rail_env.py

"""
Definition of the RailEnv environment and related level-generation functions.

Generator functions are functions that take width, height and num_resets as arguments and return
a GridTransitionMap object.
"""
# TODO:  _ this is a global method --> utils or remove later

from enum import IntEnum

import msgpack
import numpy as np

from flatland.core.env import Environment
from flatland.envs.agent_utils import EnvAgentStatic, EnvAgent
from flatland.envs.env_utils import get_new_position
from flatland.envs.generators import random_rail_generator
from flatland.envs.observations import TreeObsForRailEnv


class RailEnvActions(IntEnum):
    DO_NOTHING = 0
    MOVE_LEFT = 1
    MOVE_FORWARD = 2
    MOVE_RIGHT = 3
    STOP_MOVING = 4


class RailEnv(Environment):
    """
    RailEnv environment class.

    RailEnv is an environment inspired by a (simplified version of) a rail
    network, in which agents (trains) have to navigate to their target
    locations in the shortest time possible, while at the same time cooperating
    to avoid bottlenecks.

    The valid actions in the environment are:
        0: do nothing
        1: turn left and move to the next cell; if the agent was not moving, movement is started
        2: move to the next cell in front of the agent; if the agent was not moving, movement is started
        3: turn right and move to the next cell; if the agent was not moving, movement is started
        4: stop moving

    Moving forward in a dead-end cell makes the agent turn 180 degrees and step
    to the cell it came from.

    The actions of the agents are executed in order of their handle to prevent
    deadlocks and to allow them to learn relative priorities.

    TODO: WRITE ABOUT THE REWARD FUNCTION, and possibly allow for alpha and
    beta to be passed as parameters to __init__().
    """

    def __init__(self,
                 width,
                 height,
                 rail_generator=random_rail_generator(),
                 number_of_agents=1,
                 obs_builder_object=TreeObsForRailEnv(max_depth=2),
                 prediction_builder_object=None
                 ):
        """
        Environment init.

        Parameters
        -------
        rail_generator : function
            The rail_generator function is a function that takes the width,
            height and agents handles of a  rail environment, along with the number of times
            the env has been reset, and returns a GridTransitionMap object and a list of
            starting positions, targets, and initial orientations for agent handle.
            Implemented functions are:
                random_rail_generator : generate a random rail of given size
                rail_from_GridTransitionMap_generator(rail_map) : generate a rail from
                                        a GridTransitionMap object
                rail_from_manual_specifications_generator(rail_spec) : generate a rail from
                                        a rail specifications array
                TODO: generate_rail_from_saved_list or from list of ndarray bitmaps ---
        width : int
            The width of the rail map. Potentially in the future,
            a range of widths to sample from.
        height : int
            The height of the rail map. Potentially in the future,
            a range of heights to sample from.
        number_of_agents : int
            Number of agents to spawn on the map. Potentially in the future,
            a range of number of agents to sample from.
        obs_builder_object: ObservationBuilder object
            ObservationBuilder-derived object that takes builds observation
            vectors for each agent.
        """

        self.rail_generator = rail_generator
        self.rail = None
        self.width = width
        self.height = height

        self.obs_builder = obs_builder_object
        self.obs_builder._set_env(self)

        self.prediction_builder = prediction_builder_object
        if self.prediction_builder:
            self.prediction_builder._set_env(self)

        self.action_space = [1]
        self.observation_space = self.obs_builder.observation_space  # updated on resets?

        self.actions = [0] * number_of_agents
        self.rewards = [0] * number_of_agents
        self.done = False

        self.dones = dict.fromkeys(list(range(number_of_agents)) + ["__all__"], False)

        self.obs_dict = {}
        self.rewards_dict = {}
        self.dev_obs_dict = {}

        self.agents = [None] * number_of_agents  # live agents
        self.agents_static = [None] * number_of_agents  # static agent information
        self.num_resets = 0
        self.reset()
        self.num_resets = 0  # yes, set it to zero again!

