fix: graph refactor and render node update (#31)

* fix: allow always rendering with camera node.

* fix: graph refactor, object_spec [not yet working]

* fix: test actuator without outputs and synchronization

* fix: update eagerx version

Author: bheijden

eagerx_reality/engine.py

@@ -5,7 +5,7 @@
 import eagerx
 import eagerx.core.register as register
 from eagerx.core.entities import Engine
-from eagerx.core.specs import EngineSpec, ObjectSpec
+from eagerx.core.specs import EngineSpec
 
 
 class RealEngine(Engine):
@@ -34,20 +34,14 @@ def make(
         return spec
 
     def initialize(self, spec: EngineSpec):
-        self.simulator = dict()
-
-    def add_object(self, spec: ObjectSpec):
-        object_name = spec.config.name
-        entity_id = spec.config.entity_id
+        pass
 
+    def add_object(self, name: str):
         # add object to simulator (we have a ref to the simulator with self.simulator)
-        self.backend.loginfo(f'Adding object "{object_name}" of type "{entity_id}" to the simulator.')
-
-        # Extract relevant agnostic_params
-        obj_name = object_name
+        self.backend.loginfo(f'Adding object "{name}" to the simulator.')
 
-        # Create new env, and add to simulator
-        self.simulator[obj_name] = dict(state=None, input=None)
+        # Nothing to be added to the simulator
+        self.simulator[name].update()
 
     def pre_reset(self):
         pass

eagerx_reality/enginenodes.py

@@ -9,7 +9,7 @@
 import eagerx.core.register as register
 from eagerx.utils.utils import Msg
 from eagerx.core.entities import EngineNode
-from eagerx.core.specs import NodeSpec, ObjectSpec
+from eagerx.core.specs import NodeSpec
 
 
 class CameraRender(EngineNode):
@@ -22,6 +22,7 @@ def make(
         color: str = "cyan",
         shape: Optional[List[int]] = None,
         camera_idx: int = 0,
+        always_render: bool = False,
     ) -> NodeSpec:
         """CameraRender spec"""
         spec = cls.get_specification()
@@ -33,18 +34,24 @@ def make(
         # Modify custom node params
         spec.config.shape = shape if isinstance(shape, list) else [480, 480]
         spec.config.camera_idx = camera_idx
+        spec.config.always_render = always_render
 
         # Set image space
         spec.outputs.image.space.update(low=0, high=255, shape=[spec.config.shape[0], spec.config.shape[1], 3])
         return spec
 
-    def initialize(self, spec: NodeSpec, object_spec: ObjectSpec, simulator: Any):
+    def initialize(self, spec: NodeSpec, simulator: Any):
+        self.always_render = spec.config.always_render
         self.cam = None
         self.height, self.width = spec.config.shape
         self.camera_idx = spec.config.camera_idx
         self.render_toggle = False
         self.sub_toggle = self.backend.Subscriber("%s/env/render/toggle" % self.ns, "bool", self._set_render_toggle)
 
+        # initialize camera if always rendering
+        if self.always_render:
+            self._init_cam()
+
     @register.states()
     def reset(self):
         # This sensor is stateless (in contrast to e.g. a Kalman filter).
@@ -53,7 +60,7 @@ def reset(self):
     @register.inputs(tick=Space(shape=(), dtype="int64"))  # Dummy, because a node must have at least one input.
     @register.outputs(image=Space(dtype="uint8"))
     def callback(self, t_n: float, tick: Optional[Msg] = None):
-        if self.render_toggle:
+        if self.render_toggle or self.always_render:
             self.cam: cv2.VideoCapture
             ret, cv_img = self.cam.read()
             if ret:
@@ -69,17 +76,22 @@ def callback(self, t_n: float, tick: Optional[Msg] = None):
             img = np.zeros((self.height, self.width, 3), dtype="uint8")
         return dict(image=img)
 
