🤖 SymAware: Agent Simulation - Prescan Module 🚀

Introduction

Welcome to SymAware, the Symbolic Logic Framework for Situational Awareness in Mixed Autonomy, a cutting-edge project funded by the European Union. Imagine an environment where autonomous agents - be it robots, drones, or cars - collaborate seamlessly with humans to complete complex, dynamically evolving tasks. SymAware is designed to equip these agents with the crucial capability of obtaining situational awareness and enhancing their risk perception abilities.

Overview

This repository contains code of the symaware-prescan package, which is a part of the SymAware project. The symaware-prescan package is a Python module that provides a simulation environment for the agents using Prescan.

Requirements

Prescan (2024.1)
Python 3.9+
CMake 3.21+
c++ compiler
- mingw-w64 Tested
- MSYS2 Untested
- Visual Studio 2019+ Untested

Installation

To install the package, ideally this command should be sufficient:

py -m pip install .

Based on the machine and software versions, the installation might fail. Here are some common issues and their solutions:

Prescan_base_DIR in the CMakeLists.txt file should be updated to the correct path of the Prescan installation directory
pybind11 should have access to the shared libraries of the python distribution in use.
mingw-w64 may need to run its own distribution of python in order to install the package.

The executable needs some shared libraries (ddls) to be in the PATH environment variable. This can be done by using the following code snippet in the powershell coonsole:

# Update the path to the Prescan installation directory
$prescan_dir = "C:/Program Files/Simcenter Prescan/Prescan_2403" 
# The amount of folders depends on the installed plugins
$env:PATH += ";$prescan_dir/bin;$prescan_dir/Plugins/FullWaveformLidarPlugin/bin;$prescan_dir/Plugins/PBRadarPlugin/bin;$prescan_dir/Plugins/PointCloudLidarPlugin/bin;$prescan_dir/Plugins/ProbabilisticSensorsPlugin/bin;$prescan_dir/Plugins/V2XPlugin/bin"

or, in the command prompt:

@rem Update the path to the Prescan installation directory
set prescan_dir=C:/Program Files/Simcenter Prescan/Prescan_2403
@rem The amount of folders depends on the installed plugins
set PATH=%PATH%;%prescan_dir%/bin;%prescan_dir%/Plugins/FullWaveformLidarPlugin/bin;%prescan_dir%/Plugins/PBRadarPlugin/bin;%prescan_dir%/Plugins/PointCloudLidarPlugin/bin;%prescan_dir%/Plugins/ProbabilisticSensorsPlugin/bin;%prescan_dir%/Plugins/V2XPlugin/bin

Documentation

The documentation for all the packages in the namespace symaware is available here.

Contacts

Use

Build python bindings

python3.11.exe -m pip uninstall symaware-prescan symaware-base -y ; rm  -r -fo 'C:\msys64\mingw64\lib\python3.11\site-packages\symaware' ; python3.11.exe -m pip install . --index-url https://gitlab.mpi-sws.org/api/v4/projects/2668/packages/pypi/simple ; python3.11.exe .\script\stubs.py ; black python tests ; isort python tests ; cp .\python\symaware\simulators\prescan\_symaware_prescan.pyi 'C:\msys64\mingw64\lib\python3.11\site-packages\symaware\simulators\prescan'

Dependecy graph

flowchart TD
    sim[ManualSimulator]
    sim_mod[SimulatorModel]
    dynamical_model1[DynamicalModel]
    dynamical_model2[DynamicalModel]
    dynamical_model3[DynamicalModel]
    env[Evironment]
    exp[Experiment]
    exp_guard[ExperimentGuard]

sim --> sim_mod
sim --> env
sim --> exp_guard
sim_mod --> dynamical_model1
sim_mod --> dynamical_model2
sim_mod --> dynamical_model3
env --> exp
dynamical_model1 --> exp
dynamical_model2 --> exp
dynamical_model3 --> exp
exp_guard --> exp

sequenceDiagram
    actor user as User

note right of user : Initialise the environment

create participant env as Environment

user ->> env : new

create participant sim_mod as SimulatorModel
env ->> sim_mod : new

create participant sim as ManualSimulator
env ->> sim : new 

create participant exp as Experiment
env ->> exp : new

note over user, env : Change experiment setup (weather, time, etc.)

user ->>+ env : setup
env ->>+ exp : setup
deactivate env
deactivate exp

note over user, env : Add agent to the experiment

create participant dyn as DynamicalModel
user -> dyn : new
create participant ent2 as Entity
user ->> ent2 : new(dynamic_model) // the dynamic model can be a nullptr
user ->>+ env : addEntity(entity) (via reference)
env ->>+ exp : createObject(entity.type)
exp -->- env : object
env ->>+ ent2 : initialise(object)
deactivate ent2
env -->- user : entity (updated)

TendTo/symaware-lib