Fix hiway-v1 unformatted observation options (#1822)

* Fix issue with metrics

* Remove redundant check.

* Fix minor issues with environments.

* Fix test.

* Update CHANGELOG.md

Co-authored-by: Saul Field <saul.field@gmail.com>

---------

Co-authored-by: Saul Field <saul.field@gmail.com>

CHANGELOG.md

@@ -10,10 +10,14 @@ Copy and pasting the git commit messages is __NOT__ enough.
 
 ## [Unreleased]
 ### Added
+- Added action formatting option to `hiway-v0`.
 ### Changed
+- Moved action and observation conversions from `smarts.env.gymnasium.utils` to `smarts.env.utils`.
 ### Deprecated
 ### Fixed
 - Fixed an issue where metrics break down with unformatted observations.
+- Fixed an issue where `hiway-v1` would cause an exception when using "unformatted" observations.
+- Unformatted actions and observations in `hiway-v0` provide `None` rather than an incorrect space.
 ### Removed
 ### Security
 

smarts/core/smarts.py

@@ -849,7 +849,6 @@ def __del__(self):
         try:
             self.destroy()
         except (TypeError, AttributeError) as e:
-            # This is a print statement because the logging module may be deleted at program exit.
             raise SMARTSDestroyedError(
                 "ERROR: A SMARTS instance may have been deleted by gc before a call to destroy."
                 " Please explicitly call `del obj` or `SMARTS.destroy()` to make this error"

smarts/core/utils/sumo.py

@@ -103,7 +103,11 @@ def __init__(
         )
 
     def __del__(self) -> None:
-        self.close_traci_and_pipes()
+        # We should not raise in delete.
+        try:
+            self.close_traci_and_pipes()
+        except Exception:
+            pass
 
     def connect(
         self,

smarts/env/gymnasium/hiway_env_v1.py

@@ -52,11 +52,8 @@
 from smarts.core.scenario import Scenario
 from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
 from smarts.core.utils.visdom_client import VisdomClient
-from smarts.env.gymnasium.utils.action_conversion import (
-    ActionOptions,
-    ActionSpacesFormatter,
-)
-from smarts.env.gymnasium.utils.observation_conversion import (
+from smarts.env.utils.action_conversion import ActionOptions, ActionSpacesFormatter
+from smarts.env.utils.observation_conversion import (
     ObservationOptions,
     ObservationSpacesFormatter,
 )
@@ -127,6 +124,10 @@ class HiWayEnvV1(gym.Env):
             for how the formatting matches the observation space. String version
             can be used instead. See :class:`ObservationOptions`. Defaults to
             :attr:`ObservationOptions.default`.
+        action_options (ActionOptions, string): Defines the options
+            for how the formatting matches the action space. String version
+            can be used instead. See :class:`ActionOptions`. Defaults to
+            :attr:`ActionOptions.default`.
     """
 
     metadata = {"render.modes": ["human"]}
@@ -304,9 +305,9 @@ def step(
                 dones["__all__"],
                 info,
             )
-        elif (
-            self._observations_formatter.observation_options
-            == ObservationOptions.multi_agent
+        elif self._observations_formatter.observation_options in (
+            ObservationOptions.multi_agent,
+            ObservationOptions.unformatted,
         ):
             return (
                 self._observations_formatter.format(observations),

smarts/env/hiway_env.py

@@ -37,6 +37,7 @@
 from smarts.core.smarts import SMARTS
 from smarts.core.sumo_traffic_simulation import SumoTrafficSimulation
 from smarts.core.utils.visdom_client import VisdomClient
+from smarts.env.utils.action_conversion import ActionOptions, ActionSpacesFormatter
 from smarts.zoo.agent_spec import AgentSpec
 
 
@@ -80,6 +81,8 @@ class HiWayEnv(gym.Env):
             to None.
         agent_interfaces (Dict[str, AgentInterface]): Specification of the agents
             needs that will be used to configure the environment.
+        action_options (ActionOptions, str): Specifies format of the action space
+            of the environment.
     """
 
     metadata = {"render.modes": ["human"]}
@@ -106,6 +109,7 @@ def __init__(
         timestep_sec: Optional[
             float
         ] = None,  # for backwards compatibility (deprecated)
+        action_options: Union[ActionOptions, str] = ActionOptions.unformatted,
     ):
         self._log = logging.getLogger(self.__class__.__name__)
         self.seed(seed)
@@ -145,6 +149,10 @@ def __init__(
             list(self._agent_interfaces.keys()),
             shuffle_scenarios,
         )
+        self._action_space_formatter = ActionSpacesFormatter(
+            agent_interfaces=self.agent_interfaces,
+            action_options=action_options,
+        )
 
         envision_client = None
         if not headless or envision_record_data_replay_path:
@@ -274,7 +282,9 @@ def step(
             isinstance(key, str) for key in agent_actions.keys()
         ), "Expected Dict[str, any]"
 
-        observations, rewards, dones, extras = self._smarts.step(agent_actions)
+        observations, rewards, dones, extras = self._smarts.step(
+            self._action_space_formatter.format(agent_actions)
+        )
 
         infos = {
             agent_id: {

smarts/env/gymnasium/utils/action_conversion.py → smarts/env/utils/action_conversion.py

@@ -277,6 +277,8 @@ def space(self) -> gym.spaces.Dict:
         Returns:
             gym.spaces.Dict: A description of the action space that this formatter requires.
         """
+        if self._action_options is ActionOptions.unformatted:
+            return None
         return gym.spaces.Dict(
             {
                 agent_id: get_formats()[agent_interface.action].space

smarts/env/gymnasium/utils/observation_conversion.py → smarts/env/utils/observation_conversion.py

@@ -1080,6 +1080,8 @@ def format(self, observations: Dict[str, Observation]):
     @cached_property
     def space(self):
         """The observation space this should format the smarts observations to match."""
+        if self.observation_options is ObservationOptions.unformatted:
+            return None
         return gym.spaces.Dict(
             {
                 agent_id: space_format.space