-    def _set_render_toggle(self, msg):
-        if msg:
-            self.backend.logdebug("[%s] START RENDERING!" % self.name)
+    def _init_cam(self):
+        if self.cam is None:
             self.cam = cv2.VideoCapture(self.camera_idx)
             self.cam.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
             self.cam.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
-        else:
-            self.backend.logdebug("[%s] STOPPED RENDERING!" % self.name)
-            if self.cam is not None:
-                self.cam.release()
-                self.cam = None
+
+    def _set_render_toggle(self, msg):
+        if not self.always_render:
+            if msg:
+                self.backend.logdebug("[%s] START RENDERING!" % self.name)
+                self._init_cam()
+            else:
+                self.backend.logdebug("[%s] STOPPED RENDERING!" % self.name)
+                if self.cam is not None:
+                    self.cam.release()
+                    self.cam = None
         self.render_toggle = msg
 
     def shutdown(self):

poetry.lock

@@ -10,7 +10,7 @@ documentation = "https://eagerx.readthedocs.io/en/master/"
 
 [tool.poetry.dependencies]
 python = "^3.6.2"
-eagerx = "^0.1.26"
+eagerx = "^0.1.32"
 
 [tool.poetry.dev-dependencies]
 black = "^22.3.0"

pyproject.toml

@@ -1,2 +1,2 @@
 #!/bin/bash
-poetry run pytest --cov-config .coveragerc --rootdir=${PACKAGE_NAME} --cov-report html --cov-report xml --cov-report term --cov=. -v --color=yes
+poetry run pytest -s --cov-config .coveragerc --rootdir=${PACKAGE_NAME} --cov-report html --cov-report xml --cov-report term --cov=. -v --color=yes

scripts/run_tests.sh

@@ -3,7 +3,7 @@
 
 # IMPORT EAGERX
 import eagerx
-from eagerx.core.specs import NodeSpec, ObjectSpec
+from eagerx.core.specs import NodeSpec
 import eagerx.core.register as register
 from eagerx.utils.utils import Msg
 
@@ -21,7 +21,7 @@ def make(cls, name: str, rate: float, process: int = eagerx.NEW_PROCESS, color:
         spec.config.update(name=name, rate=rate, process=process, color=color, inputs=["tick"], outputs=["dummy_output"])
         return spec
 
-    def initialize(self, spec: NodeSpec, object_spec: ObjectSpec, simulator: Any):
+    def initialize(self, spec: NodeSpec, simulator: Any):
         pass
 
     @register.states()
@@ -42,19 +42,18 @@ def make(cls, name: str, rate: float, process: int = eagerx.NEW_PROCESS, color:
         spec = cls.get_specification()
 
         # Modify default node params
-        spec.config.update(name=name, rate=rate, process=process, color=color, inputs=['tick', 'dummy_input'], outputs=[])
+        spec.config.update(name=name, rate=rate, process=process, color=color, inputs=['dummy_input'], outputs=[])
         return spec
 
-    def initialize(self, spec: NodeSpec, object_spec: ObjectSpec, simulator: Any):
+    def initialize(self, spec: NodeSpec, simulator: Any):
         pass
 
     @register.states()
     def reset(self):
         pass
 
-    @register.inputs(tick=eagerx.Space(shape=(), dtype="int64"),
-                     dummy_input=eagerx.Space(low=np.array([-1], dtype="float32"), high=np.array([1], dtype="float32")))
-    @register.outputs(dummy_output=eagerx.Space(low=np.array([-1], dtype="float32"), high=np.array([1], dtype="float32")))
-    def callback(self, t_n: float, tick: Msg, dummy_input: Msg):
+    @register.inputs(dummy_input=eagerx.Space(low=np.array([-1], dtype="float32"), high=np.array([1], dtype="float32")))
+    @register.outputs()
+    def callback(self, t_n: float, dummy_input: Msg):
         data = np.array([random()], dtype="float32")
-        return dict(dummy_output=data)
+        return dict()

tests/dummy/engine_nodes.py

@@ -12,7 +12,7 @@ def make(cls, sleep_time: float = 1., repeat: int = 1) -> EngineStateSpec:
         spec.config.repeat = repeat
         return spec
 
