diff --git a/flatland/action_plan/action_plan.py b/flatland/action_plan/action_plan.py
index 7c103cd54ab058762df2d7954601e47b56dfb78b..59c4f1f3ce64989d4147b3479301c548dd22839b 100644
--- a/flatland/action_plan/action_plan.py
+++ b/flatland/action_plan/action_plan.py
@@ -10,15 +10,16 @@ from flatland.envs.rail_train_run_data_structures import WayPoint, TrainRun, Tra
from flatland.utils.rendertools import RenderTool, AgentRenderVariant
# ---- ActionPlan ---------------
-# represents the actions to be taken by an agent at deterministic time steps
-# plus the position before the action
+# an action plan element represents the actions to be taken by an agent at the given time step
ActionPlanElement = NamedTuple('ActionPlanElement', [
('scheduled_at', int),
('action', RailEnvActions)
])
-# An action plan deterministically represents all the actions to be taken by an agent
-# plus its position before the actions are taken
-ActionPlan = Dict[int, List[ActionPlanElement]]
+# an action plan gathers all the the actions to be taken by a single agent at the corresponding time steps
+ActionPlan = List[ActionPlanElement]
+
+# An action plan dict gathers all the actions for every agent identified by the dictionary key
+ActionPlanDict = Dict[int, ActionPlan]
class DeterministicController():
@@ -30,10 +31,8 @@ class DeterministicController():
self.env = env
self.train_run_dict: Dict[int, TrainRun] = train_run_dict
- self.action_plan = [[] for _ in range(self.env.get_num_agents())]
-
- for agent_id, chosen_path in train_run_dict.items():
- self._add_aggent_to_action_plan(self.action_plan, agent_id, chosen_path)
+ self.action_plan = [self._create_action_plan_for_agent(agent_id, chosen_path)
+ for agent_id, chosen_path in train_run_dict.items()]
def get_way_point_before_or_at_step(self, agent_id: int, step: int) -> WayPoint:
"""
@@ -84,13 +83,13 @@ class DeterministicController():
WalkingElement, optional
"""
- for action_plan_step in self.action_plan[agent_id]:
- action_plan_step: ActionPlanElement = action_plan_step
- scheduled_at = action_plan_step.scheduled_at
+ for action_plan_element in self.action_plan[agent_id]:
+ action_plan_element: ActionPlanElement = action_plan_element
+ scheduled_at = action_plan_element.scheduled_at
if scheduled_at > current_step:
return None
- elif np.isclose(current_step, scheduled_at):
- return action_plan_step.action
+ elif current_step == scheduled_at:
+ return action_plan_element.action
return None
def act(self, current_step: int) -> Dict[int, RailEnvActions]:
@@ -107,7 +106,7 @@ class DeterministicController():
"""
action_dict = {}
- for agent_id, agent in enumerate(self.env.agents):
+ for agent_id in range(len(self.env.agents)):
action: Optional[RailEnvActions] = self.get_action_at_step(agent_id, current_step)
if action is not None:
action_dict[agent_id] = action
@@ -120,76 +119,76 @@ class DeterministicController():
print(" {}".format(step))
@staticmethod
- def compare_action_plans(expected_action_plan: ActionPlan, actual_action_plan: ActionPlan):
+ def compare_action_plans(expected_action_plan: ActionPlanDict, actual_action_plan: ActionPlanDict):
assert len(expected_action_plan) == len(actual_action_plan)
for k in range(len(expected_action_plan)):
assert len(expected_action_plan[k]) == len(actual_action_plan[k]), \
"len for agent {} should be the same.\n\n expected ({}) = {}\n\n actual ({}) = {}".format(
k,
len(expected_action_plan[k]),
- DeterministicControllerReplayer.pp.pformat(expected_action_plan[k]),
+ DeterministicController.pp.pformat(expected_action_plan[k]),
len(actual_action_plan[k]),
- DeterministicControllerReplayer.pp.pformat(actual_action_plan[k]))
+ DeterministicController.pp.pformat(actual_action_plan[k]))
for i in range(len(expected_action_plan[k])):
assert expected_action_plan[k][i] == actual_action_plan[k][i], \
"not the same at agent {} at step {}\n\n expected = {}\n\n actual = {}".format(
k, i,
- DeterministicControllerReplayer.pp.pformat(expected_action_plan[k][i]),
- DeterministicControllerReplayer.pp.pformat(actual_action_plan[k][i]))
+ DeterministicController.pp.pformat(expected_action_plan[k][i]),
+ DeterministicController.pp.pformat(actual_action_plan[k][i]))
+ assert expected_action_plan == actual_action_plan, \
+ "expected {}, found {}".format(expected_action_plan, actual_action_plan)
- def _add_aggent_to_action_plan(self, action_plan, agent_id, agent_path_new):
