transition_map.py 25.2 KB
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"""
TransitionMap and derived classes.
"""

import numpy as np
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from importlib_resources import path
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from numpy import array
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from flatland.core.grid.grid4 import Grid4Transitions
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from flatland.core.grid.grid4_utils import get_new_position, get_direction
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from flatland.core.grid.grid_utils import IntVector2DArray, IntVector2D
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from flatland.core.grid.grid_utils import Vec2dOperations as Vec2d
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from flatland.core.grid.rail_env_grid import RailEnvTransitions
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from flatland.core.transitions import Transitions
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from flatland.utils.ordered_set import OrderedSet
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# TODO are these general classes or for grid4 only?
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class TransitionMap:
    """
    Base TransitionMap class.

    Generic class that implements a collection of transitions over a set of
    cells.
    """

    def get_transitions(self, cell_id):
        """
        Return a tuple of transitions available in a cell specified by
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        `cell_id` (e.g., a tuple of size of the maximum number of transitions,
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        with values 0 or 1, or potentially in between,
        for stochastic transitions).

        Parameters
        ----------
        cell_id : [cell identifier]
            The cell_id object depends on the specific implementation.
            It generally is an int (e.g., an index) or a tuple of indices.

        Returns
        -------
        tuple
            List of the validity of transitions in the cell.

        """
        raise NotImplementedError()

    def set_transitions(self, cell_id, new_transitions):
        """
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        Replaces the available transitions in cell `cell_id` with the tuple
        `new_transitions'. `new_transitions` must have
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        one element for each possible transition.

        Parameters
        ----------
        cell_id : [cell identifier]
            The cell_id object depends on the specific implementation.
            It generally is an int (e.g., an index) or a tuple of indices.
        new_transitions : tuple
            Tuple of new transitions validitiy for the cell.

        """
        raise NotImplementedError()

    def get_transition(self, cell_id, transition_index):
        """
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        Return the status of whether an agent in cell `cell_id` can perform a
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        movement along transition `transition_index` (e.g., the NESW direction
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        of movement, for agents on a grid).

        Parameters
        ----------
        cell_id : [cell identifier]
            The cell_id object depends on the specific implementation.
            It generally is an int (e.g., an index) or a tuple of indices.
        transition_index : int
            Index of the transition to probe, as index in the tuple returned by
            get_transitions(). e.g., the NESW direction of movement, for agents
            on a grid.

        Returns
        -------
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        int or float (depending on Transitions used)
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            Validity of the requested transition (e.g.,
            0/1 allowed/not allowed, a probability in [0,1], etc...)

        """
        raise NotImplementedError()

    def set_transition(self, cell_id, transition_index, new_transition):
        """
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        Replaces the validity of transition to `transition_index` in cell
        `cell_id' with the new `new_transition`.
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        Parameters
        ----------
        cell_id : [cell identifier]
            The cell_id object depends on the specific implementation.
            It generally is an int (e.g., an index) or a tuple of indices.
        transition_index : int
            Index of the transition to probe, as index in the tuple returned by
            get_transitions(). e.g., the NESW direction of movement, for agents
            on a grid.
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        new_transition : int or float (depending on Transitions used)
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            Validity of the requested transition (e.g.,
            0/1 allowed/not allowed, a probability in [0,1], etc...)

        """
        raise NotImplementedError()


class GridTransitionMap(TransitionMap):
    """
    Implements a TransitionMap over a 2D grid.

    GridTransitionMap implements utility functions.
    """

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    def __init__(self, width, height, transitions: Transitions = Grid4Transitions([])):
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        """
        Builder for GridTransitionMap object.

        Parameters
        ----------
        width : int
            Width of the grid.
        height : int
            Height of the grid.
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        transitions : Transitions object
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            The Transitions object to use to encode/decode transitions over the
            grid.

        """

        self.width = width
        self.height = height
        self.transitions = transitions

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        self.grid = np.zeros((height, width), dtype=self.transitions.get_type())
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    def get_full_transitions(self, row, column):
        """
        Returns the full transitions for the cell at (row, column) in the format transition_map's transitions.

