UI changes

SimTraffic.py

@@ -80,6 +80,7 @@ def add_static_obect(self, oid, x,y):
 
 
     def start(self):
+        self.flag = True
         #Optional CARLA co-sim
         if CARLA_COSIMULATION:
             self.carla_sync = CarlaSync()
@@ -90,12 +91,12 @@ def start(self):
         self.write_traffic_state(0 , 0.0, 0.0)
 
         #If cosimulation, hold start waiting for first client state
-        if self.cosimulation == True and self.simconfig.wait_for_client:
+        if self.cosimulation == True and self.sim_config.wait_for_client:
             log.warn("GSServer is running in co-simulation. Waiting for client state in SEM:{} KEY:{}...".format(CS_SEM_KEY, CS_SHM_KEY))
             while(True):
                 header, vstates, _, _, _ = self.sim_client_shm.read_client_state(len(self.vehicles), len(self.pedestrians))
                 if len(vstates)>0:
-                    break;
+                    break
                 time.sleep(0.5)
 
         #Start SDV Planners
@@ -109,6 +110,7 @@ def start(self):
                 pedestrian.start_planner()
 
     def stop_all(self):
+        self.flag = False
         if self.carla_sync:
             self.carla_sync.quit()
 
@@ -208,7 +210,7 @@ def create_traffic_state_shm(self):
     def write_traffic_state(self, tick_count, delta_time, sim_time):
         if not self.traffic_state_sharr:
             return
-
+            
         nv = len(self.vehicles)
         np = len(self.pedestrians)
 
@@ -256,8 +258,6 @@ def write_traffic_state(self, tick_count, delta_time, sim_time):
         if self.carla_sync:
             self.carla_sync.write_server_state(tick_count, delta_time, self.vehicles)
 
-
-
     def detect_collisions(self,tick_count, delta_time, sim_time):
         for id_va, va in self.vehicles.items():
             if va.sim_state is not ActorSimState.ACTIVE:
@@ -278,8 +278,6 @@ def detect_collisions(self,tick_count, delta_time, sim_time):
                             return True
         return False
 
-
-
     def log_sim_state(self, client_vehicle_states, disabled_vehicles):
         log.info("Collision between vehicles {}".format(disabled_vehicles))
         state_str = "GSS crash report:\n"
@@ -300,7 +298,6 @@ def log_sim_state(self, client_vehicle_states, disabled_vehicles):
             )
         log.info(state_str)
 
-
     def log_trajectories(self,tick_count,delta_time,sim_time):
         if WRITE_TRAJECTORIES:
             for vid, vehicle in sorted(self.vehicles.items()):
@@ -327,7 +324,6 @@ def write_log_trajectories(self):
                     for line in vlog:
                         csv_writer.writerow(line)
 
-
     #For independent processes:
     def read_traffic_state(self, traffic_state_sharr, actives_only = True):
         '''

dash/Dashboard.py

@@ -72,7 +72,6 @@ def run_dash_process(self, traffic_state_sharr, debug_shdata):
 
             #clear
             self.clear_vehicle_charts()
-            self.tree_msg.configure(text= "")
 
             #get new data
             header, vehicles, pedestrians, traffic_lights, static_objects = self.sim_traffic.read_traffic_state(traffic_state_sharr, False)
@@ -97,7 +96,6 @@ def run_dash_process(self, traffic_state_sharr, debug_shdata):
             #find valid vehicle to focus plots and btree (if available)
             vid = None
 
-
             if (type(self.center_id) == str):
                 if self.center_id[0] == 'p':
                     self.center_pedestrian = True
@@ -119,7 +117,8 @@ def run_dash_process(self, traffic_state_sharr, debug_shdata):
                         if VEH_TRAJ_CHART: #vehicle traj plot
                             self.plot_vehicle_sd(traj, cand)
                         #behavior tree
-                        self.tree_msg.configure(text="==== Behavior Tree. Vehicle {} ====\n\n {} ".format(vid, btree_snapshot))
+                        self.tree_msg.delete("1.0", "end")
+                        self.tree_msg.insert("1.0", btree_snapshot)                    
                     else:
                         #vehicles without planner:
                         self.plot_cartesian_chart(vid, vehicles, pedestrians)
@@ -367,8 +366,6 @@ def plot_vehicles(self,vehicles,x_min,x_max,y_min,y_max, show_arrow = False):
                             vy = -vy
                         plt.arrow(x, y, vx/2, vy/2, head_width=1, head_length=1, color=colorcode, zorder=10)
 
