HITL - Allow empty user masks and add users to dependency injection container.

habitat-hitl/habitat_hitl/_internal/hitl_driver.py

@@ -196,6 +196,7 @@ def local_end_episode(do_reset=False):
         self._app_service = AppService(
             config=config,
             hitl_config=self._hitl_config,
+            users=users,
             gui_input=gui_input,
             remote_client_state=self._remote_client_state,
             gui_drawer=gui_drawer,

habitat-hitl/habitat_hitl/app_states/app_service.py

@@ -16,6 +16,7 @@
 from habitat_hitl.core.remote_client_state import RemoteClientState
 from habitat_hitl.core.serialize_utils import BaseRecorder
 from habitat_hitl.core.text_drawer import AbstractTextDrawer
+from habitat_hitl.core.user_mask import Users
 from habitat_hitl.environment.controllers.controller_abc import GuiController
 from habitat_hitl.environment.episode_helper import EpisodeHelper
 
@@ -27,6 +28,7 @@ def __init__(
         *,
         config,
         hitl_config,
+        users: Users,
         gui_input: GuiInput,
         remote_client_state: RemoteClientState,
         gui_drawer: GuiDrawer,
@@ -45,6 +47,7 @@ def __init__(
     ):
         self._config = config
         self._hitl_config = hitl_config
+        self._users = users
         self._gui_input = gui_input
         self._remote_client_state = remote_client_state
         self._gui_drawer = gui_drawer
@@ -69,6 +72,10 @@ def config(self):
     def hitl_config(self):
         return self._hitl_config
 
+    @property
+    def users(self) -> Users:
+        return self._users
+
     @property
     def gui_input(self) -> GuiInput:
         return self._gui_input

habitat-hitl/habitat_hitl/core/user_mask.py

@@ -57,7 +57,7 @@ class Users:
     _max_user_count: int
 
     def __init__(self, max_user_count: int) -> None:
-        assert max_user_count > 0
+        assert max_user_count >= 0
         assert max_user_count <= Mask.MAX_VALUE
         self._max_user_count = max_user_count
 

habitat-hitl/test/test_user_mask.py

@@ -9,6 +9,20 @@
 
 
 def test_hitl_user_mask():
+    # Test without any user.
+    zero_users = Users(0)
+    assert zero_users.max_user_count == 0
+    assert len(zero_users.to_index_list(Mask.ALL)) == 0
+    assert len(zero_users.to_index_list(Mask.NONE)) == 0
+    user_indices = zero_users.to_index_list(
+        Mask.from_index(0) | Mask.from_index(1)
+    )
+    assert 0 not in user_indices
+    assert 1 not in user_indices
+    user_indices = zero_users.to_index_list(Mask.all_except_index(0))
+    assert 0 not in user_indices
+
+    # Test without 4 users.
     four_users = Users(4)
     assert four_users.max_user_count == 4
     assert len(four_users.to_index_list(Mask.ALL)) == 4
@@ -26,6 +40,7 @@ def test_hitl_user_mask():
     assert 3 in user_indices
     assert 4 not in user_indices
 
+    # Test without 6 users.
     six_users = Users(6)
     assert six_users.max_user_count == 6
     assert len(six_users.to_index_list(Mask.ALL)) == 6
@@ -39,6 +54,7 @@ def test_hitl_user_mask():
     assert 5 in user_indices
     assert 6 not in user_indices
 
+    # Test without 2 users.
     two_users = Users(2)
     assert two_users.max_user_count == 2
     assert len(two_users.to_index_list(Mask.ALL)) == 2
@@ -48,6 +64,7 @@ def test_hitl_user_mask():
     assert 1 in user_indices
     assert 2 not in user_indices
 
+    # Test without max users (32).
     max_users = Users(32)
     assert max_users.max_user_count == 32
     assert len(max_users.to_index_list(Mask.ALL)) == 32