huawei-noah · Gamenot · May 4, 2023 · Apr 28, 2023 · Apr 28, 2023 · May 1, 2023
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,8 +10,10 @@ Copy and pasting the git commit messages is __NOT__ enough.
 
 ## [Unreleased]
 ### Added
+- `visdom` can now be configured through the engine.ini configuration file `visdom:enabled`, `visdom:hostname`, and `visdom:port` (environment variables `SMARTS_VISDOM_ENABLED`, `SMARTS_VISDOM_HOSTNAME`, `SMARTS_VISDOM_PORT`.)
 ### Changed
 ### Deprecated
+- `visdom` is set to be removed from the SMARTS object parameters.
 ### Fixed
 ### Removed
 ### Security

diff --git a/docs/sim/env.rst b/docs/sim/env.rst
@@ -28,7 +28,6 @@ Refer to :class:`~smarts.env.hiway_env.HiWayEnv` for more details.
             scenarios=[scenario_path], # List of paths to scenario folders.
             agent_interfaces={AGENT_ID: agent_spec.interface}, # Dictionary mapping agents to agent interfaces.
             headless=False, # False to enable Envision visualization of the environment.
-            visdom=False, # Visdom visualization of observations. False to disable. Only supported in HiwayEnv.
             seed=42, # RNG seed. Seeds are set at the start of simulation, and never automatically re-seeded.
         )
 
@@ -60,7 +59,6 @@ exactly matches the `env.observation_space`, and `ObservationOptions.multi_agent
             scenarios=[scenario_path], # List of paths to scenario folders.
             agent_interfaces={AGENT_ID: agent_spec.interface}, # Dictionary mapping agents to agent interfaces.
             headless=False, # False to enable Envision visualization of the environment.
-            visdom=False, # Visdom visualization of observations. False to disable. Only supported in HiwayEnv.
             seed=42, # RNG seed. Seeds are set at the start of simulation, and never automatically re-seeded.
             observation_options=ObservationOptions.multi_agent, # Configures between padded and un-padded agents in observations.
         )

diff --git a/docs/sim/visualization.rst b/docs/sim/visualization.rst
@@ -94,20 +94,19 @@ Start the visdom server before running the scenario and open the server URL in y
 .. code-block:: bash
 
     # Install visdom
-    $ pip install visdom
-    # Start the server
-    $ visdom
+    $ pip install smarts[visdom]
 
-Enable Visdom in the SMARTS environment by setting ``visdom=True``. For example:
+Enable Visdom in the SMARTS environment by setting ``SMARTS_VISDOM_ENABLED``. For example:
 
-.. code-block:: python
-
-    env = gym.make(
-        "smarts.env:hiway-v0", # env entry name
-        ...
-        visdom=True, # whether or not to enable visdom visualization (see Appendix).
-        ...
-    )
+.. code-block:: ini
+
+    ; ./smarts_engine.ini | ~/.smarts/engine.ini | /etc/smarts/engine.ini | $PYTHON_PATH/smarts/engine.ini
+    [core]
+    ...
+    [visdom]
+    enabled=True
+    hostname="http://localhost"
+    port=8097
 
 Below is a sample visualization of an agent's camera sensor observations.
 

diff --git a/examples/control/ego_open_agent.py b/examples/control/ego_open_agent.py
@@ -33,7 +33,6 @@ def main(scenarios, headless, num_episodes):
         scenarios=scenarios,
         agent_interfaces={AGENT_ID: open_agent_spec.interface},
         headless=headless,
-        visdom=False,
         sumo_headless=True,
     )
 

diff --git a/examples/replay/replay_klws_agent.py b/examples/replay/replay_klws_agent.py
@@ -33,13 +33,9 @@ def copytree(src, dst, symlinks=False, ignore=None):
             if os.path.lexists(d):
                 os.remove(d)
             os.symlink(os.readlink(s), d)
-            try:
-                st = os.lstat(s)
-                mode = stat.S_IMODE(st.st_mode)
-                os.lchmod(d, mode)
-            except Exception as e:
-                print(e)
-                pass  # lchmod not available
+            st = os.lstat(s)
+            mode = stat.S_IMODE(st.st_mode)
+            os.chmod(d, mode, follow_symlinks=False)
         elif os.path.isdir(s):
             copytree(s, d, symlinks, ignore)
         else:
@@ -81,7 +77,6 @@ def main(scenarios, sim_name, headless, seed, speed, max_steps, save_dir, write)
         agent_specs={AGENT_ID: agent_spec},
         sim_name=sim_name,
         headless=headless,
-        visdom=False,
         timestep_sec=0.1,
         sumo_headless=True,
         seed=seed,

diff --git a/examples/rl/intersection/config.yaml b/examples/rl/intersection/config.yaml
@@ -1,6 +1,5 @@
 smarts:
   # Environment
-  visdom: False # If True, enables Visdom display.
   sumo_gui: False # If True, enables sumo-gui display.
   img_meters: 50 # Observation image area size in meters.
   img_pixels: 112 # Observation image size in pixels.

