added autonomous_agent base class

srunner/autoagents/autonomous_agent.py

@@ -0,0 +1,100 @@
+#!/usr/bin/env python
+
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+"""
+This module provides the base class for all autonomous agents
+"""
+
+from __future__ import print_function
+
+
+from srunner.tools.route_manipulation import downsample_route
+
+
+class AutonomousAgent(object):
+    """
+    Autonomous agent base class. All user agents have to be derived from this class
+    """
+
+    def __init__(self, path_to_conf_file):
+        #  current global plans to reach a destination
+        self._global_plan = None
+        self._global_plan_world_coord = None
+
+        # this data structure will contain all sensor data
+        # self.sensor_interface = SensorInterface()
+
+        # agent's initialization
+        self.setup(path_to_conf_file)
+
+    def setup(self, path_to_conf_file):
+        """
+        Initialize everything needed by your agent and set the track attribute to the right type:
+        """
+        pass
+
+    def sensors(self):  # pylint: disable=no-self-use
+        """
+        Define the sensor suite required by the agent
+
+        :return: a list containing the required sensors in the following format:
+
+        [
+            {'type': 'sensor.camera.rgb', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
+                      'width': 300, 'height': 200, 'fov': 100, 'id': 'Left'},
+
+            {'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
+                      'width': 300, 'height': 200, 'fov': 100, 'id': 'Right'},
+
+            {'type': 'sensor.lidar.ray_cast', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0,
+             'id': 'LIDAR'}
+        ]
+
+        """
+        sensors = []
+
+        return sensors
+
+    def run_step(self):
+        """
+        Override
+        Execute one step of navigation.
+        :return: control
+        """
+        return
+
+    def destroy(self):
+        """
+        Destroy (clean-up) the agent
+        :return:
+        """
+        pass
+
+    def __call__(self):
+        """
+        Execute the agent call, e.g. agent()
+        Returns the next vehicle controls
+        """
+        # no need for any of this, handled by autoware
+        # input_data = self.sensor_interface.get_data()
+
+        # timestamp = GameTime.get_time()
+        # wallclock = GameTime.get_wallclocktime()
+        # print('======[Agent] Wallclock_time = {} / Sim_time = {}'.format(wallclock, timestamp))
+        # control.manual_gear_shift = False
+
+        self.run_step()
+
+    def set_global_plan(self, global_plan_gps, global_plan_world_coord):
+        """
+        Set the plan (route) for the agent
+        """
+
+        ds_ids = downsample_route(global_plan_world_coord, 1)
+        self._global_plan_world_coord = [
+            (global_plan_world_coord[x][0], global_plan_world_coord[x][1])
+            for x in ds_ids
+        ]
+        self._global_plan = [global_plan_gps[x] for x in ds_ids]