diff --git a/flatland/core/grid/grid4_astar.py b/flatland/core/grid/grid4_astar.py
index feb72313f21b9ecc989688d63ba02ccf3a458107..a55b96045fc0f3726d46da66672494aa8c52b182 100644
--- a/flatland/core/grid/grid4_astar.py
+++ b/flatland/core/grid/grid4_astar.py
@@ -103,4 +103,5 @@ def a_star(rail_trans, rail_array, start, end):
# no full path found
if len(open_nodes) == 0:
+ print("could not make path")
return []
diff --git a/flatland/core/transition_map.py b/flatland/core/transition_map.py
index 018c8cd5b326a9246c393121153d6f5478a12f8b..dbb68a739cc50d94d83bd5c2d1127b36c982df5c 100644
--- a/flatland/core/transition_map.py
+++ b/flatland/core/transition_map.py
@@ -403,6 +403,62 @@ class GridTransitionMap(TransitionMap):
return True
+ def fix_transitions(self, rcPos):
+ """
+ Fixes broken transitions
+ """
+ gDir2dRC = self.transitions.gDir2dRC # [[-1,0] = N, [0,1]=E, etc]
+ grcPos = array(rcPos)
+ grcMax = self.grid.shape
+
+ # loop over available outbound directions (indices) for rcPos
+ incomping_connections = np.zeros(4)
+ for iDirOut in np.arange(4):
+ gdRC = gDir2dRC[iDirOut] # row,col increment
+ gPos2 = grcPos + gdRC # next cell in that direction
+
+ # Check the adjacent cell is within bounds
+ # if not, then this transition is invalid!
+ if np.any(gPos2 < 0):
+ return False
+ if np.any(gPos2 >= grcMax):
+ return False
+
+ # Get the transitions out of gPos2, using iDirOut as the inbound direction
+ # if there are no available transitions, ie (0,0,0,0), then rcPos is invalid
+ connected = 0
+ for orientation in range(4):
+ connected += self.get_transition((gPos2[0], gPos2[1], orientation), mirror(iDirOut))
+ if connected > 0:
+ incomping_connections[iDirOut] = 1
+
+ number_of_incoming = np.sum(incomping_connections)
+ # Only one incoming direction --> Straight line
+ if number_of_incoming == 1:
+
+ for direction in range(4):
+ if incomping_connections[direction] > 0:
+ self.set_transition((rcPos[0], rcPos[1], mirror(direction)), direction, 1)
+ # Connect all incoming connections
+ if number_of_incoming == 2:
+ connect_directions = np.argwhere(incomping_connections > 0)
+ self.set_transition((rcPos[0], rcPos[1], mirror(connect_directions[0])), connect_directions[1], 1)
+ self.set_transition((rcPos[0], rcPos[1], mirror(connect_directions[1])), connect_directions[0], 1)
+
+ # Find feasible connection fro three entries
+ if number_of_incoming == 3:
+ hole = np.argwhere(incomping_connections < 1)[0][0]
+ connect_directions = [(hole + 1) % 4, (hole + 2) % 4, (hole + 3) % 4]
+ self.set_transition((rcPos[0], rcPos[1], mirror(connect_directions[0])), connect_directions[1], 1)
+ self.set_transition((rcPos[0], rcPos[1], mirror(connect_directions[0])), connect_directions[2], 1)
+ self.set_transition((rcPos[0], rcPos[1], mirror(connect_directions[1])), connect_directions[0], 1)
+ self.set_transition((rcPos[0], rcPos[1], mirror(connect_directions[2])), connect_directions[0], 1)
+ # Make a cross
+ if number_of_incoming == 4:
+ for direction in range(4):
+ self.set_transition((grcPos[0], grcPos[1], direction), direction, 1)
+ return True
+
def mirror(dir):
return (dir + 2) % 4
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 0c1b7d15406e054959b1af35e67e1060c1c3e47b..b984be6f1cce69cb2d6320a52a602de2cc88d0da 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -9,7 +9,7 @@ from flatland.core.grid.grid_utils import distance_on_rail
from flatland.core.grid.rail_env_grid import RailEnvTransitions
from flatland.core.transition_map import GridTransitionMap
from flatland.envs.agent_utils import EnvAgentStatic
-from flatland.envs.grid4_generators_utils import connect_rail, connect_from_nodes, connect_nodes
+from flatland.envs.grid4_generators_utils import connect_rail, connect_nodes, connect_from_nodes
from flatland.envs.grid4_generators_utils import get_rnd_agents_pos_tgt_dir_on_rail
@@ -863,7 +863,7 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
if tries > 100:
warnings.warn("Could not set nodes, please change initial parameters!!!!")
