{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "92c86eb4",
   "metadata": {},
   "source": [
    "# Action\n",
    "\n",
    "[![Click and Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/metadriverse/metaurban/blob/main/documentation/source/action.ipynb)\n",
    "\n",
    "This section will discuss how to control the vehicle in MetaUrban with the *Policy* interface. Before this, let's have a look at the raw control signal required by vehicles.\n",
    "\n",
    "To control vehicles in MetaUrban, the input should be a normalized action: $\\mathbf a = [a_1, a_2] \\in [-1, 1]^2$. This action is converted into the steering $u_s$ (degree), acceleration $u_a$ (hp) and brake signal $u_b$ (hp) in the following ways:\n",
    "\n",
    "$u_s = S_{max} a_1$  \n",
    "$u_a = F_{max} \\max(0, a_2)$  \n",
    "$u_b = -B_{max} \\min(0, a_2)$  \n",
    "\n",
    "wherein $S_{max}$ (degree) is the maximal steering angle, $F_{max}$ (hp) is the maximal engine force, and $B_{max}$ (hp) is the maximal brake force. \n",
    "To increase diversity, the accurate values of these parameters vary across different vehicles but are limited to certain ranges defined by [ParameterSpace](https://github.com/metadriverse/metaurban/blob/main/metaurban/component/pg_space.py).\n",
    "\n",
    "The steering $u_s$ is applied to two front wheels. In addition, the engine force $u_a$ and the brake force $u_b$ are applied to four wheels, as the COCO robot in MetaUrban is four-wheel drive (4WD). The concrete implementation is as follows:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "e7d118d4",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\u001b[34mdef\u001b[39;49;00m\u001b[37m \u001b[39;49;00m\u001b[35m_set_action\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[35mself\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30maction\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[34mif\u001b[39;49;00m \u001b[30maction\u001b[39;49;00m \u001b[35mis\u001b[39;49;00m \u001b[34mNone\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "        \u001b[34mreturn\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[30msteering\u001b[39;49;00m = \u001b[30maction\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[34m0\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[35mself\u001b[39;49;00m.\u001b[30mthrottle_brake\u001b[39;49;00m = \u001b[30maction\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[34m1\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[35mself\u001b[39;49;00m.\u001b[30msteering\u001b[39;49;00m = \u001b[30msteering\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30msetSteeringValue\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[35mself\u001b[39;49;00m.\u001b[30msteering\u001b[39;49;00m * \u001b[35mself\u001b[39;49;00m.\u001b[30mmax_steering\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[34m0\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30msetSteeringValue\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[35mself\u001b[39;49;00m.\u001b[30msteering\u001b[39;49;00m * \u001b[35mself\u001b[39;49;00m.\u001b[30mmax_steering\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[34m1\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[35mself\u001b[39;49;00m.\u001b[30m_apply_throttle_brake\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[30maction\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[34m1\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "\n",
      "\u001b[34mdef\u001b[39;49;00m\u001b[37m \u001b[39;49;00m\u001b[35m_apply_throttle_brake\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[35mself\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mthrottle_brake\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[30mmax_engine_force\u001b[39;49;00m = \u001b[35mself\u001b[39;49;00m.\u001b[30mconfig\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[33m\"\u001b[39;49;00m\u001b[33mmax_engine_force\u001b[39;49;00m\u001b[33m\"\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[30mmax_brake_force\u001b[39;49;00m = \u001b[35mself\u001b[39;49;00m.\u001b[30mconfig\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[33m\"\u001b[39;49;00m\u001b[33mmax_brake_force\u001b[39;49;00m\u001b[33m\"\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "    \u001b[34mfor\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m \u001b[35min\u001b[39;49;00m \u001b[35mrange\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[34m4\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "        \u001b[34mif\u001b[39;49;00m \u001b[30mthrottle_brake\u001b[39;49;00m >= \u001b[34m0\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "            \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30msetBrake\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[32m2.0\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "            \u001b[34mif\u001b[39;49;00m \u001b[35mself\u001b[39;49;00m.\u001b[30mspeed_km_h\u001b[39;49;00m > \u001b[35mself\u001b[39;49;00m.\u001b[30mmax_speed_km_h\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30mapplyEngineForce\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[32m0.0\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "            \u001b[34melse\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30mapplyEngineForce\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[30mmax_engine_force\u001b[39;49;00m * \u001b[30mthrottle_brake\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "        \u001b[34melse\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "            \u001b[34mif\u001b[39;49;00m \u001b[35mself\u001b[39;49;00m.\u001b[30menable_reverse\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30mapplyEngineForce\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[30mmax_engine_force\u001b[39;49;00m * \u001b[30mthrottle_brake\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30msetBrake\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[34m0\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "            \u001b[34melse\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[32m# self.system.applyEngineForce(0.0, wheel_index)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[32m# self.system.setBrake(abs(throttle_brake) * max_brake_force, wheel_index)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[30mDEADZONE\u001b[39;49;00m = \u001b[32m0.01\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[32m# Speed m/s in car's heading:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[30mheading\u001b[39;49;00m = \u001b[35mself\u001b[39;49;00m.