        self.valid_positions = None

    # no more agent_handles
    def get_agent_handles(self):
        return range(self.get_num_agents())

    def get_num_agents(self, static=True):
        if static:
            return len(self.agents_static)
        else:
            return len(self.agents)

    def add_agent_static(self, agent_static):
        """ Add static info for a single agent.
            Returns the index of the new agent.
        """
        self.agents_static.append(agent_static)
        return len(self.agents_static) - 1

    def restart_agents(self):
        """ Reset the agents to their starting positions defined in agents_static
        """
        self.agents = EnvAgent.list_from_static(self.agents_static)

    def reset(self, regen_rail=True, replace_agents=True):
        """ if regen_rail then regenerate the rails.
            if replace_agents then regenerate the agents static.
            Relies on the rail_generator returning agent_static lists (pos, dir, target)
        """
        tRailAgents = self.rail_generator(self.width, self.height, self.get_num_agents(), self.num_resets)

        if regen_rail or self.rail is None:
            self.rail = tRailAgents[0]

        if replace_agents:
            self.agents_static = EnvAgentStatic.from_lists(*tRailAgents[1:4])

        self.restart_agents()

        self.num_resets += 1

        # TODO perhaps dones should be part of each agent.
        self.dones = dict.fromkeys(list(range(self.get_num_agents())) + ["__all__"], False)

        # Reset the state of the observation builder with the new environment
        self.obs_builder.reset()
        self.observation_space = self.obs_builder.observation_space  # <-- change on reset?

        # Return the new observation vectors for each agent
        return self._get_observations()

    def step(self, action_dict_):
        action_dict = action_dict_.copy()

        alpha = 1.0
        beta = 1.0

        invalid_action_penalty = 0  # previously -2; GIACOMO: we decided that invalid actions will carry no penalty
        step_penalty = -1 * alpha
        global_reward = 1 * beta
        stop_penalty = 0  # penalty for stopping a moving agent
        start_penalty = 0  # penalty for starting a stopped agent

        # Reset the step rewards
        self.rewards_dict = dict()
        for iAgent in range(self.get_num_agents()):
            self.rewards_dict[iAgent] = 0

        if self.dones["__all__"]:
            self.rewards_dict = [r + global_reward for r in self.rewards_dict]
            return self._get_observations(), self.rewards_dict, self.dones, {}

        # for i in range(len(self.agents_handles)):
        for iAgent in range(self.get_num_agents()):
            agent = self.agents[iAgent]

            if iAgent not in action_dict:  # no action has been supplied for this agent
                if agent.moving:
                    # Keep moving
                    # Change MOVE_FORWARD to DO_NOTHING
                    action_dict[iAgent] = RailEnvActions.DO_NOTHING
                else:
                    action_dict[iAgent] = RailEnvActions.DO_NOTHING

            if self.dones[iAgent]:  # this agent has already completed...
                continue
            action = action_dict[iAgent]

            if action < 0 or action > len(RailEnvActions):
                print('ERROR: illegal action=', action,
                      'for agent with index=', iAgent)
                return

            if action == RailEnvActions.DO_NOTHING and agent.moving:
                # Keep moving
                action = RailEnvActions.MOVE_FORWARD

            if action == RailEnvActions.STOP_MOVING and agent.moving:
                agent.moving = False
                self.rewards_dict[iAgent] += stop_penalty

            if not agent.moving and not (action == RailEnvActions.DO_NOTHING or action == RailEnvActions.STOP_MOVING):
                # Only allow agent to start moving by pressing forward.
                agent.moving = True
                self.rewards_dict[iAgent] += start_penalty

            if action != RailEnvActions.DO_NOTHING and action != RailEnvActions.STOP_MOVING:
                cell_isFree, new_cell_isValid, new_direction, new_position, transition_isValid = \
                    self._check_action_on_agent(action, agent)
                if all([new_cell_isValid, transition_isValid, cell_isFree]):
                    agent.old_direction = agent.direction
                    agent.old_position = agent.position
                    agent.position = new_position
                    agent.direction = new_direction
                else:
                    # Logic: if the chosen action is invalid,
                    # and it was LEFT or RIGHT, and the agent was moving, then keep moving FORWARD.
                    if (action == RailEnvActions.MOVE_LEFT or action == RailEnvActions.MOVE_RIGHT) and agent.moving:
                        cell_isFree, new_cell_isValid, new_direction, new_position, transition_isValid = \
                            self._check_action_on_agent(RailEnvActions.MOVE_FORWARD, agent)

                        if all([new_cell_isValid, transition_isValid, cell_isFree]):
                            agent.old_direction = agent.direction
                            agent.old_position = agent.position
                            agent.position = new_position
                            agent.direction = new_direction
                        else:
                            # the action was not valid, add penalty
                            self.rewards_dict[iAgent] += invalid_action_penalty

                    else:
                        # the action was not valid, add penalty
                        self.rewards_dict[iAgent] += invalid_action_penalty

            if np.equal(agent.position, agent.target).all():
                self.dones[iAgent] = True
            else:
                self.rewards_dict[iAgent] += step_penalty

