Changing Names of Variables Named "type", "orientation", and "angle"

[mchlswyr]

Problem

• All uses of the variable named type in the Python scripts rely on "shadowing" the Python built-in class named type, and we don't want to have to rely on this
• There is also some inconsistency when it comes to describing "the angle that an actor (vehicle, pedestrian, etc.) is facing"
• In some places the word "orientation" is used, in others "angle" is used, and in others "yaw" is used

Changes

• Variables named type containing Actor.type were replaced with a_type
• Variables named type containing Vehicle.type were replaced with v_type
• Variables named type containing Pedestrian.type were replaced with p_type
• Variables named type containing TrafficLight.type were replaced with tl_type
• Variables named tl_type containing tnode.tags['type'] were replaced with tltype (kind of like btype)
• Variables named angle and start_angle were replaced with yaw and start_yaw (with one exception mentioned in the third comment in Comments)
• The tag named angle (used in the nodes that make up a trajectory) in some scenarios under scenarios/eval_scenarios was replaced with yaw (see the fourth comment in Comments)
• Variables named orientation were replaced with yaw (with one exception mentioned in the fifth comment in Comments)
• The EgoStart, Vehicle, Pedestrian, and Trajectory Node presets all had an attribute named orientation, which was changed to yaw (see the fourth comment in Comments)

Comments

1. The member variable named type in the classes Actor and TrafficLight was not replaced because references to that variable in instances of those classes are <name_of_instance_of_class>.type (e.g., self.type, vehicle.type, pedestrian.type, etc.), so "shadowing" isn't relied on in this case
2. The member variable named type in the class MStopConfig should also be replaced, but would require updating all of the .btree files (e.g., scenarios/trees/drive.btree)
3. The parameter named angle in speed_to_vel() in Utils.py wasn't changed to yaw since speed_to_vel() could be used with other angles (e.g., with pitch, if this is ever going to be used in some future version of GeoScenario)
4. The angle attribute in the Trajectory Node preset was changed to yaw in case other angles (such as pitch when changing altitude, e.g.) are used to describe the trajectory in future versions of GeoScenario
5. The variables named outOrientation in SimVehicle.cpp and SimVehicle.h weren't renamed because they were assigned an FRotator(), which consists of pitch, yaw, and roll

Questions

1. Should we replace MStopConfig.type with MStopConfig.when? The different types are "now", "position in frenet frame", "goal", and "stop line". It could be read as "stop when the goal is reached", e.g. We could then change the Type class to When. Or maybe something other than type and when?

Testing

cd ~/anm_unreal_sim/submodules/geoscenarioserver
bash scripts/install_dependencies.bash

• In SimConfig.py, set WRITE_TRAJECTORIES = False and CLIENT_SHM = True

  Test 1

• Test that all of scenarios/test_scenarios still run with following script:

  
  #!/bin/bash
  scenarios=$(ls scenarios/test_scenarios)

source "catkin_ws/install/opt/ros/lanelet2/setup.bash"

kill_python38() { killall python3.8 }

for scenario in $scenarios; do read -p "Press ENTER to run next scenario:" trap kill_python38 SIGINT python3.8 GSServer.py -s "scenarios/test_scenarios/${scenario}" trap - SIGINT done

- Only `README.md` should fail

### Test 2
- Package the simulator, and switch to it:
```sh
bash ../base_unreal_project/package.sh
cd ~/anm_unreal_test_suite
bash scripts/wise_sim_switch.bash dev

• Run the following script:

  
  #!/bin/bash

GSS="${HOME}/anm_unreal_sim/submodules/geoscenarioserver" SIM="${HOME}/anm_unreal_sim/submodules/anm_sim_platform"

cleanup_and_exit() { killall python3.8 killall roslaunch

# Cleanup Shared Memory
ipcrm -M 0x0001e240 # 123456
ipcrm -M 0x00051877 # 333943

# Cleanup Semaphores
ipcrm -S 0x000549c5 # 346565
ipcrm -S 0x000e3e39 # 933433

exit 0

}

keyboard_int() { echo "" echo "Press ENTER to exit." }

trap keyboard_int SIGINT

source "${GSS}/catkin_ws/install/opt/ros/lanelet2/setup.bash" --extend python3.8 "${GSS}/GSServer.py" -s 'scenarios/test_scenarios/gs_ringroad_stress_loop.osm' & bash "${SIM}/scripts/launch.bash" 'ring_road_ccw' > simlog.log &

read -p "Press ENTER to exit." cleanup_and_exit

- You should see the gss vehicles after driving for about a minute

[rodrigoqueiroz]

Good with the changes. We can keep the MStopConfig "type" for now.