diff --git a/examples/rl/intersection/intersection.ipynb b/examples/rl/intersection/intersection.ipynb
@@ -282,7 +282,6 @@
     "    env = gym.make(\n",
     "        \"smarts.env:intersection-v0\",\n",
     "        headless=True,\n",
-    "        visdom=False,\n",
     "        sumo_headless=True,\n",
     "        img_meters=config[\"img_meters\"],\n",
     "        img_pixels=config[\"img_pixels\"],\n",
@@ -512,11 +511,18 @@
    "provenance": []
   },
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": ".venv",
+   "language": "python",
    "name": "python3"
   },
   "language_info": {
-   "name": "python"
+   "name": "python",
+   "version": "3.8.10"
+  },
+  "vscode": {
+   "interpreter": {
+    "hash": "983a288b1deae516b5d1a3268f286490dc1a3bd215a042403a142fb3df5f8acd"
+   }
   }
  },
  "nbformat": 4,

diff --git a/examples/rl/racing/config.yaml b/examples/rl/racing/config.yaml
@@ -1,6 +1,5 @@
 smarts:
   seed: 42
-  visdom: False
   rgb_meters: 64 # Height and width (meters) of RGB image in SMARTS observation
   rgb_pixels: 64 # Height and width (pixels) of RGB image in SMARTS observation  
   max_episode_steps: 300 # 30 seconds. Maximum steps per episode.

diff --git a/examples/rl/racing/smarts_env.py b/examples/rl/racing/smarts_env.py
@@ -62,7 +62,6 @@ def make(env_name: Optional[str], config: Dict[str, Any], seed: int) -> gym.Env:
         scenarios=scenarios,
         agent_specs=agent_specs,
         headless=config["headless"],
-        visdom=config["visdom"],
         seed=seed,
         sim_name=env_name,
     )

diff --git a/setup.cfg b/setup.cfg
@@ -40,7 +40,6 @@ install_requires =
     shapely>=2.0.0
     tableprint>=0.9.1
     trimesh==3.9.29  # Used for writing .glb files
-    visdom>=0.1.8.9
     # The following are for Scenario Studio
     yattag>=1.14.0
     # The following is for both SS and Envision
@@ -119,6 +118,8 @@ opendrive =
     opendrive2lanelet>=1.2.1
 argoverse = 
     av2>=0.2.1
+visdom =
+    visdom>=0.1.8.9
 
