB_WORKSPACE
@@ -24,7 +24,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Check docstring
         run: |
           cd $GITHUB_WORKSPACE
@@ -51,7 +51,7 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Install SMARTS
@@ -85,7 +85,7 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Install Enchant
@@ -123,7 +123,7 @@ jobs:
       - name: Add safe directory
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Install SMARTS with all extras and check for conflicts

.github/workflows/ci-pull-request.yml

@@ -14,7 +14,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Setup package
         run: |
           cd $GITHUB_WORKSPACE

.github/workflows/ci-python-version-test.yml

@@ -15,7 +15,7 @@ jobs:
       matrix:
         python-version: ['3.8', '3.9', '3.10', '3.11']
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v4
         with:

.github/workflows/ci-test-learning.yml

@@ -17,7 +17,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Setup package

.github/workflows/ci-test-long-determinism.yml

@@ -17,7 +17,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Setup package

.github/workflows/ci-test-memory-growth.yml

@@ -17,7 +17,7 @@ jobs:
     container: ghcr.io/smarts-project/smarts:v0.6.1-minimal
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           ref: master
       - name: Setup package

CHANGELOG.md

@@ -16,6 +16,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Default vehicle definitions can be now modified using `assets:default_vehicle_definitions_list`/`SMARTS_ASSSETS_DEFAULT_VEHICLE_DEFINITIONS_LIST` or by providing a `vehicle_definitions_list.yaml` in the scenario. These vehicle types are related to the `AgentInterface.vehicle_type` attribute.
 - New `CustomRender` agent interface option added. This allows using `glsl` fragment scripts to generate images from camera textures and simulation buffers.
 - New `ObfuscationMap` agent interface option added. This uses the `OccupancyGridMap` to help generate an image of ground viewable area from the ego vehicle's perspective.
+- There is now a centralized `TraCI` server mananger that can be used to prevent port collisions. It can be run using `python smarts.core.utils.sumo_server` and the use of the server can be enabled with `SMARTS_SUMO_TRACI_SERVE_MODE="central"`.
 ### Changed
 - `VehicleIndex.build_agent_vehicle()` no longer has `filename` and `surface_patches` parameters.
 - The following modules have been renamed: `envision.types` -> `envision.etypes`, `smarts.core.utils.logging` -> `smarts.core.utils.core_logging`, `smarts.core.utils.math` -> `smarts.core.utils.core_math`, `smarts.sstudio.types` -> `smarts.sstudio.sstypes`. For compatibility reasons they can still be imported by their original module name.
@@ -42,6 +43,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Deprecated a few things related to vehicles in the `Scenario` class, including the `vehicle_filepath`, `tire_parameters_filepath`, and `controller_parameters_filepath`. The functionality is now handled through the vehicle definitions.
 - `AgentInterface.vehicle_type` is now deprecated with potential to be restored.
 ### Fixed
+- The performance of SUMO roadmap queries using `SumoRoadNetwork.{nearest_lanes|nearest_lane|offset_along_lane}()` have been greatly improved for long lanes.
 - `SumoTrafficSimulation` gives clearer reasons as to why it failed to connect to the TraCI server.
 - Suppressed an issue where `pybullet_utils.pybullet.BulletClient` would cause an error because it was catching a non `BaseException` type.
 - Fixed a bug where `smarts.core.vehicle_index.VehicleIndex.attach_sensors_to_vehicle()` would pass a method instead of a `PlanFrame` to the generated vehicle `SensorState`.
@@ -65,6 +67,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Fixed a bug where vehicle sensor meta attributes would reference the wrong vehicle.
 - Resolved issue with road waypoints not showing waypoints if the horizon was larger than the start of the lane.
 - Fixed an issue where `SMARTS.reset()` would be unable to render cameras.
+- Squashed TraCI "retrying" stdout messages.
 ### Removed
 ### Security
 

