Remove protobuf dependency and remote agent code (#2065)

* Remove protobuf dependency and remote agent code

* Update changelog

* Remove zoo_addrs param

* Update changelog

.github/workflows/ci-format.yml

@@ -34,7 +34,7 @@ jobs:
             -e missing-function-docstring \
             -e missing-class-docstring \
             -s n \
-            --ignore examples,scenarios,docs,manager_pb2_grpc.py,worker_pb2_grpc.py \
+            --ignore examples,scenarios,docs \
             --msg-template='{path}: line {line}: {msg_id}: {msg}' \
             ./smarts ./envision ./baselines
 

CHANGELOG.md

@@ -60,6 +60,8 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Removed `examples/rl/racing` as base repository `danijar/dreamerv2` is not updated anymore and this example will be superseded by `examples/rl/drive`.
 - Removed `FrameStack` environment wrapper.
 - Removed `SMARTS.traffic_sim` property.
+- Removed remote agent modules.
+- Removed `protobuf` as a core package dependency.
 ### Security
 
 ## [1.1.0] # 2023-04-28

docs/setup.rst

@@ -60,9 +60,9 @@ Run the following commands to setup the SMARTS simulator.
 
     # Install smarts with extras as needed. Extras include the following: 
     # `camera_obs` - needed for rendering camera observations, and for testing.
+    # `sumo` - needed for using SUMO scenarios.
     # `test` - needed for testing.
-    # `train` - needed for RL training and testing.
-    $ pip install -e '.[camera_obs,test,train,sumo]'
+    $ pip install -e .[camera_obs,sumo,test]
 
     # Run sanity-test and verify they are passing.
     # If tests fail, check './sanity_test_result.xml' for test report. 

setup.cfg

@@ -38,7 +38,6 @@ install_requires =
     # The following are planned to be made optional
     gymnasium==0.27.0
     pybullet>=3,<4.0
-    protobuf>=3.17.3,<4.0.0 # for /smarts/zoo and remote agents
 
     # The following are planned for removal
     gym>=0.17.3,<=0.19.0

smarts/core/agent_manager.py

@@ -28,11 +28,10 @@
 from smarts.core.agent_interface import AgentInterface
 from smarts.core.bubble_manager import BubbleManager
 from smarts.core.data_model import SocialAgent
-from smarts.core.heterogenous_agent_buffer import HeterogenousAgentBuffer
+from smarts.core.local_agent_buffer import LocalAgentBuffer
 from smarts.core.observations import Observation
-from smarts.core.plan import Mission, Plan, PositionalGoal
+from smarts.core.plan import Plan
 from smarts.core.sensor_manager import SensorManager
-from smarts.core.sensors import Sensors
 from smarts.core.utils.id import SocialAgentId
 from smarts.core.vehicle_state import VehicleState
 from smarts.sstudio.types.actor.social_agent_actor import SocialAgentActor
@@ -47,15 +46,14 @@ class AgentManager:
          time.
     """
 
-    def __init__(self, sim, interfaces, zoo_addrs=None):
+    def __init__(self, sim, interfaces):
         from smarts.core.vehicle_index import VehicleIndex
 
         self._log = logging.getLogger(self.__class__.__name__)
         self._sim = weakref.ref(sim)
         self._vehicle_index: VehicleIndex = sim.vehicle_index
         self._sensor_manager: SensorManager = sim.sensor_manager
         self._agent_buffer = None
-        self._zoo_addrs = zoo_addrs
         self._ego_agent_ids = set()
         self._social_agent_ids = set()
 
@@ -500,9 +498,7 @@ def init_ego_agents(self):
 
     def _setup_agent_buffer(self):
         if not self._agent_buffer:
-            self._agent_buffer = HeterogenousAgentBuffer(
-                zoo_manager_addrs=self._zoo_addrs
-            )
+            self._agent_buffer = LocalAgentBuffer()
 
     def _setup_social_agents(self):
         """Initialize all social agents."""

smarts/core/local_agent_buffer.py

@@ -17,11 +17,8 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
-from concurrent.futures import ProcessPoolExecutor
 from typing import Optional
 
-import psutil
-
 from smarts.core.agent_buffer import AgentBuffer
 from smarts.core.buffer_agent import BufferAgent
 from smarts.core.local_agent import LocalAgent