daffy

LF.challenge.yaml

@@ -1,4 +1,4 @@
-challenge: aido2-LF-sim-validation
+challenge: aido3-LF-sim-validation
 
 title: "LF 🚗 - Lane following  (simulation 👾, validation 🏋)"
 tags: [visible, ml-validation, aido2, aido2-embodied, LF, v4, simulation]
@@ -7,8 +7,9 @@ description: |
 
 protocol: aido2_db18_agent-z2
 
-date-open: 2019-04-10
-date-close: 2019-05-21T13:00Z
+date-open: 2019-10-10
+date-close: 2019-12-12T13:00Z
+
 
 scoring: !include scoring.yaml
 
@@ -35,4 +36,3 @@ steps:
               robots_npcs: 0
           build:
             context: ./scenario_maker
-

LFV.challenge.yaml

@@ -1,4 +1,4 @@
-challenge: aido2-LFV-sim-validation
+challenge: aido3-LFV-sim-validation
 
 title: "LFV 🚗🚗 - Lane following + Vehicles (simulation 👾, validation 🏋)"
 tags: [visible, ml-validation, aido2, aido2-embodied, LFV, v4, simulation]
@@ -7,8 +7,9 @@ description: |
 
 protocol: aido2_db18_agent-z2
 
-date-open: 2019-04-10
-date-close: 2019-05-21T13:00Z
+date-open: 2019-10-10
+date-close: 2019-12-12T13:00Z
+
 
 scoring: !include scoring.yaml
 
@@ -40,5 +41,3 @@ steps:
               robots_npcs: 4
           build:
             context: ./scenario_maker
-
-

LFVI.challenge.yaml

@@ -1,13 +1,13 @@
-challenge: aido2-LFVI-sim-validation
+challenge: aido3-LFVI-sim-validation
 
 title: "LFVI 🚗🚗🚦 - Lane following + Vehicles + Intersections (simulation 👾, validation 🏋) "
-tags: [visible, ml-validation, aido2, aido2-embodied, LFVI, v4, simulation]
+tags: [visible, ml-validation, aido3, aido3-embodied, LFVI, v4, simulation]
 description: |
 
 protocol: aido2_db18_agent-z2
 
-date-open: 2019-04-10
-date-close: 2019-05-21T13:00Z
+date-open: 2019-10-10
+date-close: 2019-12-12T13:00Z
 
 scoring: !include scoring.yaml
 
@@ -35,4 +35,3 @@ steps:
               robots_npcs: 4
           build:
             context: ./scenario_maker
-

LFVI_test.challenge.yaml

@@ -1,13 +1,14 @@
-challenge: aido2-LFVI-sim-testing
+challenge: aido3-LFVI-sim-testing
 
 title: "LFVI 🚗🚗🚦 - Lane following + Vehicles + Intersections (simulation 👾, testing 🥇) "
-tags: [visible, ml-testing, aido2, aido2-embodied, LFVI, v4, simulation]
+tags: [visible, ml-testing, aido3, aido3-embodied, LFVI, v4, simulation]
 description: |
 
 protocol: aido2_db18_agent-z2
 
-date-open: 2019-04-10
-date-close: 2019-05-21T13:00Z
+date-open: 2019-10-10
+date-close: 2019-12-12T13:00Z
+
 scoring: !include scoring.yaml
 
 steps:
@@ -33,4 +34,3 @@ steps:
               robots_npcs: 4
           build:
             context: ./scenario_maker
-

LFV_test.challenge.yaml

@@ -1,4 +1,4 @@
-challenge: aido2-LFV-sim-testing
+challenge: aido3-LFV-sim-testing
 
 title: "LFV 🚗🚗 - Lane following + Vehicles (simulation 👾, testing 🥇)"
 tags: [visible, ml-testing, aido2, aido2-embodied, LFV, v4, simulation]
@@ -7,8 +7,9 @@ description: |
 
 protocol: aido2_db18_agent-z2
 
-date-open: 2019-04-10
-date-close: 2019-05-21T13:00Z
+date-open: 2019-10-10
+date-close: 2019-12-12T13:00Z
+
 
 scoring: !include scoring.yaml
 
@@ -40,5 +41,3 @@ steps:
               robots_npcs: 4
           build:
             context: ./scenario_maker
-
-

LF_test.challenge.yaml

@@ -1,15 +1,15 @@
-challenge: aido2-LF-sim-testing
+challenge: aido3-LF-sim-testing
 
 title: "LF 🚗 - Lane following (simulation 👾, testing 🥇)"
-tags: [visible, ml-testing, aido2, aido2-embodied, LF, v4, simulation]
+tags: [visible, ml-testing, aido3, aido3-embodied, LF, v4, simulation]
 description: |
   Lane following challenge.
 