-    def initialize(self, spec: EngineStateSpec, object_spec: ObjectSpec, simulator: Any):
+    def initialize(self, spec: EngineStateSpec, simulator: Any):
         self.sleep_time = spec.config.sleep_time
         self.repeat = spec.config.repeat
 

tests/dummy/engine_states.py

@@ -10,7 +10,7 @@
 class Dummy(Object):
     @classmethod
     @register.sensors(dummy_output=Space(low=np.array([-1], dtype="float32"), high=np.array([1], dtype="float32")))
-    @register.actuators(dummy_input=Space(low=np.array([-1], dtype="float32"), high=np.array([1], dtype="float32")))
+    @register.actuators(dummyy_input=Space(low=np.array([-1], dtype="float32"), high=np.array([1], dtype="float32")))
     @register.engine_states(dummy_state=Space(low=np.array([-1], dtype="float32"), high=np.array([1], dtype="float32")))
     def make(cls, name: str, sensors=None, states=None, rate=30) -> ObjectSpec:
         """Object spec of dummy object"""
@@ -19,33 +19,44 @@ def make(cls, name: str, sensors=None, states=None, rate=30) -> ObjectSpec:
         # Set parameters
         spec.config.update(name=name, rate=rate)
         spec.config.sensors = sensors if sensors else ["dummy_output"]
-        spec.config.actuators = ["dummy_input"]
+        spec.config.actuators = ["dummyy_input"]
         spec.config.states = states if states else ["dummy_state"]
 
         # Set rates
         spec.sensors.dummy_output.rate = rate
-        spec.actuators.dummy_input.rate = rate
+        spec.actuators.dummyy_input.rate = rate
         return spec
 
     @staticmethod
     @register.engine(RealEngine)  # This decorator pre-initializes engine implementation with default object_params
     def real_engine(spec: ObjectSpec, graph: EngineGraph):
         """Engine-specific implementation (RealEngine) of the object."""
+        try:
+            from tests.dummy.engine_states import DummyReset
+            from tests.dummy.engine_nodes import DummyOutput
+            from tests.dummy.engine_nodes import DummyInput
+        except ImportError:
+            try:
+                from .dummy.engine_states import DummyReset
+                from .dummy.engine_nodes import DummyOutput
+                from .dummy.engine_nodes import DummyInput
+            except ImportError:
+                from dummy.engine_states import DummyReset
+                from dummy.engine_nodes import DummyOutput
+                from dummy.engine_nodes import DummyInput
+
         # Couple engine states
-        from tests.dummy.engine_states import DummyReset
         spec.engine.states.dummy_state = DummyReset.make(sleep_time=1.0, repeat=1)
 
         # Create sensor engine nodes
         # Rate=None, because we will connect them to sensors (thus uses the rate set in the agnostic specification)
-        from tests.dummy.engine_nodes import DummyOutput
         obs = DummyOutput.make("dummy_output", rate=spec.sensors.dummy_output.rate, process=0)
 
         # Create actuator engine nodes
         # Rate=None, because we will connect it to an actuator (thus uses the rate set in the agnostic specification)
-        from tests.dummy.engine_nodes import DummyInput
-        action = DummyInput.make("dummy_input", rate=spec.actuators.dummy_input.rate, process=0)
+        action = DummyInput.make("dummyy_input", rate=spec.actuators.dummyy_input.rate, process=0)
 
         # Connect all engine nodes
         graph.add([obs, action])
         graph.connect(source=obs.outputs.dummy_output, sensor="dummy_output")
-        graph.connect(actuator="dummy_input", target=action.inputs.dummy_input)
+        graph.connect(actuator="dummyy_input", target=action.inputs.dummy_input)

tests/dummy/objects.py

@@ -34,7 +34,7 @@ def test_real_engine(eps, steps, sync, p):
     graph.add(dummy)
 
     # Connect the nodes
-    graph.connect(action="action", target=dummy.actuators.dummy_input)
+    graph.connect(action="action", target=dummy.actuators.dummyy_input)
     graph.connect(source=dummy.sensors.dummy_output, observation="observation", window=1)
 
     # Define engines