diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 4f016f2b3d4ee3e1918fbf47c9492f2c84228999..2281282977d8c9d972f13526efa9d96abaf84a52 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -238,7 +238,7 @@ class RailEnv(Environment):
agent.speed_data['position_fraction'] = 0.0
agent.malfunction_data['malfunction'] = 0
- self._agent_stopped(i_agent)
+ self._agent_malfunction(agent)
self.num_resets += 1
self._elapsed_steps = 0
@@ -253,29 +253,29 @@ class RailEnv(Environment):
# Return the new observation vectors for each agent
return self._get_observations()
- def _agent_stopped(self, i_agent):
+ def _agent_malfunction(self, agent):
# Decrease counter for next event
- self.agents[i_agent].malfunction_data['next_malfunction'] -= 1
+ agent.malfunction_data['next_malfunction'] -= 1
- # Only agents that have a positive rate for malfunctions are considered
- if self.agents[i_agent].malfunction_data['malfunction_rate'] > 0 >= self.agents[i_agent].malfunction_data[
+ # Only agents that have a positive rate for malfunctions and are not currently broken are considered
+ if agent.malfunction_data['malfunction_rate'] > 0 >= agent.malfunction_data[
'malfunction']:
# If counter has come to zero --> Agent has malfunction
# set next malfunction time and duration of current malfunction
- if self.agents[i_agent].malfunction_data['next_malfunction'] <= 0:
+ if agent.malfunction_data['next_malfunction'] <= 0:
# Increase number of malfunctions
- self.agents[i_agent].malfunction_data['nr_malfunctions'] += 1
+ agent.malfunction_data['nr_malfunctions'] += 1
# Next malfunction in number of stops
next_breakdown = int(
- np.random.exponential(scale=self.agents[i_agent].malfunction_data['malfunction_rate']))
- self.agents[i_agent].malfunction_data['next_malfunction'] = next_breakdown
+ np.random.exponential(scale=agent.malfunction_data['malfunction_rate']))
+ agent.malfunction_data['next_malfunction'] = next_breakdown
# Duration of current malfunction
num_broken_steps = np.random.randint(self.min_number_of_steps_broken,
self.max_number_of_steps_broken + 1) + 1
- self.agents[i_agent].malfunction_data['malfunction'] = num_broken_steps
+ agent.malfunction_data['malfunction'] = num_broken_steps
def step(self, action_dict_):
self._elapsed_steps += 1
@@ -306,6 +306,9 @@ class RailEnv(Environment):
agent.old_direction = agent.direction
agent.old_position = agent.position
+ # Check if agent breaks at this step
+ self._agent_malfunction(agent)
+
if self.dones[i_agent]: # this agent has already completed...
continue
@@ -341,7 +344,6 @@ class RailEnv(Environment):
# Only allow halting an agent on entering new cells.
agent.moving = False
self.rewards_dict[i_agent] += stop_penalty
- self._agent_stopped(i_agent)
if not agent.moving and not (action == RailEnvActions.DO_NOTHING or action == RailEnvActions.STOP_MOVING):
# Allow agent to start with any forward or direction action
@@ -385,8 +387,6 @@ class RailEnv(Environment):
self.rewards_dict[i_agent] += invalid_action_penalty
self.rewards_dict[i_agent] += step_penalty * agent.speed_data['speed']
self.rewards_dict[i_agent] += stop_penalty
- if agent.moving:
- self._agent_stopped(i_agent)
agent.moving = False
continue
else:
@@ -394,8 +394,6 @@ class RailEnv(Environment):
self.rewards_dict[i_agent] += invalid_action_penalty
self.rewards_dict[i_agent] += step_penalty * agent.speed_data['speed']
self.rewards_dict[i_agent] += stop_penalty
- if agent.moving:
- self._agent_stopped(i_agent)
agent.moving = False
continue
@@ -416,14 +414,11 @@ class RailEnv(Environment):
agent.speed_data['position_fraction'] = 0.0
else:
# If the agent cannot move due to any reason, we set its state to not moving
- if agent.moving:
- self._agent_stopped(i_agent)
agent.moving = False
if np.equal(agent.position, agent.target).all():
self.dones[i_agent] = True
agent.moving = False
- # Do not call self._agent_stopped, as the agent has terminated its task
else:
self.rewards_dict[i_agent] += step_penalty * agent.speed_data['speed']
diff --git a/tests/test_flatland_malfunction.py b/tests/test_flatland_malfunction.py
index 2e82d212687b7ef21832ea778ec2dd1552db6b36..67dcd25c0769e542fd9a03502c2a8c1b29333b2b 100644
--- a/tests/test_flatland_malfunction.py
+++ b/tests/test_flatland_malfunction.py
@@ -53,13 +53,13 @@ class SingleAgentNavigationObs(TreeObsForRailEnv):
def test_malfunction_process():
# Set fixed malfunction duration for this test
stochastic_data = {'prop_malfunction': 1.,
- 'malfunction_rate': 5,
+ 'malfunction_rate': 1000,
'min_duration': 3,
'max_duration': 3}
np.random.seed(5)
- env = RailEnv(width=14,
- height=14,
+ env = RailEnv(width=20,
+ height=20,
rail_generator=complex_rail_generator(nr_start_goal=10, nr_extra=1, min_dist=5, max_dist=99999,
seed=0),
number_of_agents=2,
@@ -82,17 +82,17 @@ def test_malfunction_process():
if step % 5 == 0:
# Stop the agent and set it to be malfunctioning
- actions[0] = 4
+ env.agents[0].malfunction_data['malfunction'] = -1
env.agents[0].malfunction_data['next_malfunction'] = 0
agent_halts += 1
+ obs, all_rewards, done, _ = env.step(actions)
+
if env.agents[0].malfunction_data['malfunction'] > 0:
agent_malfunctioning = True
else:
agent_malfunctioning = False
- obs, all_rewards, done, _ = env.step(actions)
-
if agent_malfunctioning:
# Check that agent is not moving while malfunctioning
assert agent_old_position == env.agents[0].position
@@ -101,7 +101,7 @@ def test_malfunction_process():
total_down_time += env.agents[0].malfunction_data['malfunction']
# Check that the appropriate number of malfunctions is achieved
- assert env.agents[0].malfunction_data['nr_malfunctions'] == 5
+ assert env.agents[0].malfunction_data['nr_malfunctions'] == 21
# Check that 20 stops where performed
assert agent_halts == 20