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Release gil for long running functions #50

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Release gil for long running functions #50

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5 changes: 3 additions & 2 deletions nocturne/cpp/src/simulation.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,8 @@ void Simulation::Render() {
constexpr int64_t kWinHeight = 800;

sf::ContextSettings settings;
settings.antialiasingLevel = std::min(sf::RenderTexture::getMaximumAntialiasingLevel(), 4u);
settings.antialiasingLevel =
std::min(sf::RenderTexture::getMaximumAntialiasingLevel(), 4u);
render_window_ = std::make_unique<sf::RenderWindow>(
sf::VideoMode(kWinWidth, kWinHeight), "Nocturne", sf::Style::Default,
settings);
Expand All @@ -35,7 +36,7 @@ void Simulation::Render() {

// draw scenario
render_window_->draw(*scenario_);

// draw frames per seconds on screen
sf::Time elapsed = clock_.restart();
float fps = 1.0f / elapsed.asSeconds();
Expand Down
130 changes: 111 additions & 19 deletions nocturne/pybind11/src/scenario.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -40,28 +40,44 @@ void DefineScenario(py::module& m) {
.def("objects", &Scenario::objects, py::return_value_policy::reference)
.def("moving_objects", &Scenario::moving_objects,
py::return_value_policy::reference)
.def("remove_object", &Scenario::RemoveObject)
.def("road_lines", &Scenario::road_lines)

.def("remove_object", &Scenario::RemoveObject,
py::call_guard<py::gil_scoped_release>())
.def("ego_state",
[](const Scenario& scenario, const Object& src) {
return utils::AsNumpyArray(scenario.EgoState(src));
NdArray<float> ret;
{
py::gil_scoped_release release;
ret = scenario.EgoState(src);
}
return utils::AsNumpyArray(std::move(ret));
})
.def(
"visible_state",
[](const Scenario& scenario, const Object& src, float view_dist,
float view_angle, float head_angle, bool padding) {
return utils::AsNumpyArrayDict(
scenario.VisibleState(src, view_dist, view_angle, head_angle, padding));
std::unordered_map<std::string, NdArray<float>> ret;
{
py::gil_scoped_release release;
ret = scenario.VisibleState(src, view_dist, view_angle,
head_angle, padding);
}
return utils::AsNumpyArrayDict(std::move(ret));
},
py::arg("object"), py::arg("view_dist") = 60,
py::arg("view_angle") = kHalfPi, py::arg("head_angle") = 0.0, py::arg("padding") = false)
py::arg("view_angle") = kHalfPi, py::arg("head_angle") = 0.0,
py::arg("padding") = false)
.def(
"flattened_visible_state",
[](const Scenario& scenario, const Object& src, float view_dist,
float view_angle, float head_angle) {
return utils::AsNumpyArray(scenario.FlattenedVisibleState(
src, view_dist, view_angle, head_angle));
NdArray<float> ret;
{
py::gil_scoped_release release;
ret = scenario.FlattenedVisibleState(src, view_dist, view_angle,
head_angle);
}
return utils::AsNumpyArray(std::move(ret));
},
py::arg("object"), py::arg("view_dist") = 60,
py::arg("view_angle") = kHalfPi, py::arg("head_angle") = 0.0)
Expand All @@ -71,6 +87,69 @@ void DefineScenario(py::module& m) {
.def("expert_action", &Scenario::ExpertAction)
.def("expert_pos_shift", &Scenario::ExpertPosShift)
.def("expert_heading_shift", &Scenario::ExpertHeadingShift)
.def(
"image",
[](Scenario& scenario, uint64_t img_height, uint64_t img_width,
bool draw_target_positions, float padding, Object* source,
uint64_t view_height, uint64_t view_width,
bool rotate_with_source) {
NdArray<unsigned char> ret;
{
py::gil_scoped_release release;
ret = scenario.Image(img_height, img_width, draw_target_positions,
padding, source, view_height, view_width,
rotate_with_source);
}
return utils::AsNumpyArray<unsigned char>(std::move(ret));
},
"Return a numpy array of dimension (img_height, img_width, 4) "
"representing an image of the scene.",
py::arg("img_height") = 1000, py::arg("img_width") = 1000,
py::arg("draw_target_positions") = true, py::arg("padding") = 50.0f,
py::arg("source") = nullptr, py::arg("view_height") = 200,
py::arg("view_width") = 200, py::arg("rotate_with_source") = true)
.def(
"feature_image",
[](Scenario& scenario, const Object& source, float view_dist,
float view_angle, float head_angle, uint64_t img_height,
uint64_t img_width, float padding, bool draw_target_position) {
NdArray<unsigned char> ret;
{
py::gil_scoped_release release;
ret = scenario.EgoVehicleFeaturesImage(
source, view_dist, view_angle, head_angle, img_height,
img_width, padding, draw_target_position);
}
return utils::AsNumpyArray<unsigned char>(std::move(ret));
},
"Return a numpy array of dimension (img_height, img_width, 4) "
"representing an image of what is returned by getVisibleState(?).",
py::arg("source"), py::arg("view_dist") = 120.0f,
py::arg("view_angle") = geometry::utils::kPi * 0.8f,
py::arg("head_angle") = 0.0f, py::arg("img_height") = 1000,
py::arg("img_width") = 1000, py::arg("padding") = 0.0f,
py::arg("draw_target_position") = true)
.def(
"cone_image",
[](Scenario& scenario, const Object& source, float view_dist,
float view_angle, float head_angle, uint64_t img_height,
uint64_t img_width, float padding, bool draw_target_position) {
NdArray<unsigned char> ret;
{
py::gil_scoped_release release;
ret = scenario.EgoVehicleConeImage(
source, view_dist, view_angle, head_angle, img_height,
img_width, padding, draw_target_position);
}
return utils::AsNumpyArray<unsigned char>(std::move(ret));
},
"Return a numpy array of dimension (img_height, img_width, 4) "
"representing a cone of what the agent sees.",
py::arg("source"), py::arg("view_dist") = 120.0f,
py::arg("view_angle") = geometry::utils::kPi * 0.8f,
py::arg("head_angle") = 0.0f, py::arg("img_height") = 1000,
py::arg("img_width") = 1000, py::arg("padding") = 0.0f,
py::arg("draw_target_position") = true)

