Skip to content

Commit

Permalink
Updated so KeyboardInterrupt does not segfault on macOS
Browse files Browse the repository at this point in the history
  • Loading branch information
@nandantumu
nandantumu committed Sep 21, 2024
1 parent 45a2816 commit 3052c43
Showing 1 changed file with 35 additions and 36 deletions.
71 changes: 35 additions & 36 deletions f1tenth_gym/envs/rendering/rendering_pyqt.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
import logging
import math
from typing import Any, Callable, Optional
import signal

import cv2
import numpy as np
Expand Down Expand Up @@ -52,7 +53,7 @@ def __init__(
render_mode : str
rendering mode in ["human", "human_fast", "rgb_array"]
render_fps : int
number of frames per second
number of frames per second
"""
super().__init__()
self.params = params
Expand All @@ -71,8 +72,10 @@ def __init__(
self.app = QtWidgets.QApplication([])
self.window = pg.GraphicsLayoutWidget()
self.window.setWindowTitle("F1Tenth Gym")
self.window.setGeometry(0, 0, self.render_spec.window_size, self.render_spec.window_size)
self.canvas : pg.PlotItem = self.window.addPlot()
self.window.setGeometry(
0, 0, self.render_spec.window_size, self.render_spec.window_size
)
self.canvas: pg.PlotItem = self.window.addPlot()

# Disable interactivity
self.canvas.setMouseEnabled(x=False, y=False) # Disable mouse panning & zooming
Expand All @@ -84,33 +87,29 @@ def __init__(
legend.mouseDragEvent = lambda *args, **kwargs: None
legend.hoverEvent = lambda *args, **kwargs: None
# self.scene() is a pyqtgraph.GraphicsScene.GraphicsScene.GraphicsScene
self.window.scene().sigMouseClicked.connect(self.mouse_clicked)
self.window.scene().sigMouseClicked.connect(self.mouse_clicked)
self.window.keyPressEvent = self.key_pressed

# Remove axes
self.canvas.hideAxis('bottom')
self.canvas.hideAxis('left')
self.canvas.hideAxis("bottom")
self.canvas.hideAxis("left")

# setting plot window background color to yellow
self.window.setBackground('w')
# setting plot window background color to yellow
self.window.setBackground("w")

# fps and time renderer
self.clock = FrameCounter()
self.fps_renderer = TextObject(
parent=self.canvas, position="bottom_left"
)
self.time_renderer = TextObject(
parent=self.canvas, position="bottom_right"
)
self.fps_renderer = TextObject(parent=self.canvas, position="bottom_left")
self.time_renderer = TextObject(parent=self.canvas, position="bottom_right")
self.bottom_info_renderer = TextObject(
parent=self.canvas, position="bottom_center"
)
self.top_info_renderer = TextObject(
parent=self.canvas, position="top_center"
)
self.top_info_renderer = TextObject(parent=self.canvas, position="top_center")

if self.render_mode in ["human", "human_fast"]:
self.clock.sigFpsUpdate.connect(lambda fps: self.fps_renderer.render(f'FPS: {fps:.1f}'))
self.clock.sigFpsUpdate.connect(
lambda fps: self.fps_renderer.render(f"FPS: {fps:.1f}")
)

colors_rgb = [
[rgb for rgb in ImageColor.getcolor(c, "RGB")]
Expand Down Expand Up @@ -139,7 +138,7 @@ def __init__(
self.image_item = pg.ImageItem(track_map)
# Example: Transformed display of ImageItem
tr = QtGui.QTransform() # prepare ImageItem transformation:
# Translate image by the origin of the map
# Translate image by the origin of the map
tr.translate(self.map_origin[0], self.map_origin[1])
# Scale image by the resolution of the map
tr.scale(self.map_resolution, self.map_resolution)
Expand All @@ -160,6 +159,8 @@ def __init__(
self.follow_agent_flag: bool = False
self.agent_to_follow: int = None

