Add some docs to vis_block (#529)

* fix vis_block

* format

metadrive/component/pgblock/pg_block.py

@@ -116,7 +116,7 @@ def _sample_topology(self) -> bool:
     def get_socket(self, index: Union[str, int]) -> PGBlockSocket:
         if isinstance(index, int):
             if index < 0 or index >= len(self._sockets):
-                raise ValueError("Socket of {}: index out of range".format(self.class_name))
+                raise ValueError("Socket of {}: index out of range {}".format(self.class_name, len(self._sockets)))
             socket_index = list(self._sockets)[index]
         else:
             assert index.startswith(self.name)

metadrive/tests/vis_block/vis_a_small_town.py

@@ -1,3 +1,5 @@
+"""This file visualizes a small town. Please zoom out in the pop-up window."""
+from metadrive.component.pg_space import Parameter
 from metadrive.component.pgblock.curve import Curve
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.roundabout import Roundabout
@@ -7,12 +9,11 @@
 from metadrive.component.road_network.node_road_network import NodeRoadNetwork
 from metadrive.engine.asset_loader import initialize_asset_loader
 from metadrive.tests.vis_block.vis_block_base import TestBlock
-from metadrive.component.pg_space import Parameter
 
 if __name__ == "__main__":
     FirstPGBlock.ENTRANCE_LENGTH = 0.5
     test = TestBlock(False)
-    initialize_asset_loader(test)
+    initialize_asset_loader(engine=test)
     global_network = NodeRoadNetwork()
     blocks = []
     init_block = FirstPGBlock(global_network, 3.0, 3, test.render, test.world, 1)

metadrive/tests/vis_block/vis_big.py

@@ -1,3 +1,4 @@
+"""This file visualizes the process of BIG algorithm, a procedural generation algorithm."""
 from metadrive.component.algorithm.BIG import BIG
 from metadrive.component.road_network.node_road_network import NodeRoadNetwork
 from metadrive.engine.asset_loader import initialize_asset_loader
@@ -9,7 +10,7 @@ def vis_big(debug: bool = False):
 
     test.cam.setPos(250, 100, 2000)
 
-    initialize_asset_loader(test)
+    initialize_asset_loader(engine=test)
     global_network = NodeRoadNetwork()
 
     big = BIG(2, 3.5, global_network, test.render, test.world, random_seed=5)

metadrive/tests/vis_block/vis_block_base.py

@@ -1,3 +1,8 @@
+"""
+This file create a TestBlock class, which resembles the ``engine'' in normal code. By building this TestBlock,
+we can directly pop up a Panda3D window and visualize the content, e.g. the road blocks that are constructed via
+block.construct_block(test_block.render, test_block.world).
+"""
 from typing import Union, Tuple
 
 from direct.showbase import ShowBase
@@ -115,7 +120,6 @@ def draw_line_3d(self, start_p: Union[Vec3, Tuple], end_p: Union[Vec3, Tuple], c
         line_seg.setThickness(thickness)
         np = NodePath(line_seg.create(False))
         np.reparentTo(self.render)
-        # TODO(PZH): NodePath is not registered.
 
     def show_bounding_box(self, road_network):
         bound_box = road_network.get_bounding_box()

metadrive/tests/vis_block/vis_bottleneck.py

@@ -1,3 +1,4 @@
+"""This file visualizes a Bottleneck block."""
 from metadrive.component.pgblock.bottleneck import Merge, Split
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.road_network.node_road_network import NodeRoadNetwork

metadrive/tests/vis_block/vis_curve_block.py

@@ -1,3 +1,4 @@
+"""This file visualizes a Curve block. Use mouse left button to draw down for zooming out."""
 from metadrive.component.pgblock.curve import Curve
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.road_network.node_road_network import NodeRoadNetwork