+ def _create_action_plan_for_agent(self, agent_id, agent_path_new) -> ActionPlan:
+ action_plan = []
agent = self.env.agents[agent_id]
minimum_cell_time = int(np.ceil(1.0 / agent.speed_data['speed']))
- for path_loop, path_schedule_element in enumerate(agent_path_new):
- path_schedule_element: TrainRunWayPoint = path_schedule_element
+ for path_loop, train_run_way_point in enumerate(agent_path_new):
+ train_run_way_point: TrainRunWayPoint = train_run_way_point
- position = path_schedule_element.way_point.position
+ position = train_run_way_point.way_point.position
if Vec2d.is_equal(agent.target, position):
break
- next_path_schedule_element: TrainRunWayPoint = agent_path_new[path_loop + 1]
- next_position = next_path_schedule_element.way_point.position
+ next_train_run_way_point: TrainRunWayPoint = agent_path_new[path_loop + 1]
+ next_position = next_train_run_way_point.way_point.position
if path_loop == 0:
- self._create_action_plan_for_first_path_element_of_agent(
+ self._add_action_plan_elements_for_first_path_element_of_agent(
action_plan,
- agent_id,
- path_schedule_element,
- next_path_schedule_element)
+ train_run_way_point,
+ next_train_run_way_point)
continue
just_before_target = Vec2d.is_equal(agent.target, next_position)
- self._create_action_plan_for_current_path_element(
+ self._add_action_plan_elements_for_current_path_element(
action_plan,
- agent_id,
minimum_cell_time,
- path_schedule_element,
- next_path_schedule_element)
+ train_run_way_point,
+ next_train_run_way_point)
# add a final element
if just_before_target:
- self._create_action_plan_for_target_at_path_element_just_before_target(
+ self._add_action_plan_elements_for_target_at_path_element_just_before_target(
action_plan,
- agent_id,
minimum_cell_time,
- path_schedule_element,
- next_path_schedule_element)
-
- def _create_action_plan_for_current_path_element(self,
- action_plan: ActionPlan,
- agent_id: int,
- minimum_cell_time: int,
- path_schedule_element: TrainRunWayPoint,
- next_path_schedule_element: TrainRunWayPoint):
- scheduled_at = path_schedule_element.scheduled_at
- next_entry_value = next_path_schedule_element.scheduled_at
-
- position = path_schedule_element.way_point.position
- direction = path_schedule_element.way_point.direction
- next_position = next_path_schedule_element.way_point.position
- next_direction = next_path_schedule_element.way_point.direction
+ train_run_way_point,
+ next_train_run_way_point)
+ return action_plan
+
+ def _add_action_plan_elements_for_current_path_element(self,
+ action_plan: ActionPlan,
+ minimum_cell_time: int,
+ train_run_way_point: TrainRunWayPoint,
+ next_train_run_way_point: TrainRunWayPoint):
+ scheduled_at = train_run_way_point.scheduled_at
+ next_entry_value = next_train_run_way_point.scheduled_at
+
+ position = train_run_way_point.way_point.position
+ direction = train_run_way_point.way_point.direction
+ next_position = next_train_run_way_point.way_point.position
+ next_direction = next_train_run_way_point.way_point.direction
next_action = get_action_for_move(position,
direction,
next_position,
@@ -201,44 +200,41 @@ class DeterministicController():
# we have to do this since agents in the RailEnv are processed in the step() in the order of their handle
if next_entry_value > scheduled_at + minimum_cell_time:
action = ActionPlanElement(scheduled_at, RailEnvActions.STOP_MOVING)
- action_plan[agent_id].append(action)
+ action_plan.append(action)
action = ActionPlanElement(next_entry_value - minimum_cell_time, next_action)
- action_plan[agent_id].append(action)
+ action_plan.append(action)
else:
action = ActionPlanElement(scheduled_at, next_action)
- action_plan[agent_id].append(action)
+ action_plan.append(action)
- def _create_action_plan_for_target_at_path_element_just_before_target(self,
- action_plan: ActionPlan,
- agent_id: int,
- minimum_cell_time: int,
- path_schedule_element: TrainRunWayPoint,
- next_path_schedule_element: TrainRunWayPoint):
- scheduled_at = path_schedule_element.scheduled_at
- next_path_schedule_element.way_point
+ def _add_action_plan_elements_for_target_at_path_element_just_before_target(self,
+ action_plan: ActionPlan,
+ minimum_cell_time: int,
+ train_run_way_point: TrainRunWayPoint,
+ next_train_run_way_point: TrainRunWayPoint):
+ scheduled_at = train_run_way_point.scheduled_at
action = ActionPlanElement(scheduled_at + minimum_cell_time, RailEnvActions.STOP_MOVING)
- action_plan[agent_id].append(action)
-