 [aliases]
 test=pytest
diff --git a/smarts/core/smarts.py b/smarts/core/smarts.py
@@ -67,7 +67,6 @@
 from .utils.id import Id
 from .utils.math import rounder_for_dt
 from .utils.pybullet import bullet_client as bc
-from .utils.visdom_client import VisdomClient
 from .vehicle import Vehicle
 from .vehicle_index import VehicleIndex
 from .vehicle_state import Collision, VehicleState, neighborhood_vehicles_around_vehicle
@@ -100,7 +99,7 @@ class SMARTS(ProviderManager):
         agent_interfaces (Dict[str, AgentInterface]): The interfaces providing SMARTS with the understanding of what features each agent needs.
         traffic_sims (Optional[List[TrafficProvider]], optional): An optional list of traffic simulators for providing non-agent traffic. Defaults to None.
         envision (Optional[EnvisionClient], optional): An envision client for connecting to an envision visualization server. Defaults to None.
-        visdom (Optional[VisdomClient], optional): A visdom client for connecting to a visdom visualization server. Defaults to None.
+        visdom (Union[bool, Any], optional): Deprecated. Use SMARTS_VISDOM_ENABLED. A visdom client for connecting to a visdom visualization server.
         fixed_timestep_sec (Optional[float], optional): The fixed timestep that will be default if time is not otherwise specified at step. Defaults to 0.1.
         reset_agents_only (bool, optional): When specified the simulation will continue use of the current scenario. Defaults to False.
         zoo_addrs (Optional[Tuple[str, int]], optional): The (ip:port) values of remote agent workers for externally hosted agents. Defaults to None.
@@ -114,12 +113,13 @@ def __init__(
         traffic_sim: Optional[TrafficProvider] = None,
         traffic_sims: Optional[List[TrafficProvider]] = None,
         envision: Optional[EnvisionClient] = None,
-        visdom: Optional[VisdomClient] = None,
+        visdom: Optional[Union[bool, Any]] = False,
         fixed_timestep_sec: Optional[float] = 0.1,
         reset_agents_only: bool = False,
         zoo_addrs: Optional[Tuple[str, int]] = None,
         external_provider: bool = False,
     ):
+        conf = config()
         self._log = logging.getLogger(self.__class__.__name__)
         self._log.setLevel(level=logging.ERROR)
         self._sim_id = Id.new("smarts")
@@ -128,7 +128,23 @@ def __init__(
         self._scenario: Optional[Scenario] = None
         self._renderer: RendererBase = None
         self._envision: Optional[EnvisionClient] = envision
-        self._visdom: Optional[VisdomClient] = visdom
+        if visdom is not False or visdom is not None:
+            warnings.warn(
+                "Using visdom through the arguments is deprecated. Please use engine configuration or SMARTS_VISDOM_ENABLED."
+            )
+        else:
+            visdom = None
+
+        self._visdom: Any = None
+        if conf("visdom", "enabled", default=False, cast=bool) or visdom is True:
+            from smarts.visdom.visdom_client import VisdomClient
+
+            self._visdom = VisdomClient(
+                hostname=conf("visdom", "hostname", default="http://localhost"),
+                port=conf("visdom", "port", default=8097),
+            )
+        elif not isinstance(self._visdom, bool):
+            self._visdom = visdom
         self._external_provider: ExternalProvider = None
         self._resetting = False
         self._reset_required = False
@@ -1458,18 +1474,18 @@ def _bullet_id_to_vehicle(self, bullet_id):
 
     def _check_ground_plane(self):
         rescale_plane = False
-        map_min = np.array(self._map_bb.min_pt)[:2] if self._map_bb else None
-        map_max = np.array(self._map_bb.max_pt)[:2] if self._map_bb else None
+        map_min = np.array(self._map_bb.min_pt)[:2] if self._map_bb else np.array([])
+        map_max = np.array(self._map_bb.max_pt)[:2] if self._map_bb else np.array([])
         for vehicle_id in self._vehicle_index.agent_vehicle_ids():
             vehicle = self._vehicle_index.vehicle_by_id(vehicle_id)
             map_spot = vehicle.pose.point.as_np_array[:2]
-            if map_min is None:
+            if len(map_min) == 0:
                 map_min = map_spot
                 rescale_plane = True
             elif any(map_spot < map_min):
                 map_min = np.minimum(map_spot, map_min)
                 rescale_plane = True
-            if map_max is None:
+            if len(map_max) == 0:
                 map_max = map_spot
                 rescale_plane = True
             elif any(map_spot > map_max):

diff --git a/smarts/core/tests/test_env_frame_rate.py b/smarts/core/tests/test_env_frame_rate.py
@@ -66,7 +66,6 @@ def env_and_spec(scenarios, seed, headless=True, max_episode_steps=None):
         agent_specs={AGENT_ID: agent_spec},
         sim_name=None,
         headless=headless,
-        visdom=False,
         timestep_sec=0.1,
         sumo_headless=True,
         seed=seed,

diff --git a/smarts/core/tests/test_notebook.py b/smarts/core/tests/test_notebook.py
@@ -66,7 +66,6 @@ def run_scenario(
         agent_specs={AGENT_ID: agent_spec},
         sim_name=sim_name,
         headless=headless,
-        visdom=False,
         fixed_timestep_sec=0.1,
         sumo_headless=True,
         seed=seed,

diff --git a/smarts/core/tests/test_observations.py b/smarts/core/tests/test_observations.py
@@ -104,7 +104,6 @@ def env(agent_spec: AgentSpec):
         scenarios=["scenarios/sumo/figure_eight"],
         agent_interfaces={AGENT_ID: agent_spec.interface},
         headless=True,
-        visdom=False,
         fixed_timestep_sec=0.1,
         seed=42,
     )

diff --git a/smarts/core/tests/test_smarts_memory_growth.py b/smarts/core/tests/test_smarts_memory_growth.py
@@ -102,7 +102,6 @@ def act(self, obs):
         scenarios=scenarios,
         agent_specs={agent_id: agent_spec},
         headless=True,
-        visdom=False,
         fixed_timestep_sec=TIMESTEP_SEC,
         sumo_headless=True,
         seed=seed,