\u001b[30mheading\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[30mvelocity\u001b[39;49;00m = \u001b[35mself\u001b[39;49;00m.\u001b[30mvelocity\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[30mspeed_in_heading\u001b[39;49;00m = \u001b[30mvelocity\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[34m0\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m * \u001b[30mheading\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[34m0\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m + \u001b[30mvelocity\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[34m1\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m * \u001b[30mheading\u001b[39;49;00m\u001b[35m[\u001b[39;49;00m\u001b[34m1\u001b[39;49;00m\u001b[35m]\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[34mif\u001b[39;49;00m \u001b[30mspeed_in_heading\u001b[39;49;00m < \u001b[30mDEADZONE\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                    \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30mapplyEngineForce\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[32m0.0\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                    \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30msetBrake\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[34m2\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                \u001b[34melse\u001b[39;49;00m\u001b[35m:\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                    \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30mapplyEngineForce\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[32m0.0\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "                    \u001b[35mself\u001b[39;49;00m.\u001b[30msystem\u001b[39;49;00m.\u001b[30msetBrake\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[35mabs\u001b[39;49;00m\u001b[35m(\u001b[39;49;00m\u001b[30mthrottle_brake\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m * \u001b[30mmax_brake_force\u001b[39;49;00m\u001b[35m,\u001b[39;49;00m \u001b[30mwheel_index\u001b[39;49;00m\u001b[35m)\u001b[39;49;00m\u001b[37m\u001b[39;49;00m\n",
      "\n"
     ]
    }
   ],
   "source": [
    "from metaurban.component.delivery_robot.base_deliveryrobot import EgoDeliveryRobot\n",
    "from metaurban.utils import print_source\n",
    "print_source(EgoDeliveryRobot._set_action)\n",
    "print_source(EgoDeliveryRobot._apply_throttle_brake)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "c48486b7",
   "metadata": {},
   "source": [
    "Actually, you can make the car 2WD or 4 wheel steering or even increase its number of wheels by implementing a new vehicle type like `EgoDeliveryRobot`.\n",
    "\n",
    "The aforementioned `_set_action(self, action)` function is wrapped by the `before_step(self, action)` function, which will do additional manipulations like numerical validation. Thus to control the agent, just set the action through `agent.before_step(target_action)` before simulating the next step. A minimal example to control an agent is as follows. The script first creates a new agent in front of the green ego car and sets its action as `[0, 0.05]` at each step. As a result, it slowly moves forward, while the green ego car stops at the origin as its input action is always `[0, 0]`. "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "0d6d0b30",
   "metadata": {
    "tags": [
     "skip-execution"
    ]
   },
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\u001b[38;20m[INFO] Environment: SidewalkStaticMetaUrbanEnv\u001b[0m\n",
      "\u001b[38;20m[INFO] MetaUrban version: 0.0.1\u001b[0m\n",
      "\u001b[38;20m[INFO] Sensors: [lidar: Lidar(), side_detector: SideDetector(), lane_line_detector: LaneLineDetector()]\u001b[0m\n",
      "\u001b[38;20m[INFO] Render Mode: none\u001b[0m\n",
      "\u001b[38;20m[INFO] Horizon (Max steps per agent): None\u001b[0m\n",
      "\u001b[38;20m[INFO] Assets version: 0.0.1\u001b[0m\n",
      "\u001b[38;20m[INFO] Known Pipes: glxGraphicsPipe\u001b[0m\n",
      "\u001b[38;20m[INFO] Start Scenario Index: 0, Num Scenarios : 1\u001b[0m\n",
      "\u001b[38;20m[INFO] Agents are expected to walk on main sidewalks and crosswalks, not all regions\u001b[0m\n",
      "\u001b[38;20m[INFO] Agents are expected to walk on main sidewalks and crosswalks, not all regions\u001b[0m\n",
      "\u001b[38;20m[INFO] Episode ended! Scenario Index: 0 Reason: arrive_dest.\u001b[0m\n",
      "\u001b[38;20m[INFO] Agents are expected to walk on main sidewalks and crosswalks, not all regions\u001b[0m\n",
      "\u001b[38;20m[INFO] Agents are expected to walk on main sidewalks and crosswalks, not all regions\u001b[0m\n"
     ]
    }
   ],
   "source": [
    "from metaurban.envs import SidewalkStaticMetaUrbanEnv\n",
    "from metaurban.component.delivery_robot.deliveryrobot_type import EgoVehicle\n",
    "from metaurban.utils import generate_gif\n",
    "\n",
    "env=SidewalkStaticMetaUrbanEnv(dict(map=\"S\", traffic_density=0, object_density=0.1, walk_on_all_regions=False))\n",
    "frames = []\n",
    "try:\n",
    "    env.reset()\n",
    "    cfg=env.config[\"vehicle_config\"]\n",
    "    cfg[\"navigation\"]=None # it doesn't need navigation system\n",
    "    v = env.engine.spawn_object(EgoVehicle, \n",
    "                                vehicle_config=cfg, \n",
    "                                position=[30,0], \n",
    "                                heading=0)\n",
    "    for _ in range(100):\n",
    "        v.before_step([0, 0.5])\n",
    "        env.step([0,0])\n",
    "        env.agents['default_agent'].set_position([25, 0])\n",
    "        frame=env.render(mode=\"topdown\", \n",
    "                         window=False,\n",
    "                         screen_size=(800, 200),\n",
    "                         camera_position=(60, 7))\n",
    "        frames.append(frame)\n",
    "    generate_gif(frames, gif_name=\"demo.gif\")\n",
    "finally:\n",
    "    env.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "855f689b",
   "metadata": {
    "tags": [
     "skip-execution"
    ]
   },
   "outputs": [
    {
     "data": {
      "image/gif": 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      "text/plain": [
       "<IPython.core.display.Image object>"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from IPython.display import Image\n",
    "Image(open(\"demo.gif\", \"rb\").read())"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "metaurban",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.16"
  },
  "mystnb": {
   "execution_mode": "off"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}