Send only observation buffers that are in use.

examples/occlusion/mask.py

@@ -36,6 +36,7 @@
     CustomRenderConstantDependency,
     DoneCriteria,
     DrivableAreaGridMap,
+    Lidar,
     NeighborhoodVehicles,
     OcclusionMap,
     RoadWaypoints,
@@ -44,7 +45,7 @@
 from smarts.core.colors import Colors
 from smarts.core.observations import Observation, VehicleObservation
 from smarts.core.road_map import Waypoint, interpolate_waypoints
-from smarts.core.shader_buffer import BufferName, CameraSensorName
+from smarts.core.shader_buffer import BufferID, CameraSensorName
 from smarts.core.utils.core_math import slope, squared_dist
 from smarts.core.utils.observations import points_to_pixels
 from smarts.env.utils.observation_conversion import ObservationOptions
@@ -790,6 +791,8 @@ def occlusion_main(steps):
                 resolution=resolution,
                 surface_noise=True,
             ),
+            signals=True,
+            lidar_point_cloud=Lidar(),
             lane_positions=True,
             accelerometer=Accelerometer(),
             road_waypoints=RoadWaypoints(horizon=50),
@@ -811,12 +814,12 @@ def occlusion_main(steps):
                             variable_name="iChannel1",
                         ),
                         CustomRenderBufferDependency(
-                            buffer_dependency_name=BufferName.ELAPSED_SIM_TIME,
-                            variable_name=BufferName.ELAPSED_SIM_TIME.value,
+                            buffer_dependency_name=BufferID.ELAPSED_SIM_TIME,
+                            variable_name=BufferID.ELAPSED_SIM_TIME.value,
                         ),
                         CustomRenderBufferDependency(
-                            buffer_dependency_name=BufferName.NEIGHBORHOOD_VEHICLE_STATES_POSITION,
-                            variable_name=BufferName.NEIGHBORHOOD_VEHICLE_STATES_POSITION.value,
+                            buffer_dependency_name=BufferID.NEIGHBORHOOD_VEHICLE_STATES_POSITION,
+                            variable_name=BufferID.NEIGHBORHOOD_VEHICLE_STATES_POSITION.value,
                         ),
                         CustomRenderConstantDependency(
                             value=(0.1, 0.5, 0.1),

smarts/core/agent_interface.py

@@ -34,7 +34,7 @@
 from smarts.core.controllers.action_space_type import ActionSpaceType
 from smarts.core.lidar_sensor_params import BasicLidar
 from smarts.core.lidar_sensor_params import SensorParams as LidarSensorParams
-from smarts.core.shader_buffer import BufferName, CameraSensorName
+from smarts.core.shader_buffer import BufferID, CameraSensorID
 from smarts.core.utils import iteration_tools
 
 
@@ -134,7 +134,7 @@ def __post_init__(self):
 class CustomRenderBufferDependency(RenderDependencyBase):
     """Base for referencing an observation buffer (other than a camera)."""
 
-    buffer_dependency_name: Union[str, BufferName]
+    buffer_dependency_name: Union[str, BufferID]
     """The identification of buffer to reference."""
     variable_name: str
     """The variable name inside the shader."""
@@ -150,7 +150,7 @@ def name(self) -> str:
 class CustomRenderCameraDependency(RenderDependencyBase):
     """Provides a uniform texture access to an existing camera."""
 
-    camera_dependency_name: Union[str, CameraSensorName]
+    camera_dependency_name: Union[str, CameraSensorID]
     """The name of the camera (type) to target."""
     variable_name: Literal["iChannel0", "iChannel1", "iChannel2", "iChannel3"]
     """The name of the camera texture variable."""
@@ -168,7 +168,7 @@ def is_self_targetted(self):
 
     def __post_init__(self):
         assert self.camera_dependency_name
-        if isinstance(self.camera_dependency_name, CameraSensorName):
+        if isinstance(self.camera_dependency_name, CameraSensorID):
             self.camera_dependency_name = self.camera_dependency_name.value
 
 

smarts/core/renderer_base.py

@@ -34,7 +34,7 @@
 from .coordinates import Pose
 
 if TYPE_CHECKING:
-    from smarts.core.shader_buffer import BufferName
+    from smarts.core.shader_buffer import BufferID
 
 
 class DEBUG_MODE(IntEnum):
@@ -131,14 +131,12 @@ def __post_init__(self):
 class ShaderStepBufferDependency(ShaderStepDependencyBase):
     """The base for shader dependencies."""
 