diff --git a/smarts/env/gymnasium/driving_smarts_2023_env.py b/smarts/env/gymnasium/driving_smarts_2023_env.py
@@ -53,7 +53,6 @@ def driving_smarts_2023_env(
     agent_interface: AgentInterface,
     seed: int = 42,
     headless: bool = True,
-    visdom: bool = False,
     sumo_headless: bool = True,
     envision_record_data_replay_path: Optional[str] = None,
 ):
@@ -99,8 +98,6 @@ def driving_smarts_2023_env(
         seed (int, optional): Random number generator seed. Defaults to 42.
         headless (bool, optional): If True, disables visualization in
             Envision. Defaults to False.
-        visdom (bool, optional): If True, enables visualization of observed
-            RGB images in Visdom. Defaults to False.
         sumo_headless (bool, optional): If True, disables visualization in
             SUMO GUI. Defaults to True.
         envision_record_data_replay_path (Optional[str], optional):
@@ -143,7 +140,6 @@ def driving_smarts_2023_env(
         agent_interfaces=agent_interfaces,
         sim_name="Driving_Smarts_2023",
         headless=headless,
-        visdom=visdom,
         seed=seed,
         sumo_options=SumoOptions(headless=sumo_headless),
         visualization_client_builder=visualization_client_builder,

diff --git a/smarts/env/gymnasium/hiway_env_v1.py b/smarts/env/gymnasium/hiway_env_v1.py
@@ -21,6 +21,7 @@
 # THE SOFTWARE.
 import logging
 import os
+import warnings
 from enum import IntEnum
 from functools import partial
 from pathlib import Path
@@ -51,7 +52,6 @@
 from smarts.core.local_traffic_provider import LocalTrafficProvider
 from smarts.core.scenario import Scenario
 from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
-from smarts.core.utils.visdom_client import VisdomClient
 from smarts.env.utils.action_conversion import ActionOptions, ActionSpacesFormatter
 from smarts.env.utils.observation_conversion import (
     ObservationOptions,
@@ -103,8 +103,7 @@ class HiWayEnvV1(gym.Env):
             scenarios provided over successive resets.
         headless (bool, optional): If True, disables visualization in
             Envision. Defaults to False.
-        visdom (bool, optional): If True, enables visualization of observed
-            RGB images in Visdom. Defaults to False.
+        visdom (bool): Deprecated. Use SMARTS_VISDOM_ENABLED.
         fixed_timestep_sec (float, optional): Step duration for
             all components of the simulation. May be None if time deltas
             are externally-driven. Defaults to None.
@@ -184,8 +183,6 @@ def __init__(
 
         self._env_renderer = None
 
-        visdom_client = VisdomClient() if visdom else None
-
         traffic_sims = []
         if Scenario.any_support_sumo_traffic(scenarios):
             if isinstance(sumo_options, tuple):
@@ -221,7 +218,7 @@ def __init__(
             agent_interfaces=agent_interfaces,
             traffic_sims=traffic_sims,
             envision=visualization_client,
-            visdom=visdom_client,
+            visdom=visdom,
             fixed_timestep_sec=fixed_timestep_sec,
             zoo_addrs=zoo_addrs,
         )

diff --git a/smarts/env/gymnasium/platoon_env.py b/smarts/env/gymnasium/platoon_env.py
@@ -54,7 +54,6 @@ def platoon_env(
     agent_interface: AgentInterface,
     seed: int = 42,
     headless: bool = True,
-    visdom: bool = False,
     sumo_headless: bool = True,
     envision_record_data_replay_path: Optional[str] = None,
 ):
@@ -104,8 +103,6 @@ def platoon_env(
         seed (int, optional): Random number generator seed. Defaults to 42.
         headless (bool, optional): If True, disables visualization in
             Envision. Defaults to False.
-        visdom (bool, optional): If True, enables visualization of observed
-            RGB images in Visdom. Defaults to False.
         sumo_headless (bool, optional): If True, disables visualization in
             SUMO GUI. Defaults to True.
         envision_record_data_replay_path (Optional[str], optional):
@@ -148,7 +145,6 @@ def platoon_env(
         agent_interfaces=agent_interfaces,
         sim_name="VehicleFollowing",
         headless=headless,
-        visdom=visdom,
         seed=seed,
         sumo_options=SumoOptions(headless=sumo_headless),
         visualization_client_builder=visualization_client_builder,