 protocol: aido2_db18_agent-z2
 
 
-date-open: 2019-04-10
-date-close: 2019-05-21T13:00Z
+date-open: 2019-10-10
+date-close: 2019-12-12T13:00Z
 
 scoring: !include scoring.yaml
 
@@ -36,4 +36,3 @@ steps:
               robots_npcs: 0
           build:
             context: ./scenario_maker
-

duckiebot/Makefile

@@ -3,10 +3,10 @@ branch=$(shell git rev-parse --abbrev-ref HEAD)
 tag=duckietown/$(repo):$(branch)
 
 build:
-	docker build -t $(tag) .
+	docker build --pull -t $(tag) .
 
 build-no-cache:
-	docker build -t $(tag) --no-cache .
+	docker build --pull -t $(tag) --no-cache .
 
 push: build
 	docker push $(tag)

duckiebot/requirements.txt

@@ -1,4 +1,2 @@
-
-
--e git://github.com/AndreaCensi/zuper-nodes-python2.git@z2#egg=zuper-nodes-python2
+zuper-nodes-python2-z5
 cbor2

experiment_manager/Dockerfile

@@ -1,4 +1,4 @@
-FROM duckietown/aido2-base-python3:z2
+FROM duckietown/aido3-base-python3:daffy
 
 
 COPY requirements.txt requirements.txt

experiment_manager/Makefile

@@ -4,10 +4,10 @@ branch=$(shell git rev-parse --abbrev-ref HEAD)
 tag=duckietown/$(repo):$(branch)
 
 build:
-	docker build -t $(tag) .
+	docker build --pull -t $(tag) .
 
 build-no-cache:
-	docker build -t $(tag)  --no-cache .
+	docker build --pull -t $(tag)  --no-cache .
 
 push: build
 	docker push $(tag)

experiment_manager/experiment_manager.py

@@ -8,23 +8,24 @@
 from contextlib import contextmanager
 from dataclasses import dataclass
 from threading import Thread
-from typing import *
+from typing import cast, Dict, Iterator, List
 
 import numpy as np
 import yaml
 
-from aido_schemas import EpisodeStart, protocol_agent, SetMap, SpawnRobot, Step, protocol_simulator, RobotObservations, \
-    SetRobotCommands, RobotPerformance, RobotState, SimulationState, Scenario, protocol_scenario_maker
+from aido_schemas import (EpisodeStart, protocol_agent, protocol_scenario_maker, protocol_simulator, RobotObservations,
+                          RobotPerformance, RobotState, Scenario, SetMap, SetRobotCommands, SimulationState, SpawnRobot,
+                          Step)
 from aido_schemas.utils import TimeTracker
 from aido_schemas.utils_drawing import read_and_draw
 from aido_schemas.utils_video import make_video1
 from duckietown_world.rules import RuleEvaluationResult
 from duckietown_world.rules.rule import EvaluatedMetric
 from zuper_commons.text import indent
-from zuper_json.ipce import object_to_ipce, ipce_to_object
-from zuper_json.subcheck import can_be_used_as
+from zuper_ipce import ipce_from_object, object_from_ipce
 from zuper_nodes.structures import RemoteNodeAborted
 from zuper_nodes_wrapper.wrapper_outside import ComponentInterface, MsgReceived
+from zuper_typing.subcheck import can_be_used_as2
 
 logging.basicConfig()
 logger = logging.getLogger('launcher')
@@ -54,7 +55,7 @@ class MyConfig:
 def main(cie, log_dir, attempts):
     config_ = env_as_yaml('experiment_manager_parameters')
     logger.info('parameters:\n\n%s' % config_)
-    config = cast(MyConfig, ipce_to_object(config_, {}, expect_type=MyConfig))
+    config = cast(MyConfig, object_from_ipce(config_, MyConfig))
 
     # first open all fifos
     agent_ci = ComponentInterface(config.agent_in, config.agent_out,
@@ -330,7 +331,7 @@ def run_episode(sim_ci: ComponentInterface,
 
 
 def log_timing_info(tt, sim_ci: ComponentInterface):
-    ipce = object_to_ipce(tt, {}, with_schema=True)
+    ipce = ipce_from_object(tt)
     msg = {'compat': ['aido2'], 'topic': 'timing_information', 'data': ipce}
     j = sim_ci._serialize(msg)
     sim_ci._cc.write(j)
@@ -358,14 +359,14 @@ def check_compatibility_between_agent_and_sim(agent_ci: ComponentInterface, sim_
     type_commands_agent = agent_ci.node_protocol.outputs['commands']
     logger.info(f'Agent provides commands {type_commands_agent}')
 