-    buffer_name: BufferName
-    script_variable_name: str
+    buffer_id: BufferID
+    script_uniform_name: str
 
     def __post_init__(self):
-        assert (
-            self.buffer_name
-        ), f"`{self.script_variable_name=}` cannot be None or empty."
-        assert self.script_variable_name
+        assert self.buffer_id, f"`{self.script_uniform_name=}` cannot be None or empty."
+        assert self.script_uniform_name
 
 
 @dataclass(frozen=True)

smarts/core/sensor.py

@@ -63,7 +63,7 @@
     ShaderStepVariableDependency,
 )
 from smarts.core.road_map import RoadMap, Waypoint
-from smarts.core.shader_buffer import BufferName, CameraSensorName
+from smarts.core.shader_buffer import BufferID, CameraSensorID
 from smarts.core.signals import SignalState
 from smarts.core.simulation_frame import SimulationFrame
 from smarts.core.utils.core_math import squared_dist
@@ -211,7 +211,7 @@ def __init__(
         super().__init__(
             vehicle_state,
             renderer,
-            CameraSensorName.DRIVABLE_AREA_GRID_MAP.value,
+            CameraSensorID.DRIVABLE_AREA_GRID_MAP.value,
             RenderMasks.DRIVABLE_AREA_HIDE,
             width,
             height,
@@ -254,7 +254,7 @@ def __init__(
         super().__init__(
             vehicle_state,
             renderer,
-            CameraSensorName.OCCUPANCY_GRID_MAP.value,
+            CameraSensorID.OCCUPANCY_GRID_MAP.value,
             RenderMasks.OCCUPANCY_HIDE,
             width,
             height,
@@ -296,7 +296,7 @@ def __init__(
         super().__init__(
             vehicle_state,
             renderer,
-            CameraSensorName.TOP_DOWN_RGB.value,
+            CameraSensorID.TOP_DOWN_RGB.value,
             RenderMasks.RGB_HIDE,
             width,
             height,
@@ -342,7 +342,7 @@ def __init__(
         super().__init__(
             vehicle_state,
             renderer,
-            CameraSensorName.OCCLUSION.value,
+            CameraSensorID.OCCLUSION.value,
             RenderMasks.NONE,
             width,
             height,
@@ -367,7 +367,7 @@ def __init__(
                         ),
                         ShaderStepCameraDependency(
                             _gen_sensor_name(
-                                CameraSensorName.DRIVABLE_AREA_GRID_MAP.value,
+                                CameraSensorID.DRIVABLE_AREA_GRID_MAP.value,
                                 vehicle_state,
                             ),
                             "iChannel0",
@@ -383,7 +383,7 @@ def __init__(
         # feed simplex and ogm to composite
         with pkg_resources.path(glsl, "occlusion.frag") as composite_shader_path:
             composite_camera_name = _gen_sensor_name(
-                CameraSensorName.OCCLUSION.value, vehicle_state
+                CameraSensorID.OCCLUSION.value, vehicle_state
             )
             renderer.build_shader_step(
                 name=composite_camera_name,
@@ -466,9 +466,9 @@ def __init__(
 
         dependencies = []
         named_camera_sensors = (
-            (CameraSensorName.OCCUPANCY_GRID_MAP, ogm_sensor),
-            (CameraSensorName.TOP_DOWN_RGB, top_down_rgb_sensor),
-            (CameraSensorName.DRIVABLE_AREA_GRID_MAP, drivable_area_grid_map_sensor),
+            (CameraSensorID.OCCUPANCY_GRID_MAP, ogm_sensor),
+            (CameraSensorID.TOP_DOWN_RGB, top_down_rgb_sensor),
+            (CameraSensorID.DRIVABLE_AREA_GRID_MAP, drivable_area_grid_map_sensor),
         )
 
         def has_required(dependency_name, required_name, sensor) -> bool:
@@ -502,13 +502,13 @@ def has_required(dependency_name, required_name, sensor) -> bool:
                 )
             elif isinstance(d, CustomRenderBufferDependency):
                 if isinstance(d.buffer_dependency_name, str):
-                    buffer_name = BufferName(d.buffer_dependency_name)
+                    buffer_name = BufferID(d.buffer_dependency_name)
                 else:
                     buffer_name = d.buffer_dependency_name
 
                 dependency = ShaderStepBufferDependency(
-                    buffer_name=buffer_name,
-                    script_variable_name=d.variable_name,
+                    buffer_id=buffer_name,
+                    script_uniform_name=d.variable_name,
                 )
             else:
                 raise TypeError(

smarts/core/shader_buffer.py

@@ -22,7 +22,7 @@
 from enum import Enum
 
 
-class CameraSensorName(Enum):
+class CameraSensorID(Enum):
     """Describes default names for camera configuration."""
 
     DRIVABLE_AREA_GRID_MAP = "dagm"
@@ -31,7 +31,7 @@ class CameraSensorName(Enum):
     OCCLUSION = "occlusion"
 
 
-class BufferName(Enum):
+class BufferID(Enum):
     """The names of the different buffers available for camera rendering."""
 
     DELTA_TIME = "dt"
@@ -92,7 +92,7 @@ class BufferName(Enum):
 
     DISTANCE_TRAVELLED = "distance_travelled"
 
-    ROAD_WAYPOINTS_POSITIONS = "road_waypoints_lanes_pos"
+    ROAD_WAYPOINTS_POSITION = "road_waypoints_lanes_pos"
     ROAD_WAYPOINTS_HEADING = "road_waypoints_lanes_heading"
     ROAD_WAYPOINTS_LANE_ID = "road_waypoints_lane_id"
     ROAD_WAYPOINTS_LANE_WIDTH = "road_waypoints_lane_width"