metadrive/tests/vis_block/vis_in_ramp.py

@@ -1,3 +1,4 @@
+"""This file visualizes a InRampOnStraight block. Use mouse left button to draw down for zooming out."""
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.ramp import InRampOnStraight
 from metadrive.component.pgblock.straight import Straight
@@ -14,11 +15,11 @@
     global_network = NodeRoadNetwork()
     straight = FirstPGBlock(global_network, 3.0, 1, test.render, test.world, 1)
     straight = Straight(4, straight.get_socket(0), global_network, 1)
-    # print(straight.construct_block(test.render, test.world))
+    straight.construct_block(test.render, test.world)
     # print(len(straight.dynamic_nodes))
     for i in range(1, 3):
         straight = InRampOnStraight(i, straight.get_socket(0), global_network, i)
-        # print(straight.construct_block(test.render, test.world))
+        straight.construct_block(test.render, test.world)
         # print(len(straight.dynamic_nodes))
     test.show_bounding_box(global_network)
     test.run()

metadrive/tests/vis_block/vis_intersection.py

@@ -1,3 +1,4 @@
+"""This file visualizes an InterSection block. Use mouse left button to draw down for zooming out."""
 from metadrive.component.pgblock.curve import Curve
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.intersection import InterSection
@@ -7,23 +8,17 @@
 if __name__ == "__main__":
     test = TestBlock()
     from metadrive.engine.asset_loader import initialize_asset_loader
-
-    initialize_asset_loader(test)
-
+    initialize_asset_loader(engine=test)
     global_network = NodeRoadNetwork()
     first = FirstPGBlock(global_network, 3.0, 2, test.render, test.world, 20)
-
     intersection = InterSection(3, first.get_socket(0), global_network, 1)
-    # print(intersection.construct_block(test.render, test.world))
-
+    intersection.construct_block(test.render, test.world)
     id = 4
     for socket_idx in range(intersection.SOCKET_NUM):
         block = Curve(id, intersection.get_socket(socket_idx), global_network, id)
         block.construct_block(test.render, test.world)
         id += 1
-
     intersection = InterSection(id, block.get_socket(0), global_network, 1)
     intersection.construct_block(test.render, test.world)
-
     test.show_bounding_box(global_network)
     test.run()

metadrive/tests/vis_block/vis_out_ramp.py

@@ -1,3 +1,4 @@
+"""This file visualizes a OutRampOnStraight block. Use mouse left button to draw down for zooming out."""
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.ramp import OutRampOnStraight
 from metadrive.component.road_network.node_road_network import NodeRoadNetwork
@@ -6,14 +7,12 @@
 
 if __name__ == "__main__":
     test = TestBlock()
-
-    initialize_asset_loader(test)
-
+    initialize_asset_loader(engine=test)
     global_network = NodeRoadNetwork()
     straight = FirstPGBlock(global_network, 3.0, 1, test.render, test.world, 1)
     for i in range(1, 3):
         straight = OutRampOnStraight(i, straight.get_socket(0), global_network, i)
-        # print(straight.construct_block(test.render, test.world))
+        straight.construct_block(test.render, test.world)
         # print(len(straight.dynamic_nodes))
     test.show_bounding_box(global_network)
     test.run()

metadrive/tests/vis_block/vis_parking_lot.py

@@ -1,3 +1,4 @@
+"""This file visualizes a ParkingLot block. Use mouse left button to draw down for zooming out."""
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.parking_lot import ParkingLot
 from metadrive.component.pgblock.std_intersection import StdInterSection

metadrive/tests/vis_block/vis_roundabout.py

@@ -1,3 +1,4 @@
+"""This file visualizes a Roundabout block."""
 from metadrive.component.pgblock.curve import Curve
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.roundabout import Roundabout
@@ -9,13 +10,10 @@
     from metadrive.engine.asset_loader import initialize_asset_loader
 
     initialize_asset_loader(test)
-
     global_network = NodeRoadNetwork()
     straight = FirstPGBlock(global_network, 3.0, 1, test.render, test.world, 1)
-
     rd = Roundabout(1, straight.get_socket(0), global_network, 1)
-    # print(rd.construct_block(test.render, test.world))
-
+    rd.construct_block(test.render, test.world)
     id = 4
     for socket_idx in range(rd.SOCKET_NUM):
         block = Curve(id, rd.get_socket(socket_idx), global_network, id + 1)