break
-
+ print(node_positions)
# Chose node connection
available_nodes_full = np.arange(num_cities + num_intersections)
available_cities = np.arange(num_cities)
@@ -881,7 +881,7 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
delete_idx = np.where(available_cities == current_node)
available_cities = np.delete(available_cities, delete_idx, 0)
- elif len(available_intersections) > 0:
+ elif len(available_intersections) > 0 and len(available_cities) > 0:
available_nodes = available_cities
delete_idx = np.where(available_intersections == current_node)
available_intersections = np.delete(available_intersections, delete_idx, 0)
@@ -894,8 +894,6 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
available_nodes = available_nodes[np.argsort(node_dist)]
# Set number of neighboring nodes
-
- print(current_node, allowed_connections)
if len(available_nodes) >= allowed_connections:
connected_neighb_idx = available_nodes[:allowed_connections]
else:
@@ -903,6 +901,7 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
if current_node == 0:
allowed_connections -= 1
+
# Connect to the neighboring nodes
for neighb in connected_neighb_idx:
if neighb not in node_stack:
@@ -938,12 +937,14 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
train_stations[trainstation_node].append((station_x, station_y))
# Connect train station to the correct node
- connect_from_nodes(rail_trans, rail_array, node_positions[trainstation_node], (station_x, station_y))
-
+ connection = connect_from_nodes(rail_trans, rail_array, node_positions[trainstation_node],
+ (station_x, station_y))
+ # Check if connection was made
+ if len(connection) == 0:
+ train_stations[trainstation_node].pop(-1)
# Fix all nodes with illegal transition maps
for current_node in node_positions:
- if not grid_map.cell_neighbours_valid(current_node):
- grid_map.fix_neighbours(current_node)
+ grid_map.fix_transitions(current_node)
# Generate start and target node directory for all agents.
# Assure that start and target are not in the same node
diff --git a/flatland/envs/grid4_generators_utils.py b/flatland/envs/grid4_generators_utils.py
index fbb1f03df3913b1a56343e8912e698bf02094090..bdf49f87d4c33d899e5e0c53b7ee50df190a8c7f 100644
--- a/flatland/envs/grid4_generators_utils.py
+++ b/flatland/envs/grid4_generators_utils.py
@@ -76,8 +76,8 @@ def connect_nodes(rail_trans, rail_array, start, end):
if index == 0:
if new_trans == 0:
# end-point
- # need to flip direction because of how end points are defined
- new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
+ # don't set any transition at node yet
+ new_trans = 0
else:
# into existing rail
new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
@@ -93,7 +93,9 @@ def connect_nodes(rail_trans, rail_array, start, end):
new_trans_e = rail_array[end_pos]
if new_trans_e == 0:
# end-point
- new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, new_dir, 1)
+ # don't set any transition at node yet
+
+ new_trans_e = 0
else:
# into existing rail
new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, new_dir, 1)
diff --git a/tests/test_flatland_env_sparse_rail_generator.py b/tests/test_flatland_env_sparse_rail_generator.py
index 1b274bcae21bcd89cc86f5d10b4ae2603ff915b4..77b4c4af435f753396e10ceaba7c0b4b3ca8b2b3 100644
--- a/tests/test_flatland_env_sparse_rail_generator.py
+++ b/tests/test_flatland_env_sparse_rail_generator.py
@@ -1,5 +1,3 @@
-import time
-
import numpy as np
from flatland.envs.generators import sparse_rail_generator, realistic_rail_generator
@@ -23,11 +21,11 @@ def test_realistic_rail_generator():
def test_sparse_rail_generator():
- env = RailEnv(width=50,
- height=50,
- rail_generator=sparse_rail_generator(num_cities=3, # Number of cities in map
+ env = RailEnv(width=20,
+ height=20,
+ rail_generator=sparse_rail_generator(num_cities=5, # Number of cities in map
num_intersections=2, # Number of interesections in map
- num_trainstations=15, # Number of possible start/targets on map
+ num_trainstations=20, # Number of possible start/targets on map
min_node_dist=6, # Minimal distance of nodes
node_radius=3, # Proximity of stations to city center
num_neighb=2, # Number of connections to other cities
@@ -38,4 +36,3 @@ def test_sparse_rail_generator():
# reset to initialize agents_static
env_renderer = RenderTool(env, gl="PILSVG", )
env_renderer.render_env(show=True, show_observations=True, show_predictions=False)
- time.sleep(10)