        Parameters
        ----------
        row: int
        column: int
            (row,column) specifies the cell in this transition map.

        Returns
        -------
        self.transitions.get_type()
            The cell content int the format of this map's Transitions.

        """
        return self.grid[row][column]

    def get_transitions(self, row, column, orientation):
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        """
        Return a tuple of transitions available in a cell specified by
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        `cell_id` (e.g., a tuple of size of the maximum number of transitions,
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        with values 0 or 1, or potentially in between,
        for stochastic transitions).

        Parameters
        ----------
        cell_id : tuple
            The cell_id indices a cell as (column, row, orientation),
            where orientation is the direction an agent is facing within a cell.
            Alternatively, it can be accessed as (column, row) to return the
            full cell content.

        Returns
        -------
        tuple
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            List of the validity of transitions in the cell as given by the maps transitions.
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        """
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        return self.transitions.get_transitions(self.grid[row][column], orientation)
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    def set_transitions(self, cell_id, new_transitions):
        """
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        Replaces the available transitions in cell `cell_id` with the tuple
        `new_transitions'. `new_transitions` must have
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        one element for each possible transition.

        Parameters
        ----------
        cell_id : tuple
            The cell_id indices a cell as (column, row, orientation),
            where orientation is the direction an agent is facing within a cell.
            Alternatively, it can be accessed as (column, row) to replace the
            full cell content.
        new_transitions : tuple
            Tuple of new transitions validitiy for the cell.

        """
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        assert len(cell_id) in (2, 3), \
            'GridTransitionMap.set_transitions() ERROR: cell_id tuple must have length 2 or 3.'
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        if len(cell_id) == 3:
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            self.grid[cell_id[0]][cell_id[1]] = self.transitions.set_transitions(self.grid[cell_id[0]][cell_id[1]],
                                                                                 cell_id[2],
                                                                                 new_transitions)
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        elif len(cell_id) == 2:
            self.grid[cell_id[0]][cell_id[1]] = new_transitions

    def get_transition(self, cell_id, transition_index):
        """
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        Return the status of whether an agent in cell `cell_id` can perform a
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        movement along transition `transition_index` (e.g., the NESW direction
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        of movement, for agents on a grid).

        Parameters
        ----------
        cell_id : tuple
            The cell_id indices a cell as (column, row, orientation),
            where orientation is the direction an agent is facing within a cell.
        transition_index : int
            Index of the transition to probe, as index in the tuple returned by
            get_transitions(). e.g., the NESW direction of movement, for agents
            on a grid.

        Returns
        -------
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        int or float (depending on Transitions used in the )
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            Validity of the requested transition (e.g.,
            0/1 allowed/not allowed, a probability in [0,1], etc...)

        """
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        assert len(cell_id) == 3, \
            'GridTransitionMap.get_transition() ERROR: cell_id tuple must have length 2 or 3.'
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        return self.transitions.get_transition(self.grid[cell_id[0]][cell_id[1]], cell_id[2], transition_index)

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    def set_transition(self, cell_id, transition_index, new_transition, remove_deadends=False):
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        """
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        Replaces the validity of transition to `transition_index` in cell
        `cell_id' with the new `new_transition`.
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        Parameters
        ----------
        cell_id : tuple
            The cell_id indices a cell as (column, row, orientation),
            where orientation is the direction an agent is facing within a cell.
        transition_index : int
            Index of the transition to probe, as index in the tuple returned by
            get_transitions(). e.g., the NESW direction of movement, for agents
            on a grid.
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        new_transition : int or float (depending on Transitions used in the map.)
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            Validity of the requested transition (e.g.,
            0/1 allowed/not allowed, a probability in [0,1], etc...)

        """
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        assert len(cell_id) == 3, \
            'GridTransitionMap.set_transition() ERROR: cell_id tuple must have length 3.'
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        self.grid[cell_id[0]][cell_id[1]] = self.transitions.set_transition(
            self.grid[cell_id[0]][cell_id[1]],
            cell_id[2],
            transition_index,
            new_transition,
            remove_deadends)
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    def save_transition_map(self, filename):
        """
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        Save the transitions grid as `filename`, in npy format.
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        Parameters
        ----------
        filename : string
            Name of the file to which to save the transitions grid.