docs/conf.py

@@ -42,8 +42,8 @@
     "sphinx.ext.viewcode",  # link to sourcecode from docs
     "sphinx_rtd_theme",  # Read The Docs theme
     "sphinx_click",  # extract documentation from a `click` application
-    "sphinxcontrib.apidoc",
-    "sphinxcontrib.spelling",
+    "sphinxcontrib.apidoc",  # automatically document the API
+    "sphinxcontrib.spelling",  # check documentation for spelling
 ]
 
 extlinks = {

docs/ecosystem/sumo.rst

@@ -13,6 +13,35 @@ SMARTS currently directly installs SUMO version >=1.15.0 via `pip`.
 
 Alternative installation methods, albeit more difficult, are described below.
 
+Centralized TraCI management
+----------------------------
+.. _centralized_traci_management:
+
+With the default behaviour each SMARTS instance will attempt to ask the operating system
+    for a port to generate a ``TraCI`` server on which can result in cross-connection of SMARTS and ``TraCI`` server instances.
+
+.. code-block:: bash
+
+    ## console 1 (or in background OR on remote machine)
+    # Run the centralized sumo port management server.
+    # Use `export SMARTS_SUMO_CENTRAL_PORT=62232` or `--port=62232`
+    $ python -m smarts.core.utils.centralized_traci_server
+
+By setting ``SMARTS_SUMO_TRACI_SERVE_MODE`` to ``"central"`` SMARTS will use the ``TraCI`` management server.
+
+.. code-block:: bash
+
+    ## console 2
+    ## Set environment variable to switch to the server.
+    # This can also be set in the engine configuration.
+    $ export SMARTS_SUMO_TRACI_SERVE_MODE=central
+    ## Optional configuration
+    # export SMARTS_SUMO_CENTRAL_HOST=localhost
+    # export SMARTS_SUMO_CENTRAL_PORT=62232
+    ## do run
+    $ python experiment.py
+
+
 Package managers
 ----------------
 

docs/resources/faq.rst

@@ -31,9 +31,13 @@ This is a list of frequently asked questions.  Feel free to suggest new entries!
         # Do as needed:
         $ sudo /usr/bin/Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config /etc/X11/xorg.conf $DISPLAY &
 
+
     Note that ``mesa-utils`` installs ``llvm``, which is one option out of several that emulate ``OpenGL`` using software. ``llvm`` is not needed if a GPU is available.
 
 4. Custom rendering and Obfuscation maps show completely blank. (Ubuntu)
     This is due to needing ``OpenGL`` to render using scripts. If you have a GPU make sure ``OpenGL`` is installed and the GPU has the necessary drivers for rendering. 
 
     See the previous question if you need software rendering.
+
+5. The simulation keeps crashing on connection in ``SumoTrafficSimulation``. How do I fix this?
+    This is likely due to using large scale parallelization. You will want to use the centralized management server. See :ref:`centralized_traci_management`.

docs/spelling_wordlist.txt

@@ -75,6 +75,7 @@ superclass
 terminateds
 timestep
 Todo
+TraCI
 travelled
 truncateds
 unassociated

examples/e4_environment_config.py

@@ -8,7 +8,7 @@
 from tools.argument_parser import empty_parser
 
 from smarts.core.agent_interface import AgentInterface, AgentType
-from smarts.core.utils.string import truncate
+from smarts.core.utils.strings import truncate
 from smarts.env.configs.hiway_env_configs import EnvReturnMode
 from smarts.env.gymnasium.hiway_env_v1 import HiWayEnvV1
 from smarts.env.utils.action_conversion import ActionOptions

examples/tools/sumo_multi_clients.py

@@ -3,7 +3,7 @@
 import threading
 import time
 
-from smarts.core.utils.sumo import SUMO_PATH, sumolib, traci
+from smarts.core.utils.sumo_utils import SUMO_PATH, sumolib, traci
 
 PORT = 8001