-
-
     def plot_pedestrians(self, pedestrians, x_min, x_max, y_min, y_max, show_arrow=True):
         if pedestrians:
             for pid, pedestrian in pedestrians.items():
@@ -398,7 +395,6 @@ def plot_pedestrians(self, pedestrians, x_min, x_max, y_min, y_max, show_arrow=T
                     plt.plot(x_goal, y_goal, 'r.' ,markersize=2, zorder=10)
                     plt.gca().text(x_goal+1, y_goal+1, "p{} goal".format(pid), style='italic', zorder=10)
 
-
     def plot_frenet_chart(self, center_id, traffic_state:TrafficState, debug_ref_path, traj, cand, unf, traj_s_shift):
         #Frenet Frame plot
         fig = plt.figure(Dashboard.FRE_FIG_ID)
@@ -440,7 +436,6 @@ def plot_frenet_chart(self, center_id, traffic_state:TrafficState, debug_ref_pat
             x, y = lane_config.stopline_pos
             plt.axvline(x, color= 'r', linestyle='-', zorder=1)
 
-
         #road_occupancy
         if SHOW_OCCUPANCY and traffic_state.road_occupancy is not None:
             road_occupancy:RoadOccupancy = traffic_state.road_occupancy
@@ -475,7 +470,6 @@ def plot_frenet_chart(self, center_id, traffic_state:TrafficState, debug_ref_pat
             gca.text(anchorx, anchory, y_label)
             gca.text(anchorx, anchory + cellsize, i_label)
 
-
             #junction
             #size = 3
             #intersections = traffic_state.intersections
@@ -485,7 +479,6 @@ def plot_frenet_chart(self, center_id, traffic_state:TrafficState, debug_ref_pat
             #    if isinstance(intersection, sv.SDVTrafficState.AllWayStopIntersection):
             #        intersection.
 
-
         # Regulatory Elements
         if (regulatory_elements is not None):
             for re in regulatory_elements:
@@ -562,9 +555,6 @@ def plot_frenet_chart(self, center_id, traffic_state:TrafficState, debug_ref_pat
         # update lane config based on current (possibly outdated) reference frame
         #lane_config = self.read_map(vehicle_state, self.reference_path)
 
-
-
-
     def get_color_by_type(self,actor,a_type,sim_state = None, name = ''):
         #color
         colorcode = 'k' #black
@@ -613,7 +603,6 @@ def clear_vehicle_charts(self):
         fig = plt.figure(Dashboard.TRAJ_FIG_ID)
         plt.cla()
 
-
     @staticmethod
     def plot_trajectory(s_coef, d_coef, T, traj_s_shift, tcolor='grey'):
         s_eq = to_equation(s_coef)
@@ -721,47 +710,62 @@ def plot_curve(coef, T, title, ylabel, xlabel, color="black"):
     def create_gui(self):
         #Window
         window = tk.Tk()
+        window.configure(bg="white")
+        window.configure("-fullscreen", True) 
 
         # Main containers:
         # title frame
         # stats frame
         # global frame  [  map  | table  ]
         # vehicle frame [  cart | frenet | btree ]
-        title_frame = tk.Frame(window, width = 1200, height = 50, bg = "black")
-        title_frame.grid(row=0, sticky="nsew")
-        #tk.ttk.Separator(window,orient=tk.HORIZONTAL).grid(row=1, column=0, sticky='ew' )
 
-        stats_frame = tk.Frame(window, width = 1200, height = 50, bg = "white")
-        stats_frame.grid(row=2, sticky="nsew")
-        tk.ttk.Separator(window,orient=tk.HORIZONTAL).grid(row=3, column=0, sticky='ew' )
+        #title and stats
+        title_frame = tk.Frame(window, bg = "black")
+        title_frame.place(relx=0, rely=0, relwidth=1.0, relheight=0.05)
 
-        global_frame = tk.Frame(window, width = 1200, height = 300, bg = "white")
-        global_frame.grid(row=4, sticky="nsew")
-        tk.ttk.Separator(window,orient=tk.HORIZONTAL).grid(row=5, column=0, sticky='ew' )
+        stats_frame = tk.Frame(window, bg = "white")
+        stats_frame.place(relx=0, rely=0.05, relwidth=1.0, relheight=0.05)
+
+        #map and cartesian
+        if SHOW_MPLOT:
+            map_frame = tk.Frame(window, bg = "white")
+            map_frame.place(relx=0, rely=0.1, relwidth=0.35, relheight=0.4)
 
-        vehicle_frame = tk.Frame(window, width = 1200, height = 300, bg = "white")
-        vehicle_frame.grid(row=6, sticky="nsew")
+        cart_frame = tk.Frame(window, bg = "white")
+        cart_frame.place(relx=0.35, rely=0.1, relwidth=0.35, relheight=0.4)
 