        """
        np.save(filename, self.grid)

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    def load_transition_map(self, package, resource):
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        """
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        Load the transitions grid from `filename` (npy format).
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        The load function only updates the transitions grid, and possibly width and height, but the object has to be
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        initialized with the correct `transitions` object anyway.
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        Parameters
        ----------
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        package : string
            Name of the package from which to load the transitions grid.
        resource : string
            Name of the file from which to load the transitions grid within the package.
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        override_gridsize : bool
            If override_gridsize=True, the width and height of the GridTransitionMap object are replaced with the size
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            of the map loaded from `filename`. If override_gridsize=False, the transitions grid is either cropped (if
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            the grid size is larger than (height,width) ) or padded with zeros (if the grid size is smaller than
            (height,width) )
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        """
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        with path(package, resource) as file_in:
            new_grid = np.load(file_in)
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        new_height = new_grid.shape[0]
        new_width = new_grid.shape[1]

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        self.width = new_width
        self.height = new_height
        self.grid = new_grid
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    def is_dead_end(self, rcPos: IntVector2DArray):
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        """
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        Check if the cell is a dead-end.

        Parameters
        ----------
        rcPos: Tuple[int,int]
            tuple(row, column) with grid coordinate
        Returns
        -------
        boolean
            True if and only if the cell is a dead-end.
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        """
        nbits = 0
        tmp = self.get_full_transitions(rcPos[0], rcPos[1])
        while tmp > 0:
            nbits += (tmp & 1)
            tmp = tmp >> 1
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        return nbits == 1

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    def is_simple_turn(self, rcPos: IntVector2DArray):
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        """
        Check if the cell is a left/right simple turn

        Parameters
        ----------
            rcPos: Tuple[int,int]
                tuple(row, column) with grid coordinate
        Returns
        -------
            boolean
                True if and only if the cell is a left/right simple turn.
        """
        tmp = self.get_full_transitions(rcPos[0], rcPos[1])

        def is_simple_turn(trans):
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            all_simple_turns = OrderedSet()
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            for trans in [int('0100000000000010', 2),  # Case 1b (8)  - simple turn right
                          int('0001001000000000', 2)  # Case 1c (9)  - simple turn left]:
                          ]:
                for _ in range(3):
                    trans = self.transitions.rotate_transition(trans, rotation=90)
                    all_simple_turns.add(trans)
            return trans in all_simple_turns

        return is_simple_turn(tmp)

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    def check_path_exists(self, start: IntVector2DArray, direction: int, end: IntVector2DArray):
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        """
        Breath first search for a possible path from one node with a certain orientation to a target node.
        :param start: Start cell rom where we want to check the path
        :param direction: Start direction for the path we are testing
        :param end: Cell that we try to reach from the start cell
        :return: True if a path exists, False otherwise
        """
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        visited = OrderedSet()
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        stack = [(start, direction)]
        while stack:
            node = stack.pop()
            node_position = node[0]
            node_direction = node[1]
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            if Vec2d.is_equal(node_position, end):
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                return True
            if node not in visited:
                visited.add(node)

                moves = self.get_transitions(node_position[0], node_position[1], node_direction)
                for move_index in range(4):
                    if moves[move_index]:
                        stack.append((get_new_position(node_position, move_index),
                                      move_index))

        return False
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    def cell_neighbours_valid(self, rcPos: IntVector2DArray, check_this_cell=False):
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        """
        Check validity of cell at rcPos = tuple(row, column)
        Checks that:
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        - surrounding cells have inbound transitions for all the outbound transitions of this cell.
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        These are NOT checked - see transition.is_valid:
        - all transitions have the mirror transitions (N->E <=> W->S)
        - Reverse transitions (N -> S) only exist for a dead-end
        - a cell contains either no dead-ends or exactly one

