From a7cf0af3e97debd355e3bae5e4cb53be29b2aa13 Mon Sep 17 00:00:00 2001
From: "Egli Adrian (IT-SCI-API-PFI)" <adrian.egli@sbb.ch>
Date: Fri, 16 Aug 2019 08:25:04 +0200
Subject: [PATCH] realistic scene generator : done
---
flatland/envs/generators.py | 158 ++++++++----------
...test_flatland_env_sparse_rail_generator.py | 24 +--
2 files changed, 84 insertions(+), 98 deletions(-)
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 92916211..6dbcd07f 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -543,7 +543,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 11):
return generator
-def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dist=99999, seed=0):
+def realistic_rail_generator(nr_start_goal=1, seed=0):
"""
Parameters
-------
@@ -572,18 +572,19 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
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))
- def add_rail(width,height,grid_map, pt_from, pt_via, pt_to, bAddRemove=True):
+ def min_max_cut(min_v, max_v, v):
+ return max(min_v, min(max_v, v))
+
+ def add_rail(width, height, grid_map, pt_from, pt_via, pt_to, bAddRemove=True):
gRCTrans = np.array([[-1, 0], [0, 1], [1, 0], [0, -1]]) # NESW in RC
- lrcStroke = [[min_max_cut(0,height-1,pt_from[0]),
- min_max_cut(0,width-1,pt_from[1])],
- [min_max_cut(0,height-1,pt_via[0]),
- min_max_cut(0,width-1,pt_via[1])],
- [min_max_cut(0,height-1,pt_to[0]),
- min_max_cut(0,width-1,pt_to[1])]]
+ lrcStroke = [[min_max_cut(0, height - 1, pt_from[0]),
+ min_max_cut(0, width - 1, pt_from[1])],
+ [min_max_cut(0, height - 1, pt_via[0]),
+ min_max_cut(0, width - 1, pt_via[1])],
+ [min_max_cut(0, height - 1, pt_to[0]),
+ min_max_cut(0, width - 1, pt_to[1])]]
rc3Cells = np.array(lrcStroke[:3]) # the 3 cells
rcMiddle = rc3Cells[1] # the middle cell which we will update
@@ -622,27 +623,27 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
grid_map.set_transition((*rcMiddle, mirror(liTrans[1])),
mirror(liTrans[0]), bAddRemove, remove_deadends=not bDeadend)
- def make_switch_w_e(width,height,grid_map, center):
+ def make_switch_w_e(width, height, grid_map, center):
# e -> w
- start = (center[0]+1, center[1]-1)
+ start = (center[0] + 1, center[1] - 1)
via = (center[0], center[1] - 1)
goal = (center[0], center[1])
- add_rail(width,height,grid_map, start, via, goal)
- start = (center[0], center[1]-1)
- via = (center[0]+1, center[1]-1)
- goal = (center[0]+1, center[1]-2)
- add_rail(width,height,grid_map, start, via, goal)
+ add_rail(width, height, grid_map, start, via, goal)
+ start = (center[0], center[1] - 1)
+ via = (center[0] + 1, center[1] - 1)
+ goal = (center[0] + 1, center[1] - 2)
+ add_rail(width, height, grid_map, start, via, goal)
- def make_switch_e_w(width,height,grid_map, center):
+ def make_switch_e_w(width, height, grid_map, center):
# e -> w
start = (center[0] + 1, center[1])
via = (center[0] + 1, center[1] - 1)
goal = (center[0], center[1] - 1)
- add_rail(width,height,grid_map, start, via, goal)
+ add_rail(width, height, grid_map, start, via, goal)
start = (center[0] + 1, center[1] - 1)
via = (center[0], center[1] - 1)
goal = (center[0], center[1] - 2)
- add_rail(width,height,grid_map, start, via, goal)
+ add_rail(width, height, grid_map, start, via, goal)
class Grid4TransitionsEnum(IntEnum):
NORTH = 0
@@ -669,10 +670,8 @@ 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)
+ max_n_track_seg = np.random.choice([3, 4, 5])
+ x_offsets = np.arange(0, height, max_n_track_seg).astype(int)
agents_position = []
agents_target = []
@@ -681,7 +680,7 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
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
+ 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)
@@ -691,86 +690,73 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
# track one (full track : left right)
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)
+ 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,
+ 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] - 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))
+ (x_offsets[off_set_loop] - 1, width - 1),
+ (x_offsets[off_set_loop] - 2, width - 1))
else:
- start_track = (x_offsets[off_set_loop-1]+1,0)
- goal_track = (x_offsets[off_set_loop]-1, 0)
+ 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,
+ 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] - 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))
+ (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:
+ for nbr_track_loop in range(height - 1):
+ if len(data) < 2 * n_track_seg + 1:
break
x = np.sort(np.random.choice(data, 2 * n_track_seg, False)).astype(int)
data = []
for x_loop in range(int(len(x) / 2)):
- start = (max(0,min(off_set+nbr_track_loop+1,height-1)), max(0,min(x[2 * x_loop],width-1)))
- goal = (max(0,min(off_set+nbr_track_loop+1,height-1)), max(0,min(x[2 * x_loop + 1],width-1)))
- d = np.arange(x[2 * x_loop]+1,x[2 * x_loop+1]-1,2)
+ start = (max(0, min(off_set + nbr_track_loop + 1, height - 1)), max(0, min(x[2 * x_loop], width - 1)))
+ goal = (max(0, min(off_set + nbr_track_loop + 1, height - 1)), max(0, min(x[2 * x_loop + 1], width - 1)))
+ d = np.arange(x[2 * x_loop] + 1, x[2 * x_loop + 1] - 1, 2)
data.extend(d)
new_path = connect_rail(rail_trans, rail_array, start, goal)
- if len(new_path) >0:
- c = (off_set+nbr_track_loop, x[2 * x_loop] + 1)
- make_switch_e_w(width,height,grid_map, c)
- 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]
+ if len(new_path) > 0:
+ c = (off_set + nbr_track_loop, x[2 * x_loop] + 1)
+ make_switch_e_w(width, height, grid_map, c)
+ c = (off_set + nbr_track_loop, x[2 * x_loop + 1] + 1)
+ make_switch_w_e(width, height, grid_map, c)
+
+ if nbr_track_loop > 0:
+ 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]))
+
return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position)
@@ -838,8 +824,6 @@ def sparse_rail_generator(nr_nodes=100, max_neigbours=2, min_node_dist=20, node_
new_path = connect_nodes(rail_trans, rail_array, node_positions[current_node], node_positions[neighb])
node_stack.pop(0)
-
-
# Generate start and target node directory for all agents
agent_start_targets_nodes = []
for agent_idx in range(num_agents):
diff --git a/tests/test_flatland_env_sparse_rail_generator.py b/tests/test_flatland_env_sparse_rail_generator.py
index 1e86026c..7079a4f9 100644
--- a/tests/test_flatland_env_sparse_rail_generator.py
+++ b/tests/test_flatland_env_sparse_rail_generator.py
@@ -5,19 +5,21 @@ from flatland.envs.observations import GlobalObsForRailEnv
from flatland.envs.rail_env import RailEnv
from flatland.utils.rendertools import RenderTool
+import numpy as np
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)
-
+ for test_loop in range(20):
+ num_agents = np.random.randint(10,30)
+ env = RailEnv(width=np.random.randint(40,80),
+ height=np.random.randint(10,20),
+ rail_generator=realistic_rail_generator(nr_start_goal=num_agents+1,seed=test_loop),
+ number_of_agents=num_agents,
+ 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(1)
+ env_renderer.close_window()
def test_sparse_rail_generator():
--
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