        # Check for end of episode + add global reward to all rewards!
        if np.all([np.array_equal(agent2.position, agent2.target) for agent2 in self.agents]):
            self.dones["__all__"] = True
            self.rewards_dict = [0 * r + global_reward for r in self.rewards_dict]

        # Reset the step actions (in case some agent doesn't 'register_action'
        # on the next step)
        self.actions = [0] * self.get_num_agents()
        return self._get_observations(), self.rewards_dict, self.dones, {}

    def _check_action_on_agent(self, action, agent):
        # compute number of possible transitions in the current
        # cell used to check for invalid actions
        new_direction, transition_isValid = self.check_action(agent, action)
        new_position = get_new_position(agent.position, new_direction)
        # Is it a legal move?
        # 1) transition allows the new_direction in the cell,
        # 2) the new cell is not empty (case 0),
        # 3) the cell is free, i.e., no agent is currently in that cell
        new_cell_isValid = (
            np.array_equal(  # Check the new position is still in the grid
                new_position,
                np.clip(new_position, [0, 0], [self.height - 1, self.width - 1]))
            and  # check the new position has some transitions (ie is not an empty cell)
            self.rail.get_transitions(new_position) > 0)
        # If transition validity hasn't been checked yet.
        if transition_isValid is None:
            transition_isValid = self.rail.get_transition(
                (*agent.position, agent.direction),
                new_direction)
        # Check the new position is not the same as any of the existing agent positions
        # (including itself, for simplicity, since it is moving)
        cell_isFree = not np.any(
            np.equal(new_position, [agent2.position for agent2 in self.agents]).all(1))
        return cell_isFree, new_cell_isValid, new_direction, new_position, transition_isValid

    def predict(self):
        if not self.prediction_builder:
            return {}
        return self.prediction_builder.get()

    def check_action(self, agent, action):
        transition_isValid = None
        possible_transitions = self.rail.get_transitions((*agent.position, agent.direction))
        num_transitions = np.count_nonzero(possible_transitions)

        new_direction = agent.direction
        if action == RailEnvActions.MOVE_LEFT:
            new_direction = agent.direction - 1
            if num_transitions <= 1:
                transition_isValid = False

        elif action == RailEnvActions.MOVE_RIGHT:
            new_direction = agent.direction + 1
            if num_transitions <= 1:
                transition_isValid = False

        new_direction %= 4

        if action == RailEnvActions.MOVE_FORWARD:
            if num_transitions == 1:
                # - dead-end, straight line or curved line;
                # new_direction will be the only valid transition
                # - take only available transition
                new_direction = np.argmax(possible_transitions)
                transition_isValid = True
        return new_direction, transition_isValid

    def _get_observations(self):
        self.obs_dict = {}
        self.debug_obs_dict = {}
        for iAgent in range(self.get_num_agents()):
            self.obs_dict[iAgent] = self.obs_builder.get(iAgent)
        return self.obs_dict

    def _get_predictions(self):
        if not self.prediction_builder:
            return {}
        return {}

    def render(self):
        # TODO:
        pass

    def get_full_state_msg(self):
        grid_data = self.rail.grid.tolist()
        agent_static_data = [agent.to_list() for agent in self.agents_static]
        agent_data = [agent.to_list() for agent in self.agents]

        msgpack.packb(grid_data)
        msgpack.packb(agent_data)
        msgpack.packb(agent_static_data)

        msg_data = {
            "grid": grid_data,
            "agents_static": agent_static_data,
            "agents": agent_data}
        return msgpack.packb(msg_data, use_bin_type=True)

    def get_agent_state_msg(self):
        agent_data = [agent.to_list() for agent in self.agents]
        msg_data = {
            "agents": agent_data}
        return msgpack.packb(msg_data, use_bin_type=True)

    def set_full_state_msg(self, msg_data):
        data = msgpack.unpackb(msg_data, use_list=False)
        self.rail.grid = np.array(data[b"grid"])
        # agents are always reset as not moving
        self.agents_static = [EnvAgentStatic(d[0], d[1], d[2], moving=False) for d in data[b"agents_static"]]
        self.agents = [EnvAgent(d[0], d[1], d[2], d[3], d[4]) for d in data[b"agents"]]
        # setup with loaded data
        self.height, self.width = self.rail.grid.shape
        self.rail.height = self.height
        self.rail.width = self.width
        self.dones = dict.fromkeys(list(range(self.get_num_agents())) + ["__all__"], False)

    def save(self, filename):
        with open(filename, "wb") as file_out:
            file_out.write(self.get_full_state_msg())

    def load(self, filename):
        with open(filename, "rb") as file_in:
            load_data = file_in.read()
            self.set_full_state_msg(load_data)