// TODO: Deprecate the legacy interfaces below.
.def("getVehicles", &Scenario::vehicles,
Expand All @@ -89,9 +168,14 @@ void DefineScenario(py::module& m) {
bool draw_target_positions, float padding, Object* source,
uint64_t view_height, uint64_t view_width,
bool rotate_with_source) {
return utils::AsNumpyArray<unsigned char>(scenario.Image(
img_height, img_width, draw_target_positions, padding, source,
view_height, view_width, rotate_with_source));
NdArray<unsigned char> ret;
{
py::gil_scoped_release release;
ret = scenario.Image(img_height, img_width, draw_target_positions,
padding, source, view_height, view_width,
rotate_with_source);
}
return utils::AsNumpyArray<unsigned char>(std::move(ret));
},
"Return a numpy array of dimension (img_height, img_width, 4) "
"representing an image of the scene.",
Expand All @@ -104,10 +188,14 @@ void DefineScenario(py::module& m) {
[](Scenario& scenario, const Object& source, float view_dist,
float view_angle, float head_angle, uint64_t img_height,
uint64_t img_width, float padding, bool draw_target_position) {
return utils::AsNumpyArray<unsigned char>(
scenario.EgoVehicleFeaturesImage(
source, view_dist, view_angle, head_angle, img_height,
img_width, padding, draw_target_position));
NdArray<unsigned char> ret;
{
py::gil_scoped_release release;
ret = scenario.EgoVehicleFeaturesImage(
source, view_dist, view_angle, head_angle, img_height,
img_width, padding, draw_target_position);
}
return utils::AsNumpyArray<unsigned char>(std::move(ret));
},
"Return a numpy array of dimension (img_height, img_width, 4) "
"representing an image of what is returned by getVisibleState(?).",
Expand All @@ -121,10 +209,14 @@ void DefineScenario(py::module& m) {
[](Scenario& scenario, const Object& source, float view_dist,
float view_angle, float head_angle, uint64_t img_height,
uint64_t img_width, float padding, bool draw_target_position) {
return utils::AsNumpyArray<unsigned char>(
scenario.EgoVehicleConeImage(source, view_dist, view_angle,
head_angle, img_height, img_width,
padding, draw_target_position));
NdArray<unsigned char> ret;
{
py::gil_scoped_release release;
ret = scenario.EgoVehicleConeImage(
source, view_dist, view_angle, head_angle, img_height,
img_width, padding, draw_target_position);
}
return utils::AsNumpyArray<unsigned char>(std::move(ret));
},
"Return a numpy array of dimension (img_height, img_width, 4) "
"representing a cone of what the agent sees.",
Expand Down
7 changes: 4 additions & 3 deletions nocturne/pybind11/src/simulation.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,12 @@ void DefineSimulation(py::module& m) {
py::arg("config") =
std::unordered_map<std::string,
std::variant<bool, int64_t, float>>())
.def("reset", &Simulation::Reset)
.def("step", &Simulation::Step)
.def("render", &Simulation::Render)
.def("reset", &Simulation::Reset,
py::call_guard<py::gil_scoped_release>())
.def("step", &Simulation::Step, py::call_guard<py::gil_scoped_release>())
.def("scenario", &Simulation::GetScenario,
py::return_value_policy::reference)
.def("render", &Simulation::Render)
.def("save_screenshot", &Simulation::SaveScreenshot)

// TODO: Deprecate the legacy methods below.
Expand Down
2 changes: 1 addition & 1 deletion tests/test_dynamics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ def test_inverse_dynamics():
id2obj_ground_truth = {obj.id: obj for obj in objects_ground_truth}
# create a test sim that will replay actions from inverse dynamics
sim_test, objects_test = _create_sim(file_path, expert_control=False)
scenario_test = sim_test.getScenario()
scenario_test = sim_test.scenario()

# step simulation
for time in range(SIM_N_STEPS):
Expand Down
16 changes: 8 additions & 8 deletions tests/test_rl_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,15 +28,15 @@ def test_rl_env():
times = []
_ = env.reset()
# quick check that rendering works
_ = env.scenario.getConeImage(env.scenario.getVehicles()[0],
80.0,
120 * (np.pi / 180),
0.0,
draw_target_position=False)
_ = env.scenario.cone_image(env.scenario.vehicles()[0],
80.0,
120 * (np.pi / 180),
0.0,
draw_target_position=False)
for _ in range(90):
vehs = env.scenario.getObjectsThatMoved()
vehs = env.scenario.moving_objects()
prev_position = {
veh.getID(): [veh.position.x, veh.position.y]
veh.id: [veh.position.x, veh.position.y]
for veh in vehs
}
t = time.perf_counter()
Expand All @@ -45,7 +45,7 @@ def test_rl_env():
for veh in vehs})
times.append(time.perf_counter() - t)
for veh in vehs:
if veh in env.scenario.getObjectsThatMoved():
if veh in env.scenario.moving_objects():
new_position = [veh.position.x, veh.position.y]
assert prev_position[veh.getID(
)] != new_position, f'veh {veh.getID()} was in position \
Expand Down
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