From 7f3df7d71c4c7e3dd67363a664bb682f2b957a37 Mon Sep 17 00:00:00 2001
From: hagrid67 <jdhwatson@gmail.com>
Date: Fri, 24 Jul 2020 22:37:11 +0100
Subject: [PATCH] allowed SparseRailGen to run its own RandomState; adding
agent_chains.py
---
flatland/envs/agent_chains.py | 291 +++++++++++++++++++++++++++++++
flatland/envs/rail_generators.py | 3 +
2 files changed, 294 insertions(+)
create mode 100644 flatland/envs/agent_chains.py
diff --git a/flatland/envs/agent_chains.py b/flatland/envs/agent_chains.py
new file mode 100644
index 00000000..7d7f0c16
--- /dev/null
+++ b/flatland/envs/agent_chains.py
@@ -0,0 +1,291 @@
+
+import networkx as nx
+import numpy as np
+
+import matplotlib.pyplot as plt
+from typing import List, Tuple
+
+class MotionCheck(object):
+ """ Class to find chains of agents which are "colliding" with a stopped agent.
+ This is to allow close-packed chains of agents, ie a train of agents travelling
+ at the same speed with no gaps between them,
+ """
+ def __init__(self):
+ self.G = nx.DiGraph()
+
+ def addAgent(self, iAg, rc1, rc2, xlabel=None):
+ """ add an agent and its motion as row,col tuples of current and next position.
+ The agent's current position is given an "agent" attribute recording the agent index.
+ If an agent does not move this round then its cell is
+ """
+ self.G.add_node(rc1, agent=iAg)
+ if xlabel:
+ self.G.nodes[rc1]["xlabel"] = xlabel
+ self.G.add_edge(rc1, rc2)
+
+ def find_stops(self):
+ """ find all the stopped agents as a set of rc position nodes
+ A stopped agent is a self-loop on a cell node.
+ """
+
+ # get the (sparse) adjacency matrix
+ spAdj = nx.linalg.adjacency_matrix(self.G)
+
+ # the stopped agents appear as 1s on the diagonal
+ # the where turns this into a list of indices of the 1s
+ giStops = np.where(spAdj.diagonal())[0]
+
+ # convert the cell/node indices into the node rc values
+ lvAll = list(self.G.nodes())
+ # pick out the stops by their indices
+ lvStops = [ lvAll[i] for i in giStops ]
+ # make it into a set ready for a set intersection
+ svStops = set(lvStops)
+ return svStops
+
+ def find_stops2(self):
+ """ alternative method to find stopped agents, using a networkx call to find selfloop edges
+ """
+ svStops = { u for u,v in nx.classes.function.selfloop_edges(self.G) }
+ return svStops
+
+ def find_stop_preds(self, svStops=None):
+
+ if svStops is None:
+ svStops = self.find_stops2()
+
+ # Get all the chains of agents - weakly connected components.
+ # Weakly connected because it's a directed graph and you can traverse a chain of agents
+ # in only one direction
+ lWCC = list(nx.algorithms.components.weakly_connected_components(self.G))
+
+ svBlocked = set()
+
+ for oWCC in lWCC:
+ #print("Component:", oWCC)
+ Gwcc = self.G.subgraph(oWCC)
+
+ #lChain = list(nx.topological_sort(Gwcc))
+ #print("path: ", lChain)
+
+ # Find all the stops in this chain
+ svCompStops = svStops.intersection(Gwcc)
+ #print(svCompStops)
+
+ if len(svCompStops) > 0:
+ print("component contains a stop")
+ for vStop in svCompStops:
+
+ iter_stops = nx.algorithms.traversal.dfs_postorder_nodes(Gwcc.reverse(), vStop)
+ lStops = list(iter_stops)
+ print(vStop, "affected preds:", lStops)
+ svBlocked.update(lStops)
+
+ return svBlocked
+
+ def find_swaps(self):
+ """ find all the swap conflicts where two agents are trying to exchange places.