-    can_be_obs, why = can_be_used_as(type_observations_sim, type_observations_agent)
-    if not can_be_obs:
-        msg = 'Observations mismatch: %s' % why
+    r = can_be_used_as2(type_observations_sim, type_observations_agent)
+    if not r.result:
+        msg = 'Observations mismatch: %s' % r
         logger.error(msg)
         raise Exception(msg)
-    can_be_cmd, why = can_be_used_as(type_commands_agent, type_commands_sim)
-    if not can_be_cmd:
-        msg = 'Commands mismatch: %s' % why
+    r = can_be_used_as2(type_commands_agent, type_commands_sim)
+    if not r:
+        msg = 'Commands mismatch: %s' % r
         logger.error(msg)
         raise Exception(msg)
 

minimal_agent/Dockerfile

@@ -1,4 +1,4 @@
-FROM duckietown/aido2-base-python3:z2
+FROM duckietown/aido3-base-python3:daffy
 
 COPY requirements.txt requirements.txt
 RUN pip install -r requirements.txt

minimal_agent/Makefile

@@ -4,10 +4,10 @@ branch=$(shell git rev-parse --abbrev-ref HEAD)
 tag=duckietown/$(repo):$(branch)
 
 build:
-	docker build -t $(tag) .
+	docker build --pull  -t $(tag) .
 
 build-no-cache:
-	docker build -t $(tag)  --no-cache .
+	docker build --pull -t $(tag)  --no-cache .
 
 #push: build
 #	docker push $(tag)
@@ -24,4 +24,4 @@ submit:
 
 
 submit-robotarium:
-	dts challenges submit --challenge aido2_LF_r_pri,aido2_LF_r_pub
+	dts challenges submit --challenge aido2_LF_r_pri,aido2_LF_r_pub

minimal_agent_python2/Makefile

@@ -4,10 +4,10 @@ branch=$(shell git rev-parse --abbrev-ref HEAD)
 tag=duckietown/$(repo):$(branch)
 
 build:
-	docker build -t $(tag) .
+	docker build --pull  -t $(tag) .
 
 build-no-cache:
-	docker build -t $(tag)  --no-cache .
+	docker build --pull -t $(tag)  --no-cache .
 
 #push: build
 #	docker push $(tag)
@@ -24,4 +24,4 @@ submit:
 
 
 submit-robotarium:
-	dts challenges submit --challenge aido2_LF_r_pri,aido2_LF_r_pub
+	dts challenges submit --challenge aido2_LF_r_pri,aido2_LF_r_pub

minimal_agent_python2/requirements.txt

@@ -1,4 +1,3 @@
--e git://github.com/AndreaCensi/zuper-nodes-python2.git@z2#egg=zuper-nodes-python2
 cbor2
-
+zuper-nodes-python2-z5
 

scenario_maker/Dockerfile

@@ -1,4 +1,4 @@
-FROM duckietown/aido2-base-python3:z2
+FROM duckietown/aido3-base-python3:daffy
 
 COPY requirements.txt requirements.txt
 RUN pip install -r requirements.txt

scenario_maker/Makefile

@@ -4,10 +4,10 @@ branch=$(shell git rev-parse --abbrev-ref HEAD)
 tag=duckietown/$(repo):$(branch)
 
 build:
-	docker build -t $(tag) .
+	docker build --pull -t $(tag) .
 
 build-no-cache:
-	docker build -t $(tag)  --no-cache .
+	docker build --pull -t $(tag)  --no-cache .
 
 push: build
 	docker push $(tag)

simulator/Dockerfile

@@ -1,4 +1,4 @@
-FROM duckietown/gym-duckietown-server-python3:aido2
+FROM duckietown/gym-duckietown-server-python3:daffy
 
 
 WORKDIR /project

simulator/Makefile

@@ -4,10 +4,10 @@ branch=$(shell git rev-parse --abbrev-ref HEAD)
 tag=duckietown/$(repo):$(branch)
 
 build:
-	docker build -t $(tag) .
+	docker build --pull -t $(tag) .
 
 build-no-cache:
-	docker build -t $(tag)  --no-cache .
+	docker build --pull  -t $(tag)  --no-cache .
 
 push: build
 	docker push $(tag)

simulator/requirements.txt

@@ -1,21 +1,11 @@
 
-
--e git+https://github.com/AndreaCensi/zuper-utils.git@z2#egg=zuper-utils
--e git+https://github.com/AndreaCensi/zuper-nodes.git@z2#egg=zuper-nodes
--e git+https://github.com/AndreaCensi/zuper-commons.git@z2#egg=zuper-commons
--e git+https://github.com/duckietown/aido-protocols.git@z2#egg=aido-protocols
-
--e git+https://github.com/duckietown/duckietown-world.git@aido2#egg=duckietown-world
--e git+https://github.com/duckietown/gym-duckietown.git@aido2#egg=gym-duckietown
-
-
-#https://github.com/duckietown/gym-duckietown/archive/aido2.tar.gz#egg=gym-duckietown
+aido-protocols-daffy
+duckietown-world-daffy
+duckietown-gym-daffy
 
 numpy==1.16.2
 
 
-#PyGeometry
-