Minor Tweaks to PolygonalRegion (#290)

* Minor tweaks to PolygonalRegion.

* Fixed PolygonalRegion points normalization

* Deprecated PolygonalRegion points method.

* Added deprecation test for points.

* Minor tweaks.

* Clarified deprecationTest wrapper message and param.

src/scenic/core/regions.py

@@ -2748,7 +2748,7 @@ class PolygonalRegion(Region):
 
     def __init__(
         self,
-        points=None,
+        points=(),
         polygon=None,
         z=0,
         orientation=None,
@@ -2759,8 +2759,8 @@ def __init__(
             name, points, polygon, z, *additionalDeps, orientation=orientation
         )
 
-        # Store main parameter
-        self._points = points
+        # Normalize and store main parameters
+        self._points = () if points is None else tuple(points)
         self._polygon = polygon
         self.z = z
 
@@ -2774,7 +2774,6 @@ def __init__(
             points = tuple(pt[:2] for pt in points)
             if len(points) == 0:
                 raise ValueError("tried to create PolygonalRegion from empty point list!")
-            self.points = points
             polygon = shapely.geometry.Polygon(points)
 
         if isinstance(polygon, shapely.geometry.Polygon):
@@ -2791,13 +2790,6 @@ def __init__(
                 "tried to create PolygonalRegion with " f"invalid polygon {self.polygons}"
             )
 
-        if (
-            points is None
-            and len(self.polygons.geoms) == 1
-            and len(self.polygons.geoms[0].interiors) == 0
-        ):
-            self.points = tuple(self.polygons.geoms[0].exterior.coords[:-1])
-
         if self.polygons.is_empty:
             raise ValueError("tried to create empty PolygonalRegion")
         shapely.prepare(self.polygons)
@@ -2972,6 +2964,16 @@ def unionAll(regions, buf=0):
         z = 0 if z is None else z
         return PolygonalRegion(polygon=union, orientation=orientation, z=z)
 
+    @property
+    @distributionFunction
+    def points(self):
+        warnings.warn(
+            "The `points` method is deprecated and will be removed in Scenic 3.3.0."
+            "Users should use the `boundary` method instead.",
+            DeprecationWarning,
+        )
+        return self.boundary.points
+
     @property
     @distributionFunction
     def boundary(self) -> "PolylineRegion":
@@ -3049,7 +3051,14 @@ def __eq__(self, other):
 
     @cached
     def __hash__(self):
-        return hash((self.polygons, self.orientation, self.z))
+        return hash(
+            (
+                self._points,
+                self._polygon,
+                self.orientation,
+                self.z,
+            )
+        )
 
 
 class CircularRegion(PolygonalRegion):

src/scenic/simulators/webots/road/interface.py

@@ -210,13 +210,13 @@ def computeGeometry(self, crossroads, snapTolerance=0.05):
 
     def show(self, plt):
         if self.hasLeftSidewalk:
-            x, y = zip(*self.leftSidewalk.points)
+            x, y = zip(*[p[:2] for p in self.leftSidewalk.boundary.points])
             plt.fill(x, y, "#A0A0FF")
         if self.hasRightSidewalk:
-            x, y = zip(*self.rightSidewalk.points)
+            x, y = zip(*[p[:2] for p in self.rightSidewalk.boundary.points])
             plt.fill(x, y, "#A0A0FF")
         self.region.show(plt, style="r:")
-        x, y = zip(*self.lanes[0].points)
+        x, y = zip(*[p[:2] for p in self.lanes[0].boundary.points])
         plt.fill(x, y, color=(0.8, 1.0, 0.8))
         for lane, markers in enumerate(self.laneMarkers):
             x, y = zip(*markers)
@@ -296,7 +296,10 @@ def __init__(self, world):
         allCells = []
         drivableAreas = []
         for road in self.roads:
-            assert road.region.polygons.is_valid, (road.waypoints, road.region.points)
+            assert road.region.polygons.is_valid, (
+                road.waypoints,
+                road.region.boundary.points,
+            )
             allCells.extend(road.cells)
         for crossroad in self.crossroads:
             if crossroad.region is not None:

tests/core/test_regions.py

@@ -5,10 +5,11 @@
 import shapely.geometry
 import trimesh.voxel
 
+from scenic.core.distributions import RandomControlFlowError, Range
 from scenic.core.object_types import Object, OrientedPoint
 from scenic.core.regions import *
 from scenic.core.vectors import VectorField
-from tests.utils import sampleSceneFrom
+from tests.utils import deprecationTest, sampleSceneFrom
 
 
 def sample_ignoring_rejections(region, num_samples):
@@ -222,6 +223,14 @@ def test_polygon_region():
         PolygonalRegion([(1, 1), (3, 1), (2, 2), (1.3, 1.15)], z=3).uniformPointInner().z
         == 3
     )
+    assert i != d
+    hash(i)
+    e = CircularRegion((0, 0), Range(1, 3))
+    with pytest.raises(RandomControlFlowError):
+        i == e
+    with pytest.raises(RandomControlFlowError):
+        e == i
+    hash(e)
 
 
 def test_polygon_unionAll():
@@ -808,3 +817,11 @@ def test_region_combinations(A, B):
     # difference()
     difference_out = region_a.difference(region_b)
     assert isinstance(difference_out, Region)
+
+
+## Deprecation Tests
+@deprecationTest("3.3.0")
+def test_polygons_points():
+    points = ((1, 0, 0), (1, 1, 0), (2, 1, 0), (2, 0, 0))
+    poly = PolygonalRegion(points)
+    assert set(poly.points) == set(points)

tests/utils.py

@@ -1,9 +1,12 @@
 """Utilities used throughout the test suite."""
 
+import functools
 from importlib import metadata
+import importlib.metadata
 import inspect
 import math
 import multiprocessing
+import re
 import sys
 import types
 import weakref
@@ -576,3 +579,21 @@ def ignorable(attr):
                 fail()
                 return False
     return True
+
+
+def deprecationTest(removalVersion):
+    def decorator(function):
+        @functools.wraps(function)
+        def wrapper(*args, **kwargs):
+            m_ver = tuple(re.split(r"\D+", removalVersion)[:3])
+            c_ver = tuple(re.split(r"\D+", importlib.metadata.version("scenic"))[:3])
+            assert (
+                m_ver > c_ver
+            ), "Maximum version exceeded. The tested functionality and the test itself should be removed."
+
+            with pytest.deprecated_call():
+                return function(*args, **kwargs)
+
+        return wrapper
+
+    return decorator