+ These appear as simple cycles of length 2.
+ """
+ #svStops = self.find_stops2()
+ llvLoops = list(nx.algorithms.cycles.simple_cycles(self.G))
+ llvSwaps = [lvLoop for lvLoop in llvLoops if len(lvLoop) == 2 ]
+ return llvSwaps
+
+ def find_same_dest(self):
+ """ find groups of agents which are trying to land on the same cell.
+ ie there is a gap of one cell between them and they are both landing on it.
+ """
+
+
+
+def render(omc:MotionCheck):
+ oAG = nx.drawing.nx_agraph.to_agraph(omc.G)
+ oAG.layout("dot")
+ return oAG.draw(format="png")
+
+class ChainTestEnv(object):
+ """ Just for testing agent chains
+ """
+ def __init__(self, omc:MotionCheck):
+ self.iAgNext = 0
+ self.iRowNext = 1
+ self.omc = omc
+
+ def addAgent(self, rc1, rc2, xlabel=None):
+ self.omc.addAgent(self.iAgNext, rc1, rc2, xlabel=xlabel)
+ self.iAgNext+=1
+
+ def addAgentToRow(self, c1, c2, xlabel=None):
+ self.addAgent((self.iRowNext, c1), (self.iRowNext, c2), xlabel=xlabel)
+
+
+ def create_test_chain(self,
+ nAgents:int,
+ rcVel:Tuple[int] = (0,1),
+ liStopped:List[int]=[],
+ xlabel=None):
+ """ create a chain of agents
+ """
+ lrcAgPos = [ (self.iRowNext, i * rcVel[1]) for i in range(nAgents) ]
+
+ for iAg, rcPos in zip(range(nAgents), lrcAgPos):
+ if iAg in liStopped:
+ rcVel1 = (0,0)
+ else:
+ rcVel1 = rcVel
+ self.omc.addAgent(iAg+self.iAgNext, rcPos, (rcPos[0] + rcVel1[0], rcPos[1] + rcVel1[1]) )
+
+ if xlabel:
+ self.omc.G.nodes[lrcAgPos[0]]["xlabel"] = xlabel
+
+ self.iAgNext += nAgents
+ self.iRowNext += 1
+
+ def nextRow(self):
+ self.iRowNext+=1
+
+
+
+def create_test_agents(omc:MotionCheck):
+
+ # blocked chain
+ omc.addAgent(1, (1,2), (1,3))
+ omc.addAgent(2, (1,3), (1,4))
+ omc.addAgent(3, (1,4), (1,5))
+ omc.addAgent(31, (1,5), (1,5))
+
+ # unblocked chain
+ omc.addAgent(4, (2,1), (2,2))
+ omc.addAgent(5, (2,2), (2,3))
+
+ # blocked short chain
+ omc.addAgent(6, (3,1), (3,2))
+ omc.addAgent(7, (3,2), (3,2))
+
+ # solitary agent
+ omc.addAgent(8, (4,1), (4,2))
+
+ # solitary stopped agent
+ omc.addAgent(9, (5,1), (5,1))
+
+ # blocked short chain (opposite direction)
+ omc.addAgent(10, (6,4), (6,3))
+ omc.addAgent(11, (6,3), (6,3))
+
+ # swap conflict
+ omc.addAgent(12, (7,1), (7,2))
+ omc.addAgent(13, (7,2), (7,1))
+
+
+def create_test_agents2(omc:MotionCheck):
+
+ # blocked chain
+ cte = ChainTestEnv(omc)
+ cte.create_test_chain(4, liStopped=[3], xlabel="stopped\nchain")
+ cte.create_test_chain(4, xlabel="running\nchain")
+
+ cte.create_test_chain(2, liStopped = [1], xlabel="stopped \nshort\n chain")
+
+ cte.addAgentToRow(1, 2, "swap")
+ cte.addAgentToRow(2, 1)
+
+ cte.nextRow()
+
+
+ cte.addAgentToRow(1, 2, "chain\nswap")