# Allow a KeyboardInterrupt to kill the window without segfaulting
signal.signal(signal.SIGINT, signal.SIG_DFL)
self.window.show()

def update(self, state: dict) -> None:
Expand Down Expand Up @@ -202,7 +203,7 @@ def add_renderer_callback(self, callback_fn: Callable[[EnvRenderer], None]) -> N
callback function to be called at every rendering step
"""
self.callbacks.append(callback_fn)

def key_pressed(self, event: QtGui.QKeyEvent) -> None:
"""
Handle key press events.
Expand Down Expand Up @@ -233,9 +234,7 @@ def mouse_clicked(self, event: QtGui.QMouseEvent) -> None:
if self.agent_to_follow is None:
self.agent_to_follow = 0
else:
self.agent_to_follow = (self.agent_to_follow + 1) % len(
self.agent_ids
)
self.agent_to_follow = (self.agent_to_follow + 1) % len(self.agent_ids)

self.active_map_renderer = "car"
elif event.button() == QtCore.Qt.MouseButton.RightButton:
Expand All @@ -245,9 +244,7 @@ def mouse_clicked(self, event: QtGui.QMouseEvent) -> None:
if self.agent_to_follow is None:
self.agent_to_follow = 0
else:
self.agent_to_follow = (self.agent_to_follow - 1) % len(
self.agent_ids
)
self.agent_to_follow = (self.agent_to_follow - 1) % len(self.agent_ids)

self.active_map_renderer = "car"
elif event.button() == QtCore.Qt.MouseButton.MiddleButton:
Expand All @@ -257,7 +254,7 @@ def mouse_clicked(self, event: QtGui.QMouseEvent) -> None:
self.agent_to_follow = None

self.active_map_renderer = "map"

def render(self) -> Optional[np.ndarray]:
"""
Render the current state in a frame.
Expand All @@ -269,7 +266,6 @@ def render(self) -> Optional[np.ndarray]:
if render_mode is "rgb_array", returns the rendered frame as an array
"""
if self.draw_flag:

# draw cars
for i in range(len(self.agent_ids)):
self.cars[i].render()
Expand All @@ -284,15 +280,13 @@ def render(self) -> Optional[np.ndarray]:
self.canvas.setYRange(ego_y - 10, ego_y + 10)
else:
self.canvas.autoRange()

agent_to_follow_id = (
self.agent_ids[self.agent_to_follow]
if self.agent_to_follow is not None
else None
)
self.bottom_info_renderer.render(
text=f"Focus on: {agent_to_follow_id}"
)
self.bottom_info_renderer.render(text=f"Focus on: {agent_to_follow_id}")

if self.render_spec.show_info:
self.top_info_renderer.render(text=INSTRUCTION_TEXT)
Expand All @@ -303,7 +297,7 @@ def render(self) -> Optional[np.ndarray]:
if self.render_mode in ["human", "human_fast"]:
assert self.window is not None

else:
else:
# rgb_array
# TODO: extract the frame from the canvas
frame = None
Expand All @@ -328,7 +322,13 @@ def render_points(
size of the points in pixels, by default 1
"""
return self.canvas.plot(
points[:, 0], points[:, 1], pen=None, symbol="o", symbolPen=pg.mkPen(color=color, width=0), symbolBrush=pg.mkBrush(color=color, width=0), symbolSize=size
points[:, 0],
points[:, 1],
pen=None,
symbol="o",
symbolPen=pg.mkPen(color=color, width=0),
symbolBrush=pg.mkBrush(color=color, width=0),
symbolSize=size,
)

def render_lines(
Expand Down Expand Up @@ -374,7 +374,7 @@ def render_closed_lines(
"""
# Append the first point to the end to close the loop
points = np.vstack([points, points[0]])

pen = pg.mkPen(color=pg.mkColor(*color), width=size)
pen.setCapStyle(pg.QtCore.Qt.PenCapStyle.RoundCap)
pen.setJoinStyle(pg.QtCore.Qt.PenJoinStyle.RoundJoin)
Expand All @@ -383,7 +383,6 @@ def render_closed_lines(
points[:, 0], points[:, 1], pen=pen, cosmetic=True, antialias=True
) ## setting pen=None disables line drawing


def close(self) -> None:
"""
Close the rendering environment.
Expand Down

0 comments on commit 3052c43

Please sign in to comment.