From 4678b94c7291725412caf32a98142bc3436d2ac6 Mon Sep 17 00:00:00 2001
From: "Egli Adrian (IT-SCI-API-PFI)" <adrian.egli@sbb.ch>
Date: Fri, 16 Aug 2019 07:55:46 +0200
Subject: [PATCH] realistic scene generator : done
---
flatland/envs/generators.py | 98 +++++++++++++++++--
...test_flatland_env_sparse_rail_generator.py | 17 +++-
2 files changed, 106 insertions(+), 9 deletions(-)
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 81ee9a92..92916211 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -556,6 +556,21 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
-------
numpy.ndarray of type numpy.uint16
The matrix with the correct 16-bit bitmaps for each cell.
+
+
+
+ transition_list = [int('0000000000000000', 2), # empty cell - Case 0
+ int('1000000000100000', 2), # Case 1 - straight
+ int('1001001000100000', 2), # Case 2 - simple switch
+ int('1000010000100001', 2), # Case 3 - diamond drossing
+ int('1001011000100001', 2), # Case 4 - single slip
+ int('1100110000110011', 2), # Case 5 - double slip
+ int('0101001000000010', 2), # Case 6 - symmetrical
+ int('0010000000000000', 2), # Case 7 - dead end
+ int('0100000000000010', 2), # Case 1b (8) - simple turn right
+ int('0001001000000000', 2), # Case 1c (9) - simple turn left
+ int('1100000000100010', 2)] # Case 2b (10) - simple switch mirrored
+
"""
def min_max_cut(min_v,max_v,v):
return max(min_v,min(max_v,v))
@@ -592,6 +607,7 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
# check that we have two transitions
if len(liTrans) == 2:
+ # Set the transition
# Set the transition
# If this transition spans 3 cells, it is not a deadend, so remove any deadends.
# The user will need to resolve any conflicts.
@@ -654,21 +670,69 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
np.random.seed(seed + num_resets)
+
max_n_track_seg=4
x_offsets = np.arange(0,height,max_n_track_seg).astype(int)
- for off_set in x_offsets:
+
+ agents_position = []
+ agents_target = []
+ agents_direction = []
+
+ for off_set_loop in range(len(x_offsets)):
+ off_set = x_offsets[off_set_loop]
# second track
data = np.arange(int((width -4- max_n_track_seg) / max_n_track_seg)) * max_n_track_seg + 4
n_track_seg = np.random.choice(max_n_track_seg) + 1
+ start_track = (off_set, 0)
+ goal_track = (off_set, width - 1)
+ new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
+
# track one (full track : left right)
- start = (off_set, 0)
- goal = (off_set, width - 1)
- new_path = connect_rail(rail_trans, rail_array, start, goal)
+ if off_set_loop > 0:
+ if off_set_loop % 2 == 1:
+ start_track = (x_offsets[off_set_loop-1]+1, width - 1)
+ goal_track = (x_offsets[off_set_loop]-1, width - 1)
+ new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
+
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop-1], width - 2),
+ (x_offsets[off_set_loop-1], width - 1),
+ (x_offsets[off_set_loop-1]+1, width - 1))
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop], width - 2),
+ (x_offsets[off_set_loop], width - 1),
+ (x_offsets[off_set_loop]-1, width - 1))
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop-1], width - 1),
+ (x_offsets[off_set_loop-1]+1, width - 1),
+ (x_offsets[off_set_loop-1]+2, width - 1))
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop], width - 1),
+ (x_offsets[off_set_loop]-1, width - 1),
+ (x_offsets[off_set_loop]-2, width - 1))
- agents_position = [new_path[0]]
- agents_target = [new_path[1]] # len(new_path) - 1]]
- agents_direction = [3]
+ else:
+ start_track = (x_offsets[off_set_loop-1]+1,0)
+ goal_track = (x_offsets[off_set_loop]-1, 0)
+ new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
+
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop-1], 1),
+ (x_offsets[off_set_loop-1], 0),
+ (x_offsets[off_set_loop-1]+1, 0))
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop], 1),
+ (x_offsets[off_set_loop], 0),
+ (x_offsets[off_set_loop]-1, 0))
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop-1], 0),
+ (x_offsets[off_set_loop-1]+1, 0),
+ (x_offsets[off_set_loop-1]+2, 0))
+ add_rail(width,height,grid_map,
+ (x_offsets[off_set_loop], 0),
+ (x_offsets[off_set_loop]-1, 0),
+ (x_offsets[off_set_loop]-2, 0))
for nbr_track_loop in range(height-1):
if len(data) < 2*n_track_seg+1:
@@ -688,6 +752,26 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
c = (off_set+nbr_track_loop, x[2 * x_loop + 1]+1)
make_switch_w_e(width,height,grid_map, c)
+
+ add_pos = (int((start[0]+goal[0])/2),int((start[1]+goal[1])/2))
+ agents_position.append(add_pos)
+ agents_target.append(add_pos)
+ agents_direction.append(np.random.choice([3,1]))
+
+ print(agents_direction)
+ print(agents_position)
+ print(agents_target)
+
+ x = np.arange(len(agents_direction))
+ num_a = min(num_agents,np.floor(len(agents_direction)/2))
+ if num_a > 1:
+ filter_agent = np.random.choice(x,num_a,False)
+ agents_position = agents_position[filter_agent]
+ agents_direction = agents_direction[filter_agent]
+ np.delete(x,filter_agent)
+ filter_agent = np.random.choice(x,num_a,False)
+ agents_target = agents_target[filter_agent]
+
return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position)
return generator
diff --git a/tests/test_flatland_env_sparse_rail_generator.py b/tests/test_flatland_env_sparse_rail_generator.py
index 45efd110..1e86026c 100644
--- a/tests/test_flatland_env_sparse_rail_generator.py
+++ b/tests/test_flatland_env_sparse_rail_generator.py
@@ -1,11 +1,24 @@
import time
-from flatland.envs.generators import sparse_rail_generator
+from flatland.envs.generators import sparse_rail_generator,realistic_rail_generator
from flatland.envs.observations import GlobalObsForRailEnv
from flatland.envs.rail_env import RailEnv
from flatland.utils.rendertools import RenderTool
+def test_realistic_rail_generator():
+
+ env = RailEnv(width=40,
+ height=16,
+ rail_generator=realistic_rail_generator(),
+ number_of_agents=15,
+ obs_builder_object=GlobalObsForRailEnv())
+ # 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)
+
+
def test_sparse_rail_generator():
env = RailEnv(width=20,
@@ -17,4 +30,4 @@ 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)
+ time.sleep(2)
--
GitLab