Export map names

src/bindings.cpp

@@ -127,7 +127,8 @@ namespace gpudrive
             .def("expert_trajectory_tensor", &Manager::expertTrajectoryTensor)
             .def("set_maps", &Manager::setMaps)
             .def("world_means_tensor", &Manager::worldMeansTensor)
-            .def("metadata_tensor", &Manager::metadataTensor);
+            .def("metadata_tensor", &Manager::metadataTensor)
+            .def("map_name_tensor", &Manager::mapNameTensor);
     }
 
 }

src/init.hpp

@@ -60,6 +60,8 @@ namespace gpudrive
         uint32_t numRoadSegments;
         MapVector2 mean;
 
+        char mapName[32];
+
         // Constructor
         Map() = default;
     };

src/json_serialization.hpp

@@ -279,6 +279,9 @@ namespace gpudrive
 
     void from_json(const nlohmann::json &j, Map &map, float polylineReductionThreshold)
     {
+        std::string name = j.at("name").get<std::string>();
+        std::strncpy(map.mapName, name.c_str(), sizeof(map.mapName));
+
         auto mean = calc_mean(j);
         map.mean = {mean.first, mean.second};
         map.numObjects = std::min(j.at("objects").size(), static_cast<size_t>(MAX_OBJECTS));

src/mgr.cpp

@@ -796,6 +796,13 @@ Tensor Manager::expertTrajectoryTensor() const {
         {impl_->numWorlds, consts::kMaxAgentCount, TrajectoryExportSize});
 }
 
+Tensor Manager::mapNameTensor() const {
+    return impl_->exportTensor(
+        ExportID::MapName, TensorElementType::Int32,
+        {impl_->numWorlds, MapNameExportSize}
+    );
+}
+
 Tensor Manager::metadataTensor() const {
     return impl_->exportTensor(
         ExportID::MetaData, TensorElementType::Int32,

src/mgr.hpp

@@ -69,6 +69,7 @@ class Manager {
     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 mapNameTensor() const;
     madrona::py::Tensor rgbTensor() const;
     madrona::py::Tensor depthTensor() const;
     // These functions are used by the viewer to control the simulation

src/sim.cpp

@@ -62,6 +62,7 @@ void Sim::registerTypes(ECSRegistry &registry, const Config &cfg)
     registry.registerSingleton<Map>();
     registry.registerSingleton<ResetMap>();
     registry.registerSingleton<WorldMeans>();
+    registry.registerSingleton<MapName>();
 
     registry.registerArchetype<Agent>();
     registry.registerArchetype<PhysicsEntity>();
@@ -74,6 +75,7 @@ void Sim::registerTypes(ECSRegistry &registry, const Config &cfg)
     registry.exportSingleton<Map>((uint32_t)ExportID::Map);
     registry.exportSingleton<ResetMap>((uint32_t)ExportID::ResetMap);
     registry.exportSingleton<WorldMeans>((uint32_t)ExportID::WorldMeans);
+    registry.exportSingleton<MapName>((uint32_t)ExportID::MapName);
 
     registry.exportColumn<AgentInterface, Action>(
         (uint32_t)ExportID::Action);
@@ -878,6 +880,11 @@ Sim::Sim(Engine &ctx,
         RenderingSystem::init(ctx, cfg.renderBridge);
     }
 
+    auto& mapName = ctx.singleton<MapName>();
+    for (int i = 0; i < sizeof(mapName.mapName); i++) {
+        mapName.mapName[i] = init.map->mapName[i];
+    }
+
     auto& map = ctx.singleton<Map>();
     map = *(init.map);
     // Creates agents, walls, etc.

src/sim.hpp

@@ -37,6 +37,7 @@ enum class ExportID : uint32_t {
     ResetMap,
     WorldMeans,
     MetaData,
+    MapName,
     NumExports
 };
 

src/types.hpp

@@ -377,6 +377,14 @@ namespace gpudrive
 
     static_assert(sizeof(AbsoluteSelfObservation) == sizeof(float) * AbsoluteSelfObservationExportSize);
 
+    struct MapName
+    {
+        char32_t mapName[32];
+    };
+
+    const size_t MapNameExportSize = 32;
+    static_assert(sizeof(MapName) == sizeof(char32_t) * MapNameExportSize);
+
     //Metadata struct : using agent IDs.
     struct MetaData
     {