        Returns: True (valid) or False (invalid)
        """
        cell_transition = self.grid[tuple(rcPos)]

        if check_this_cell:
            if not self.transitions.is_valid(cell_transition):
                return False

        gDir2dRC = self.transitions.gDir2dRC  # [[-1,0] = N, [0,1]=E, etc]
        grcPos = array(rcPos)
        grcMax = self.grid.shape

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        binTrans = self.get_full_transitions(*rcPos)  # 16bit integer - all trans in/out
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        lnBinTrans = array([binTrans >> 8, binTrans & 0xff], dtype=np.uint8)  # 2 x uint8
        g2binTrans = np.unpackbits(lnBinTrans).reshape(4, 4)  # 4x4 x uint8 binary(0,1)
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        gDirOut = g2binTrans.any(axis=0)  # outbound directions as boolean array (4)
        giDirOut = np.argwhere(gDirOut)[:, 0]  # valid outbound directions as array of int
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        # loop over available outbound directions (indices) for rcPos
        for iDirOut in giDirOut:
            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
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            t4Trans2 = self.get_transitions(*gPos2, iDirOut)
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            if any(t4Trans2):
                continue
            else:
                return False
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        # If the cell is empty but has incoming connections we return false
        if binTrans < 1:
            connected = 0

            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 ignore it for the count of incoming connections
                if np.any(gPos2 < 0):
                    continue
                if np.any(gPos2 >= grcMax):
                    continue

                # 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

                for orientation in range(4):
                    connected += self.get_transition((gPos2[0], gPos2[1], orientation), mirror(iDirOut))
            if connected > 0:
                return False
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        return True

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    def fix_neighbours(self, rcPos: IntVector2DArray, check_this_cell=False):
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        """
        Check validity of cell at rcPos = tuple(row, column)
        Checks that:
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        - surrounding cells have inbound transitions for all the outbound transitions of this cell.
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        These are NOT checked - see transition.is_valid:
        - all transitions have the mirror transitions (N->E <=> W->S)
        - Reverse transitions (N -> S) only exist for a dead-end
        - a cell contains either no dead-ends or exactly one

        Returns: True (valid) or False (invalid)
        """
        cell_transition = self.grid[tuple(rcPos)]

        if check_this_cell:
            if not self.transitions.is_valid(cell_transition):
                return False

        gDir2dRC = self.transitions.gDir2dRC  # [[-1,0] = N, [0,1]=E, etc]
        grcPos = array(rcPos)
        grcMax = self.grid.shape

        binTrans = self.get_full_transitions(*rcPos)  # 16bit integer - all trans in/out
        lnBinTrans = array([binTrans >> 8, binTrans & 0xff], dtype=np.uint8)  # 2 x uint8
        g2binTrans = np.unpackbits(lnBinTrans).reshape(4, 4)  # 4x4 x uint8 binary(0,1)
        gDirOut = g2binTrans.any(axis=0)  # outbound directions as boolean array (4)
        giDirOut = np.argwhere(gDirOut)[:, 0]  # valid outbound directions as array of int

        # loop over available outbound directions (indices) for rcPos
        for iDirOut in giDirOut:
            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
            t4Trans2 = self.get_transitions(*gPos2, iDirOut)
            if any(t4Trans2):
                continue
            else:
                self.set_transition((gPos2[0], gPos2[1], iDirOut), mirror(iDirOut), 1)
                return False

        return True

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    def fix_transitions(self, rcPos: IntVector2DArray, direction: IntVector2D = -1):
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        """
        Fixes broken transitions
        """
        gDir2dRC = self.transitions.gDir2dRC  # [[-1,0] = N, [0,1]=E, etc]
        grcPos = array(rcPos)
        grcMax = self.grid.shape