- def _create_action_plan_for_first_path_element_of_agent(self,
- action_plan: ActionPlan,
- agent_id: int,
- path_schedule_element: TrainRunWayPoint,
- next_path_schedule_element: TrainRunWayPoint):
- scheduled_at = path_schedule_element.scheduled_at
- position = path_schedule_element.way_point.position
- direction = path_schedule_element.way_point.direction
- next_position = next_path_schedule_element.way_point.position
- next_direction = next_path_schedule_element.way_point.direction
+ action_plan.append(action)
+
+ def _add_action_plan_elements_for_first_path_element_of_agent(self,
+ action_plan: ActionPlan,
+ train_run_way_point: TrainRunWayPoint,
+ next_train_run_way_point: TrainRunWayPoint):
+ scheduled_at = train_run_way_point.scheduled_at
+ position = train_run_way_point.way_point.position
+ direction = train_run_way_point.way_point.direction
+ next_position = next_train_run_way_point.way_point.position
+ next_direction = next_train_run_way_point.way_point.direction
# add intial do nothing if we do not enter immediately
if scheduled_at > 0:
action = ActionPlanElement(0, RailEnvActions.DO_NOTHING)
- action_plan[agent_id].append(action)
+ action_plan.append(action)
# add action to enter the grid
action = ActionPlanElement(scheduled_at, RailEnvActions.MOVE_FORWARD)
- action_plan[agent_id].append(action)
+ action_plan.append(action)
next_action = get_action_for_move(position,
direction,
@@ -248,14 +244,14 @@ class DeterministicController():
# now, we have a position need to perform the action
action = ActionPlanElement(scheduled_at + 1, next_action)
- action_plan[agent_id].append(action)
+ action_plan.append(action)
class DeterministicControllerReplayer():
"""Allows to verify a `DeterministicController` by replaying it against a FLATland env without malfunction."""
@staticmethod
- def replay_verify(MAX_EPISODE_STEPS: int, ctl: DeterministicController, env: RailEnv, rendering: bool):
+ def replay_verify(max_episode_steps: int, ctl: DeterministicController, env: RailEnv, rendering: bool):
"""Replays this deterministic `ActionPlan` and verifies whether it is feasible."""
if rendering:
renderer = RenderTool(env, gl="PILSVG",
@@ -266,7 +262,7 @@ class DeterministicControllerReplayer():
screen_width=1000)
renderer.render_env(show=True, show_observations=False, show_predictions=False)
i = 0
- while not env.dones['__all__'] and i <= MAX_EPISODE_STEPS:
+ while not env.dones['__all__'] and i <= max_episode_steps:
for agent_id, agent in enumerate(env.agents):
way_point: WayPoint = ctl.get_way_point_before_or_at_step(agent_id, i)
assert agent.position == way_point.position, \
diff --git a/flatland/envs/rail_env_shortest_paths.py b/flatland/envs/rail_env_shortest_paths.py
index ffbd9e8150c0bf5fe019ebfc39eb89ba34da9fe4..d5f91cb068718ad918fadc05b5d8d10b3b067ef8 100644
--- a/flatland/envs/rail_env_shortest_paths.py
+++ b/flatland/envs/rail_env_shortest_paths.py
@@ -137,6 +137,8 @@ def get_action_for_move(
"""
Get the action (if any) to move from a position and direction to another.
+ The implementation could probably be more efficient I believe. But given the few calls this has no priority now.
+
Parameters
----------
agent_position
@@ -274,7 +276,6 @@ def get_k_shortest_paths(env: RailEnv,
Computes the k shortest paths using modified Dijkstra
following pseudo-code https://en.wikipedia.org/wiki/K_shortest_path_routing
In contrast to the pseudo-code in wikipedia, we do not a allow for loopy paths.
- We add the next_action
Parameters
----------
@@ -313,12 +314,12 @@ def get_k_shortest_paths(env: RailEnv,
if debug:
print("iteration heap={}, shortest_paths={}".format(heap, shortest_paths))
# – let Pu be the shortest cost path in B with cost C
- c = np.inf
+ cost = np.inf
pu = None
for path in heap:
- if len(path) < c:
+ if len(path) < cost:
pu = path
- c = len(path)
+ cost = len(path)
u: WayPoint = pu[-1]
if debug:
print(" looking at pu={}".format(pu))
diff --git a/flatland/envs/rail_train_run_data_structures.py b/flatland/envs/rail_train_run_data_structures.py
index 775b183b6959991ab01dcdebda4c2c6ac4a88ba5..aeb34a00603d9764b6ebb792a14ff3d7350a61e6 100644
--- a/flatland/envs/rail_train_run_data_structures.py
+++ b/flatland/envs/rail_train_run_data_structures.py
@@ -1,8 +1,13 @@
from typing import NamedTuple, Tuple, List
+# A way point is the entry into a cell defined by
+# - the row and column coordinates of the cell entered
+# - direction, in which the agent is facing to enter the cell.
