diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 60860d65dddf84f42ee6225f67ff585213a7171f..4181482bee3fac8c078500f46ed98df83c328fc4 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -443,6 +443,25 @@ class RailEnv(Environment):
return reward
+ def preprocess_action(self, action, agent):
+ """
+ Preprocess the provided action
+ * Change to DO_NOTHING if illegal action
+ * Block all actions when in waiting state
+ * Check MOVE_LEFT/MOVE_RIGHT actions on current position else try MOVE_FORWARD
+ """
+ action = action_preprocessing.preprocess_raw_action(action, agent.state)
+ action = action_preprocessing.preprocess_action_when_waiting(action, agent.state)
+
+ # Try moving actions on current position
+ current_position, current_direction = agent.position, agent.direction
+ if current_position is None: # Agent not added on map yet
+ current_position, current_direction = agent.initial_position, agent.initial_direction
+
+ action = action_preprocessing.preprocess_moving_action(action, self.rail, current_position, current_direction)
+
+ return action
+
def step(self, action_dict_: Dict[int, RailEnvActions]):
"""
Updates rewards for the agents at a step.
@@ -475,59 +494,51 @@ class RailEnv(Environment):
"speed": {},
"status": {},
}
- have_all_agents_ended = True # boolean flag to check if all agents are done
self.motionCheck = ac.MotionCheck() # reset the motion check
temp_transition_data = {}
- for i_agent, agent in enumerate(self.agents): # TODO: Important - Do not use i_agent like this, use agent.handle if needed
+ for agent in self.agents:
+ i_agent = agent.handle
# Generate malfunction
agent.malfunction_handler.generate_malfunction(self.malfunction_generator, self.np_random)
# Get action for the agent
action = action_dict_.get(i_agent, RailEnvActions.DO_NOTHING)
- # TODO: Add the bottom stuff to separate function(s)
-
- # Preprocess action
- action = action_preprocessing.preprocess_raw_action(action, agent.state)
- action = action_preprocessing.preprocess_action_when_waiting(action, agent.state)
- # Try moving actions on current position
- current_position, current_direction = agent.position, agent.direction
- agent_not_on_map = current_position is None
- if agent_not_on_map: # Agent not added on map yet
- current_position, current_direction = agent.initial_position, agent.initial_direction
- action = action_preprocessing.preprocess_moving_action(action, self.rail, current_position, current_direction)
+ preprocessed_action = self.preprocess_action(action, agent)
# Save moving actions in not already saved
- agent.action_saver.save_action_if_allowed(action, agent.state)
+ agent.action_saver.save_action_if_allowed(preprocessed_action, agent.state)
# Calculate new position
# Add agent to the map if not on it yet
- if agent_not_on_map and agent.action_saver.is_action_saved:
+ if agent.position is None and agent.action_saver.is_action_saved:
new_position = agent.initial_position
new_direction = agent.initial_direction
- preprocessed_action = action
# When cell exit occurs apply saved action independent of other agents
elif agent.speed_counter.is_cell_exit and agent.action_saver.is_action_saved:
saved_action = agent.action_saver.saved_action
# Apply action independent of other agents and get temporary new position and direction
- pd = self.apply_action_independent(saved_action, self.rail, agent.position, agent.direction)
- new_position, new_direction = pd
+ new_position, new_direction = self.apply_action_independent(saved_action,
+ self.rail,
+ agent.position,
+ agent.direction)
preprocessed_action = saved_action
else:
new_position, new_direction = agent.position, agent.direction
- preprocessed_action = action
temp_transition_data[i_agent] = AgentTransitionData(position=new_position,
direction=new_direction,
preprocessed_action=preprocessed_action)
+
+ # This is for checking conflicts of agents trying to occupy same cell
self.motionCheck.addAgent(i_agent, agent.position, new_position)
# Find conflicts
- # TODO : Important - Modify conflicted positions and select one of them randomly to go to new position
+
self.motionCheck.find_conflicts()
for agent in self.agents:
diff --git a/flatland/envs/step_utils/action_preprocessing.py b/flatland/envs/step_utils/action_preprocessing.py
index 4da43c1695607785d3e779f1fe119064545fd575..a397054c6c55c854b0846d0d70c7c7209fcfa7af 100644
--- a/flatland/envs/step_utils/action_preprocessing.py
+++ b/flatland/envs/step_utils/action_preprocessing.py
@@ -55,6 +55,6 @@ def preprocess_moving_action(action, rail, position, direction):
if action in [RailEnvActions.MOVE_LEFT, RailEnvActions.MOVE_RIGHT]:
action = process_left_right(action, rail, position, direction)
- if not check_valid_action(action, rail, position, direction): # TODO: Dipam - Not sure if this is needed
+ if not check_valid_action(action, rail, position, direction):
action = RailEnvActions.STOP_MOVING
return action
\ No newline at end of file
diff --git a/flatland/envs/step_utils/state_machine.py b/flatland/envs/step_utils/state_machine.py
index 6d0b9f406e437c5215e00d983ae9484458ee4455..47b553a8b07e61fbcc30531b62e6c788b8cfc5b5 100644
--- a/flatland/envs/step_utils/state_machine.py
+++ b/flatland/envs/step_utils/state_machine.py
@@ -1,4 +1,3 @@
-from attr import s
from flatland.envs.step_utils.states import TrainState, StateTransitionSignals
class TrainStateMachine:
diff --git a/flatland/envs/step_utils/transition_utils.py b/flatland/envs/step_utils/transition_utils.py
index 157db5aca96b25560dc8c1bd4fe7fc2df2e30c37..c84d6c59cd59b6f8366d28f3d0ad51bbcfc7602a 100644
--- a/flatland/envs/step_utils/transition_utils.py
+++ b/flatland/envs/step_utils/transition_utils.py
@@ -71,9 +71,7 @@ def check_action_on_agent(action, rail, position, direction):
# If transition validity hasn't been checked yet.
if transition_valid is None:
- transition_valid = rail.get_transition( # TODO: Dipam - Read this one
- (*position, direction),
- new_direction)
+ transition_valid = rail.get_transition( (*position, direction), new_direction)
return new_cell_valid, new_direction, new_position, transition_valid