Add utilities for MetaDriveType (#526)

* introducing more type class functions

* update scenario description

* format

metadrive/scenario/scenario_description.py

@@ -337,7 +337,8 @@ def get_export_file_name(dataset, dataset_version, scenario_name):
     @staticmethod
     def is_scenario_file(file_name):
         file_name = os.path.basename(file_name)
-        assert file_name[-4:] == ".pkl", "{} is not .pkl file".format(file_name)
+        if not file_name.endswith(".pkl"):
+            return False
         file_name = file_name.replace(".pkl", "")
         return os.path.basename(file_name)[:3] == "sd_" or all(char.isdigit() for char in file_name)
 

metadrive/scenario/utils.py

@@ -1,5 +1,6 @@
 import copy
 import os
+import pathlib
 import pickle
 
 import matplotlib.pyplot as plt
@@ -356,8 +357,9 @@ def read_dataset_summary(file_folder, check_file_existence=True):
         2) the list of all scenarios IDs, and
         3) a dict mapping from scenario IDs to the folder that hosts their files.
     """
-    summary_file = os.path.join(file_folder, SD.DATASET.SUMMARY_FILE)
-    mapping_file = os.path.join(file_folder, SD.DATASET.MAPPING_FILE)
+    file_folder = pathlib.Path(file_folder)
+    summary_file = file_folder / SD.DATASET.SUMMARY_FILE
+    mapping_file = file_folder / SD.DATASET.MAPPING_FILE
     if os.path.isfile(summary_file):
         with open(summary_file, "rb") as f:
             summary_dict = pickle.load(f)
@@ -375,18 +377,20 @@ def read_dataset_summary(file_folder, check_file_existence=True):
         files = [p for p in files]
         summary_dict = {f: read_scenario_data(os.path.join(file_folder, f))["metadata"] for f in files}
 
+    mapping = None
     if os.path.exists(mapping_file):
         with open(mapping_file, "rb") as f:
             mapping = pickle.load(f)
-    else:
+
+    if not mapping:
         # Create a fake one
         mapping = {k: "" for k in summary_dict}
 
     if check_file_existence:
         for file in summary_dict:
             assert file in mapping, "FileName in mapping mismatch with summary"
             assert SD.is_scenario_file(file), "File:{} is not sd scenario file".format(file)
-            file_path = os.path.join(file_folder, mapping[file], file)
+            file_path = file_folder / mapping[file] / file
             assert os.path.exists(file_path), "Can not find file: {}".format(file_path)
 
     return summary_dict, list(summary_dict.keys()), mapping

metadrive/type.py

@@ -13,7 +13,7 @@ class MetaDriveType:
 
     # ===== Lane, Road =====
     LANE_SURFACE_STREET = "LANE_SURFACE_STREET"
-    # Unlike a set of lanes separated by broken/solid line, this includes intersection and some unstrcutured roads.
+    # Unlike a set of lanes separated by broken/solid line, this includes intersection and some unstructured roads.
     LANE_SURFACE_UNSTRUCTURE = "LANE_SURFACE_UNSTRUCTURE"
     # use them as less frequent as possible, it is for waymo compatibility
     LANE_UNKNOWN = "LANE_UNKNOWN"
@@ -161,10 +161,38 @@ def is_road_boundary_line(cls, edge):
     def is_sidewalk(cls, edge):
         return edge == cls.BOUNDARY_SIDEWALK
 
+    @classmethod
+    def is_stop_sign(cls, type):
+        return type == MetaDriveType.STOP_SIGN
+
+    @classmethod
+    def is_speed_bump(cls, type):
+        return type == MetaDriveType.SPEED_BUMP
+
+    @classmethod
+    def is_driveway(cls, type):
+        return type == MetaDriveType.DRIVEWAY
+
+    @classmethod
+    def is_crosswalk(cls, type):
+        return type == MetaDriveType.CROSSWALK
+
     @classmethod
     def is_vehicle(cls, type):
         return type == cls.VEHICLE
 
+    @classmethod
+    def is_pedestrian(cls, type):
+        return type == cls.PEDESTRIAN
+
+    @classmethod
+    def is_cyclist(cls, type):
+        return type == cls.CYCLIST
+
+    @classmethod
+    def is_participant(cls, type):
+        return type in (cls.CYCLIST, cls.PEDESTRIAN, cls.VEHICLE, cls.UNSET, cls.OTHER)
+
     @classmethod
     def is_traffic_light_in_yellow(cls, light):
         return cls.simplify_light_status(light) == cls.LIGHT_YELLOW
@@ -211,10 +239,6 @@ def simplify_light_status(cls, status: str):
             logger.warning("TrafficLightStatus: {} is not MetaDriveType".format(status))
             return cls.LIGHT_UNKNOWN
 
-    @classmethod
-    def is_crosswalk(cls, type):
-        return type == MetaDriveType.CROSSWALK
-
     def __init__(self, type=None):
         # TODO extend this base class to all objects! It is only affect lane so far.
         # TODO Or people can only know the type with isinstance()