-        #global sub containers
-        if SHOW_MPLOT:
-            map_frame = tk.Frame(global_frame, width = 600, height = 300, bg = "red") #create
-            map_frame.grid(row=0, column=1, sticky="nsew") #set pos
+        fren_frame = tk.Frame(window, bg="white")
+        fren_frame.place(relx=0.01, rely=0.51, relwidth=0.69, relheight=0.29)
 
-        tab_frame = tk.Frame(global_frame, width = 1000, height = 300, bg = "blue")
-        tab_frame.grid(row=0, column=2, sticky="nsew")
+        tab_frame = tk.Frame(window, bg="white")
+        tab_frame.place(relx=0, rely=0.8, relwidth=0.7, relheight=0.2)
+
+        canvas = tk.Canvas(window)
+        canvas.place(relx=0.7, rely=0.1, relwidth=0.3, relheight=0.9)
+
+        # Add a vertical scrollbar
+        scrollbar = tk.Scrollbar(window, orient="vertical", command=canvas.yview)
+        scrollbar.place(relx=0.99, rely=0.1, relwidth=0.01, relheight=0.9)
+
+        canvas.configure(yscrollcommand=scrollbar.set)
+
+        # Create the bt_frame inside the canvas
+        bt_frame = tk.Frame(canvas, bg="white")
+
+        # Add the bt_frame to the canvas
+        canvas.create_window((0, 0), window=bt_frame, anchor="nw", width=500)
+
+        # Update the scrollregion whenever bt_frame is resize
+
+        bt_frame.bind(
+            "<Configure>",
+            lambda e: canvas.configure(
+                scrollregion=canvas.bbox("all")  # Adjust scroll region based on content size
+            )
+        )
 
         #vehicle sub containers
-        cart_frame = tk.Frame(vehicle_frame if SHOW_MPLOT else global_frame, width = 300, height = 300, bg = "white")
-        fren_frame = tk.Frame(vehicle_frame, width = 300, height = 300, bg = "white")
-        bt_frame = tk.Frame(vehicle_frame, width = 300, height = 300, bg = "white")
-        traj_frame = tk.Frame(vehicle_frame, width = 300, height = 300, bg = "white")
-
-        # Show enabled plots (left justified)
-        c = 0
-        for cframe, visible in zip([cart_frame, fren_frame, bt_frame], [SHOW_CPLOT, SHOW_FFPLOT, SHOW_BTREE]):
-            if visible:
-                cframe.grid(row=0, column=c, sticky="nsew")
-                c += 1
+        traj_frame = tk.Frame(bt_frame, bg = "white")
 
         # Content:
         window.title = 'GeoScenario Server'
@@ -785,12 +789,6 @@ def create_gui(self):
         scenario_config_lb.pack(side = 'left')
         self.scenario_config_lb = scenario_config_lb
 
-        #scenario_stats_lb = tk.Label(stats_frame, bg='white', text='Loading \n scenario...', font=('OpenSans', 12), anchor="e", justify=tk.RIGHT)
-        #scenario_stats_lb.pack(side = 'right')
-        #self.scenario_stats_lb = scenario_stats_lb
-
-        # global container:
-
         # map
         if SHOW_MPLOT:
             fig_map = plt.figure(Dashboard.MAP_FIG_ID)
@@ -816,9 +814,6 @@ def create_gui(self):
         tab.pack(fill='both', expand=True) #x and y
         self.tab = tab
 
-
-        # vehicle container:
-
         # vehicle cart
         fig_cart = plt.figure(Dashboard.CART_FIG_ID)
         if not SHOW_MPLOT:
@@ -840,12 +835,10 @@ def create_gui(self):
         self.traj_canvas = FigureCanvasTkAgg(fig_traj, traj_frame)
         self.traj_canvas.get_tk_widget().pack()
 
-        tree_msg= tk.Message(bt_frame,text='', anchor='s',
-                                    width=300,
-                                    bg='white',foreground='black')
+        tree_msg = tk.Text(bt_frame, height=65, spacing2=1, bg="white", fg="black", wrap="word")
         self.tree_msg = tree_msg
         tree_msg.grid(row=0,column=0, sticky='nsew')
-
+        
         #General plot Layout
         matplotlib.rc('font', size=8)
         matplotlib.rc('axes', titlesize=8)
@@ -855,4 +848,4 @@ def create_gui(self):
         matplotlib.rc('legend', fontsize=8)
         matplotlib.rc('figure', titlesize=8)
 
-        return window
+        return window