+# This induces a graph on top of the FLATland cells:
+# - four possible way points per cell
+# - edges are the possible transitions in the cell.
WayPoint = NamedTuple('WayPoint', [('position', Tuple[int, int]), ('direction', int)])
-
# A train run is represented by the waypoints traversed and the times of traversal
# The terminology follows https://github.com/crowdAI/train-schedule-optimisation-challenge-starter-kit/blob/master/documentation/output_data_model.md
TrainRunWayPoint = NamedTuple('TrainRunWayPoint', [
diff --git a/tests/test_action_plan.py b/tests/test_action_plan.py
index 91c64d9bb4bf1157496299f118dce9cd8b38da15..323d653f58ecfb9a95365e58828902532adb8fca 100644
--- a/tests/test_action_plan.py
+++ b/tests/test_action_plan.py
@@ -1,8 +1,7 @@
from flatland.action_plan.action_plan import TrainRunWayPoint, DeterministicControllerReplayer, ActionPlanElement, \
DeterministicController
from flatland.core.grid.grid4 import Grid4TransitionsEnum
-from flatland.envs.observations import TreeObsForRailEnv
-from flatland.envs.predictions import ShortestPathPredictorForRailEnv
+from flatland.envs.observations import GlobalObsForRailEnv
from flatland.envs.rail_env import RailEnv, RailEnvActions
from flatland.envs.rail_generators import rail_from_grid_transition_map
from flatland.envs.rail_train_run_data_structures import WayPoint
@@ -18,7 +17,7 @@ def test_action_plan(rendering: bool = False):
rail_generator=rail_from_grid_transition_map(rail),
schedule_generator=random_schedule_generator(seed=77),
number_of_agents=2,
- obs_builder_object=TreeObsForRailEnv(max_depth=2, predictor=ShortestPathPredictorForRailEnv()),
+ obs_builder_object=GlobalObsForRailEnv(),
remove_agents_at_target=True
)
env.reset()
@@ -86,7 +85,4 @@ def test_action_plan(rendering: bool = False):
deterministic_controller = DeterministicController(env, chosen_path_dict)
deterministic_controller.print_action_plan()
DeterministicController.compare_action_plans(expected_action_plan, deterministic_controller.action_plan)
- assert deterministic_controller.action_plan == expected_action_plan, \
- "expected {}, found {}".format(expected_action_plan, deterministic_controller.action_plan)
-
DeterministicControllerReplayer.replay_verify(MAX_EPISODE_STEPS, deterministic_controller, env, rendering)
diff --git a/tests/test_flatland_envs_rail_env_shortest_paths.py b/tests/test_flatland_envs_rail_env_shortest_paths.py
index 5f17bb3d891adb8909379895d3621bfcf47a2245..ffd26cfb575d4363d8fe12a41b9a01bd87e234e0 100644
--- a/tests/test_flatland_envs_rail_env_shortest_paths.py
+++ b/tests/test_flatland_envs_rail_env_shortest_paths.py
@@ -3,8 +3,7 @@ import sys
import numpy as np
from flatland.core.grid.grid4 import Grid4TransitionsEnum
-from flatland.envs.observations import TreeObsForRailEnv
-from flatland.envs.predictions import DummyPredictorForRailEnv
+from flatland.envs.observations import GlobalObsForRailEnv
from flatland.envs.rail_env import RailEnv
from flatland.envs.rail_env_shortest_paths import get_shortest_paths, get_k_shortest_paths
from flatland.envs.rail_env_utils import load_flatland_environment_from_file
@@ -20,7 +19,7 @@ def test_get_shortest_paths_unreachable():
env = RailEnv(width=rail_map.shape[1], height=rail_map.shape[0], rail_generator=rail_from_grid_transition_map(rail),
schedule_generator=random_schedule_generator(), number_of_agents=1,
- obs_builder_object=TreeObsForRailEnv(max_depth=2, predictor=DummyPredictorForRailEnv(max_depth=10)))
+ obs_builder_object=GlobalObsForRailEnv())
env.reset()
# set the initial position
@@ -215,7 +214,7 @@ def test_get_k_shortest_paths(rendering=False):
rail_generator=rail_from_grid_transition_map(rail),
schedule_generator=random_schedule_generator(),
number_of_agents=1,
- obs_builder_object=TreeObsForRailEnv(max_depth=2, predictor=DummyPredictorForRailEnv(max_depth=10)),
+ obs_builder_object=GlobalObsForRailEnv(),
)
env.reset()