+ cte.addAgentToRow(2, 3)
+ cte.addAgentToRow(3, 2)
+
+ cte.nextRow()
+
+ cte.addAgentToRow(1, 2, "midchain\nstop")
+ cte.addAgentToRow(2, 3)
+ cte.addAgentToRow(3, 4)
+ cte.addAgentToRow(4, 4)
+ cte.addAgentToRow(5, 6)
+ cte.addAgentToRow(6, 7)
+
+ cte.nextRow()
+
+ cte.addAgentToRow(1, 2, "midchain\nswap")
+ cte.addAgentToRow(2, 3)
+ cte.addAgentToRow(3, 4)
+ cte.addAgentToRow(4, 3)
+ cte.addAgentToRow(5, 4)
+ cte.addAgentToRow(6, 5)
+
+ cte.nextRow()
+
+ cte.addAgentToRow(1, 2, "Land on\nSame")
+ cte.addAgentToRow(3, 2)
+
+ cte.nextRow()
+ cte.addAgentToRow(1, 2, "chains\nonto\nsame")
+ cte.addAgentToRow(2, 3)
+ cte.addAgentToRow(3, 4)
+ cte.addAgentToRow(5, 4)
+ cte.addAgentToRow(6, 5)
+ cte.addAgentToRow(7, 6)
+
+ cte.nextRow()
+ cte.addAgentToRow(1, 2, "3-way\nsame")
+ cte.addAgentToRow(3, 2)
+ cte.addAgent((cte.iRowNext+1, 2), (cte.iRowNext, 2))
+ cte.nextRow()
+
+ if False:
+ cte.nextRow()
+ cte.nextRow()
+ cte.addAgentToRow(1, 2, "4-way\nsame")
+ cte.addAgentToRow(3, 2)
+ cte.addAgent((cte.iRowNext+1, 2), (cte.iRowNext, 2))
+ cte.addAgent((cte.iRowNext-1, 2), (cte.iRowNext, 2))
+ cte.nextRow()
+
+ cte.nextRow()
+ cte.addAgentToRow(1, 2, "Tee")
+ cte.addAgentToRow(2, 3)
+ cte.addAgentToRow(3, 4)
+ cte.addAgent((cte.iRowNext+1, 3), (cte.iRowNext, 3))
+ cte.nextRow()
+
+
+
+def test_agent_following():
+ omc = MotionCheck()
+ create_test_agents2(omc)
+
+ svStops = omc.find_stops()
+ svBlocked = omc.find_stop_preds()
+ llvSwaps = omc.find_swaps()
+ svSwaps = { v for lvSwap in llvSwaps for v in lvSwap }
+ print(list(svBlocked))
+
+ lvCells = omc.G.nodes()
+
+ lColours = [ "magenta" if v in svStops
+ else "red" if v in svBlocked
+ else "purple" if v in svSwaps
+ else "lightblue"
+ for v in lvCells ]
+ dPos = dict(zip(lvCells, lvCells))
+
+ #plt.ion()
+ nx.draw(omc.G,
+ with_labels=True, arrowsize=20,
+ pos=dPos,
+ node_color = lColours)
+
+
+ #plt.pause(20)
+ #plt.show()
+
+
+
+def main():
+
+ test_agent_following()
+
+if __name__=="__main__":
+ main()
\ No newline at end of file
diff --git a/flatland/envs/rail_generators.py b/flatland/envs/rail_generators.py
index 750a8c4f..5e2e9b1e 100644
--- a/flatland/envs/rail_generators.py
+++ b/flatland/envs/rail_generators.py
@@ -662,6 +662,9 @@ class SparseRailGen(RailGen):
'train_stations': locations of train stations for start and targets
'city_orientations' : orientation of cities
"""
+ if np_random is None:
+ np_random = RandomState()
+
rail_trans = RailEnvTransitions()
grid_map = GridTransitionMap(width=width, height=height, transitions=rail_trans)
# We compute the city radius by the given max number of rails it can contain.
--
GitLab