metadrive/tests/vis_block/vis_std_intersection.py

@@ -1,3 +1,4 @@
+"""This file visualizes a StdInterSection block and a StdTInterSection block."""
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.std_intersection import StdInterSection
 from metadrive.component.pgblock.std_t_intersection import StdTInterSection
@@ -9,13 +10,10 @@
     from metadrive.engine.asset_loader import initialize_asset_loader
 
     initialize_asset_loader(test)
-
     global_network = NodeRoadNetwork()
     first = FirstPGBlock(global_network, 3.0, 1, test.render, test.world, 1)
-
     intersection = StdInterSection(3, first.get_socket(0), global_network, 1)
-    # print(intersection.construct_block(test.render, test.world))
-
+    intersection.construct_block(test.render, test.world)
     id = 4
     for socket_idx in range(intersection.SOCKET_NUM):
         block = StdTInterSection(id, intersection.get_socket(socket_idx), global_network, id)

metadrive/tests/vis_block/vis_std_t_intersection.py

@@ -1,3 +1,4 @@
+"""This file visualizes a StdTInterSection block."""
 from metadrive.component.pgblock.curve import Curve
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.std_t_intersection import StdTInterSection
@@ -10,18 +11,14 @@
     from metadrive.engine.asset_loader import initialize_asset_loader
 
     initialize_asset_loader(test)
-
     global_network = NodeRoadNetwork()
     first = FirstPGBlock(global_network, 3.0, 2, test.render, test.world, 1)
-
     curve = Curve(1, first.get_socket(0), global_network, 1)
     curve.construct_block(test.render, test.world)
-
     straight = Straight(2, curve.get_socket(0), global_network, 1)
     straight.construct_block(test.render, test.world)
-
     intersection = StdTInterSection(3, straight.get_socket(0), global_network, 1)
-    # print(intersection.construct_block(test.render, test.world))
+    intersection.construct_block(test.render, test.world)
     id = 4
     for socket_idx in range(intersection.SOCKET_NUM):
         block = Curve(id, intersection.get_socket(socket_idx), global_network, id + 1)

metadrive/tests/vis_block/vis_straight_block.py

@@ -1,3 +1,4 @@
+"""This file visualizes a Straight block."""
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.straight import Straight
 from metadrive.component.road_network.node_road_network import NodeRoadNetwork
@@ -6,14 +7,11 @@
 
 if __name__ == "__main__":
     test = TestBlock()
-
     initialize_asset_loader(test)
-
     global_network = NodeRoadNetwork()
     straight = FirstPGBlock(global_network, 3.0, 1, test.render, test.world, 1)
     for i in range(1, 3):
         straight = Straight(i, straight.get_socket(0), global_network, i)
         straight.construct_block(test.render, test.world)
-        # print(len(straight.dynamic_nodes))
     test.show_bounding_box(global_network)
     test.run()

metadrive/tests/vis_block/vis_t_intersection.py

@@ -1,3 +1,4 @@
+"""This file visualizes a TInterSection block."""
 from metadrive.component.pgblock.curve import Curve
 from metadrive.component.pgblock.first_block import FirstPGBlock
 from metadrive.component.pgblock.straight import Straight
@@ -13,15 +14,12 @@
 
     global_network = NodeRoadNetwork()
     first = FirstPGBlock(global_network, 3.0, 2, test.render, test.world, 1)
-
     curve = Curve(1, first.get_socket(0), global_network, 1)
     curve.construct_block(test.render, test.world)
-
     straight = Straight(2, curve.get_socket(0), global_network, 1)
     straight.construct_block(test.render, test.world)
-
     intersection = TInterSection(3, straight.get_socket(0), global_network, 20)
-    # print(intersection.construct_block(test.render, test.world))
+    intersection.construct_block(test.render, test.world)
     id = 4
     for socket_idx in range(intersection.SOCKET_NUM):
         block = Curve(id, intersection.get_socket(socket_idx), global_network, id + 1)

metadrive/tests/vis_block/vis_yy.py

@@ -1,3 +1,7 @@
+"""
+This file visualizes a map with Merge block and a Split block, which is similar to a Bottleneck block.
+This environment is interactive.
+"""
 from metadrive.component.map.base_map import BaseMap
 from metadrive.component.map.pg_map import MapGenerateMethod
 from metadrive.envs.metadrive_env import MetaDriveEnv