Sim info dict

donkeycar/parts/datastore.py

@@ -222,7 +222,7 @@ def put_record(self, data):
                 # in case val is a numpy.float32, which json doesn't like
                 json_data[key] = float(val)
 
-            elif typ in ['str', 'float', 'int', 'boolean', 'vector']:
+            elif typ in ['str', 'float', 'int', 'boolean', 'vector', 'dict']:
                 json_data[key] = val
 
             elif typ is 'image':

donkeycar/parts/dgym.py

@@ -27,6 +27,7 @@ def __init__(self, sim_path, host="127.0.0.1", port=9091, headless=0, env_name="
         self.action = [0.0, 0.0]
         self.running = True
         self.info = { 'pos' : (0., 0., 0.)}
+
         self.delay = float(delay)
 
         if "body_style" in conf:
@@ -52,5 +53,23 @@ def shutdown(self):
         time.sleep(0.2)
         self.env.close()
 
+class DonkeyGymEnvWithInfo(DonkeyGymEnv):
+    """ This subclass will return the Simulator's info dictionary along with the current image.
+        The info dictionary will include the reward and done flags.
+    """
+    def __init__(self, *args, **kwargs):
+        # only allow known json-able entries from the sim's info dictionary
+        self.valid = ['pos', 'cte', 'speed', 'hit']
+
+        super(DonkeyGymEnvWithInfo,self).__init__(*args, **kwargs)
+
+    def update(self):
+        while self.running:
+            self.frame, reward, done, info = self.env.step(self.action)
+            self.info = {key: info[key] for key in info if key in self.valid}
+            self.info['reward'] = reward
+            self.info['done'] = done
 
-
+    def run_threaded(self, steering, throttle):
+        super(DonkeyGymEnvWithInfo,self).run_threaded(steering, throttle)
+        return self.frame, self.info

donkeycar/templates/cfg_complete.py

@@ -223,6 +223,7 @@
 GYM_CONF = { "body_style" : "donkey", "body_rgb" : (128, 128, 128), "car_name" : "me", "font_size" : 100} # body style(donkey|bare|car01) body rgb 0-255
 SIM_HOST = "127.0.0.1"              # when racing on virtual-race-league use host "trainmydonkey.com"
 SIM_ARTIFICIAL_LATENCY = 0          # this is the millisecond latency in controls. Can use useful in emulating the delay when useing a remote server. values of 100 to 400 probably reasonable.
+DONKEY_GYM_INFO = False             # Include Sim info dict when saving Tub files.
 
 #publish camera over network
 #This is used to create a tcp service to pushlish the camera feed

donkeycar/templates/cfg_path_follow.py

@@ -109,3 +109,4 @@
 DONKEY_GYM = False
 DONKEY_SIM_PATH = "path to sim" #"/home/tkramer/projects/sdsandbox/sdsim/build/DonkeySimLinux/donkey_sim.x86_64"
 DONKEY_GYM_ENV_NAME = "donkey-generated-track-v0" # ("donkey-generated-track-v0"|"donkey-generated-roads-v0"|"donkey-warehouse-v0"|"donkey-avc-sparkfun-v0")
+DONKEY_GYM_INFO = False             # Include Sim info dict when saving Tub files.

donkeycar/templates/complete.py

@@ -103,10 +103,15 @@ def drive(cfg, model_path=None, use_joystick=False, model_type=None, camera_type
             from donkeycar.parts.dgym import DonkeyGymEnv 
 
         inputs = []
+        outputs=['cam/image_array']
         threaded = True
         if cfg.DONKEY_GYM:
-            from donkeycar.parts.dgym import DonkeyGymEnv 
-            cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, host=cfg.SIM_HOST, env_name=cfg.DONKEY_GYM_ENV_NAME, conf=cfg.GYM_CONF, delay=cfg.SIM_ARTIFICIAL_LATENCY)
+            from donkeycar.parts.dgym import DonkeyGymEnv, DonkeyGymEnvWithInfo
+            if cfg.DONKEY_GYM_INFO:
+                outputs.append( 'sim/info' )
+                cam = DonkeyGymEnvWithInfo(cfg.DONKEY_SIM_PATH, host=cfg.SIM_HOST, env_name=cfg.DONKEY_GYM_ENV_NAME, conf=cfg.GYM_CONF, delay=cfg.SIM_ARTIFICIAL_LATENCY)
+            else:
+                cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, host=cfg.SIM_HOST, env_name=cfg.DONKEY_GYM_ENV_NAME, conf=cfg.GYM_CONF, delay=cfg.SIM_ARTIFICIAL_LATENCY)
             threaded = True
             inputs = ['angle', 'throttle']
         elif cfg.CAMERA_TYPE == "PICAM":
@@ -130,7 +135,7 @@ def drive(cfg, model_path=None, use_joystick=False, model_type=None, camera_type
         else:
             raise(Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))
 
-        V.add(cam, inputs=inputs, outputs=['cam/image_array'], threaded=threaded)
+        V.add(cam, inputs=inputs, outputs=outputs, threaded=threaded)
 
     if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
         #modify max_throttle closer to 1.0 to have more power
@@ -569,7 +574,11 @@ def run(self, mode, recording):
     if cfg.RECORD_DURING_AI:
         inputs += ['pilot/angle', 'pilot/throttle']
         types += ['float', 'float']
-
+
+    if cfg.DONKEY_GYM_INFO:
+        inputs += ['sim/info']
+        types += ['dict']
+
     th = TubHandler(path=cfg.DATA_PATH)
     tub = th.new_tub_writer(inputs=inputs, types=types, user_meta=meta)
     V.add(tub, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')

donkeycar/tests/test_tub.py

@@ -48,6 +48,24 @@ def test_tub_write_numpy(tub):
     rec_out = tub.get_record(rec_index)
     assert type(rec_out['user/throttle']) == float
 
+def test_tub_dict(tub):
+    """Tub can save a record that contains a dictionary with json-able types."""
+    d = {'pos': (49.99962, 0.7410042, 50.16277),
+        'cte': -0.0006235633,
+        'hit': None,
+        'done': True }
+    x=123
+    z=0.0
+    rec_in  = {'user/angle': x, 'user/throttle':z, 'sim/info':d}
+    tub.meta['inputs'].append('sim/info')
+    tub.meta['types'].append('dict')
+    rec_index = tub.put_record(rec_in)
+    rec_out = tub.get_record(rec_index)
+    assert type(rec_out['sim/info']) == dict
+    assert type(rec_out['sim/info']['cte']) == float
+    assert rec_out['sim/info']['hit'] is None
+    assert rec_out['sim/info']['done'] is True
+
 
 def test_tub_exclude(tub):
     """ Make sure the Tub will exclude records in the exclude set """