gpudrive-main/src/mgr.hpp

#pragma once
#ifdef madrona_3d_example_mgr_EXPORTS
#define MGR_EXPORT MADRONA_EXPORT
#else
#define MGR_EXPORT MADRONA_IMPORT
#endif

#include <memory>
#include <vector>
#include <string>

#include <madrona/py/utils.hpp>
#include <madrona/exec_mode.hpp>

#include <madrona/render/render_mgr.hpp>

#include "init.hpp"
#include "types.hpp"

namespace madrona_gpudrive {

// The Manager class encapsulates the linkage between the outside training
// code and the internal simulation state (src/sim.hpp / src/sim.cpp)
//
// Manager is responsible for initializing the simulator, loading physics
// and rendering assets off disk, and mapping ECS components to tensors
// for learning
class Manager {
public:
    struct Config {
        madrona::ExecMode execMode; // CPU or CUDA
        int gpuID; // Which GPU for CUDA backend?
        // TODO(sk): Use nanobind filesystem.h?
        std::vector<std::string> scenes;
        Parameters params;
      

        // Rendering settings
        bool enableBatchRenderer = false;
        uint32_t batchRenderViewWidth = 64;
        uint32_t batchRenderViewHeight = 64;
        madrona::render::APIBackend *extRenderAPI = nullptr;
        madrona::render::GPUDevice *extRenderDev = nullptr;
    };

    MGR_EXPORT Manager(const Config &cfg);
    MGR_EXPORT ~Manager();

    MGR_EXPORT void step();
    MGR_EXPORT void reset(std::vector<int32_t> worldsToReset);

    // These functions export Tensor objects that link the ECS
    // simulation state to the python bindings / PyTorch tensors (src/bindings.cpp)
    MGR_EXPORT madrona::py::Tensor actionTensor() const;
    MGR_EXPORT madrona::py::Tensor rewardTensor() const;
    MGR_EXPORT madrona::py::Tensor doneTensor() const;
    MGR_EXPORT madrona::py::Tensor selfObservationTensor() const;
    MGR_EXPORT madrona::py::Tensor mapObservationTensor() const;
    MGR_EXPORT madrona::py::Tensor partnerObservationsTensor() const;
    MGR_EXPORT madrona::py::Tensor agentMapObservationsTensor() const;
    MGR_EXPORT madrona::py::Tensor lidarTensor() const;
    MGR_EXPORT madrona::py::Tensor bevObservationTensor() const;
    MGR_EXPORT madrona::py::Tensor stepsRemainingTensor() const;
    MGR_EXPORT madrona::py::Tensor shapeTensor() const;
    MGR_EXPORT madrona::py::Tensor controlledStateTensor() const;
    MGR_EXPORT madrona::py::Tensor absoluteSelfObservationTensor() const;
    MGR_EXPORT madrona::py::Tensor validStateTensor() const;
    MGR_EXPORT madrona::py::Tensor infoTensor() const;
    MGR_EXPORT madrona::py::Tensor responseTypeTensor() const;
    MGR_EXPORT madrona::py::Tensor expertTrajectoryTensor() const;
    MGR_EXPORT madrona::py::Tensor worldMeansTensor() const;
    MGR_EXPORT madrona::py::Tensor metadataTensor() const;
    MGR_EXPORT madrona::py::Tensor deletedAgentsTensor() const;
    MGR_EXPORT madrona::py::Tensor mapNameTensor() const;
    MGR_EXPORT madrona::py::Tensor scenarioIdTensor() const;
    madrona::py::Tensor rgbTensor() const;
    madrona::py::Tensor depthTensor() const;
    // These functions are used by the viewer to control the simulation
    // with keyboard inputs in place of DNN policy actions
    MGR_EXPORT void triggerReset(int32_t world_idx);
    MGR_EXPORT void setAction(int32_t world_idx, int32_t agent_idx,
                              float acceleration, float steering,
                              float headAngle);
    MGR_EXPORT void setMaps(const std::vector<std::string> &maps);

    MGR_EXPORT void deleteAgents(const std::unordered_map<int32_t, std::vector<int32_t>> &agentsToDelete);
  
    // TODO: remove parameters
    MGR_EXPORT std::vector<Shape>
    getShapeTensorFromDeviceMemory();

    madrona::render::RenderManager & getRenderManager();

  private:
    struct Impl;
    struct CPUImpl;
    struct CUDAImpl;

    std::unique_ptr<Impl> impl_;
};

}