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        # Transition elements
        transitions = RailEnvTransitions()
        cells = transitions.transition_list
        simple_switch_east_south = transitions.rotate_transition(cells[10], 90)
        simple_switch_west_south = transitions.rotate_transition(cells[2], 270)
        symmetrical = cells[6]
        double_slip = cells[5]
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        three_way_transitions = [simple_switch_east_south, simple_switch_west_south]
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        # loop over available outbound directions (indices) for rcPos
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        incoming_connections = np.zeros(4)
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        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
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            # if not, then ignore it for the count of incoming connections
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            if np.any(gPos2 < 0):
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                continue
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            if np.any(gPos2 >= grcMax):
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                continue
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            # 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:
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                incoming_connections[iDirOut] = 1
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        number_of_incoming = np.sum(incoming_connections)
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        # Only one incoming direction --> Straight line set deadend
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        if number_of_incoming == 1:
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            if self.get_full_transitions(*rcPos) == 0:
                self.set_transitions(rcPos, 0)
            else:
                self.set_transitions(rcPos, 0)

                for direction in range(4):
                    if incoming_connections[direction] > 0:
                        self.set_transition((rcPos[0], rcPos[1], mirror(direction)), direction, 1)
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        # Connect all incoming connections
        if number_of_incoming == 2:
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            self.set_transitions(rcPos, 0)

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            connect_directions = np.argwhere(incoming_connections > 0)
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            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)

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        # Find feasible connection for three entries
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        if number_of_incoming == 3:
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            self.set_transitions(rcPos, 0)
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            hole = np.argwhere(incoming_connections < 1)[0][0]
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            if direction >= 0:
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                switch_type_idx = (direction - hole + 3) % 4
                if switch_type_idx == 0:
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                    transition = simple_switch_west_south
                elif switch_type_idx == 2:
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                    transition = simple_switch_east_south
                else:
                    transition = np.random.choice(three_way_transitions, 1)
            else:
                transition = np.random.choice(three_way_transitions, 1)
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            transition = transitions.rotate_transition(transition, int(hole * 90))
            self.set_transitions((rcPos[0], rcPos[1]), transition)

        # Make a double slip switch
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        if number_of_incoming == 4:
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            rotation = np.random.randint(2)
            transition = transitions.rotate_transition(double_slip, int(rotation * 90))
            self.set_transitions((rcPos[0], rcPos[1]), transition)
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        return True

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    def validate_new_transition(self, prev_pos: IntVector2D, current_pos: IntVector2D,
                                new_pos: IntVector2D, end_pos: IntVector2D):
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        """
        Utility function to test that a path drawn by a-start algorithm uses valid transition objects.
        We us this to quide a-star as there are many transition elements that are not allowed in RailEnv
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        :param prev_pos: The previous position we were checking
        :param current_pos: The current position we are checking
        :param new_pos: Possible child position we move into
        :param end_pos: End cell of path we are drawing
        :return: True if the transition is valid, False if transition element is illegal
        """
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        # start by getting direction used to get to current node
        # and direction from current node to possible child node
        new_dir = get_direction(current_pos, new_pos)
        if prev_pos is not None:
            current_dir = get_direction(prev_pos, current_pos)
        else:
            current_dir = new_dir
        # create new transition that would go to child
        new_trans = self.grid[current_pos]
        if prev_pos is None:
            if new_trans == 0:
                # need to flip direction because of how end points are defined
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                new_trans = self.transitions.set_transition(new_trans, mirror(current_dir), new_dir, 1)
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            else:
                # check if matches existing layout
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                new_trans = self.transitions.set_transition(new_trans, current_dir, new_dir, 1)
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        else:
            # set the forward path
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            new_trans = self.transitions.set_transition(new_trans, current_dir, new_dir, 1)
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            # set the backwards path
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            new_trans = self.transitions.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
        if Vec2d.is_equal(new_pos, end_pos):
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            # need to validate end pos setup as well
            new_trans_e = self.grid[end_pos]
            if new_trans_e == 0:
                # need to flip direction because of how end points are defined
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                new_trans_e = self.transitions.set_transition(new_trans_e, new_dir, mirror(new_dir), 1)
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            else:
                # check if matches existing layout
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                new_trans_e = self.transitions.set_transition(new_trans_e, new_dir, new_dir, 1)
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            if not self.transitions.is_valid(new_trans_e):
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                return False

        # is transition is valid?
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        return self.transitions.is_valid(new_trans)
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def mirror(dir):
    return (dir + 2) % 4
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# TODO: improvement override __getitem__ and __setitem__ (cell contents, not transitions?)