From 9d28be8f9a7b95b2f50f6e54172d59ed939af0e3 Mon Sep 17 00:00:00 2001
From: hagrid67 <jdhwatson@gmail.com>
Date: Sat, 15 Aug 2020 18:52:45 +0100
Subject: [PATCH] manually merging Adrian's changes (made by Erik) from master
---
flatland/envs/agent_chains.py | 8 ----
flatland/envs/rail_env.py | 78 ++++++++++++++++++++------------
flatland/utils/env_edit_utils.py | 7 ++-
3 files changed, 56 insertions(+), 37 deletions(-)
diff --git a/flatland/envs/agent_chains.py b/flatland/envs/agent_chains.py
index 7706f6d4..d13b734b 100644
--- a/flatland/envs/agent_chains.py
+++ b/flatland/envs/agent_chains.py
@@ -2,7 +2,6 @@
import networkx as nx
import numpy as np
-import matplotlib.pyplot as plt
from typing import List, Tuple
import graphviz as gv
@@ -372,18 +371,11 @@ def test_agent_following():
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()
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 11c471ff..d2f8f4d2 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -4,13 +4,10 @@ Definition of the RailEnv environment.
import random
# TODO: _ this is a global method --> utils or remove later
from enum import IntEnum
-from typing import List, NamedTuple, Optional, Dict
+from typing import List, NamedTuple, Optional, Dict, Tuple
-import msgpack
-import msgpack_numpy as m
import numpy as np
-from gym.utils import seeding
-from msgpack import Packer
+
from flatland.core.env import Environment
from flatland.core.env_observation_builder import ObservationBuilder
@@ -28,21 +25,50 @@ from flatland.envs import schedule_generators as sched_gen
from flatland.envs import persistence
from flatland.envs import agent_chains as ac
+from flatland.envs.observations import GlobalObsForRailEnv
+from gym.utils import seeding
+
# Direct import of objects / classes does not work with circular imports.
# from flatland.envs.malfunction_generators import no_malfunction_generator, Malfunction, MalfunctionProcessData
# from flatland.envs.observations import GlobalObsForRailEnv
# from flatland.envs.rail_generators import random_rail_generator, RailGenerator
# from flatland.envs.schedule_generators import random_schedule_generator, ScheduleGenerator
-from flatland.envs.observations import GlobalObsForRailEnv
-
-# import debugpy
-import pickle
m.patch()
+# Adrian Egli performance fix (the fast methods brings more than 50%)
+def fast_isclose(a, b, rtol):
+ return (a < (b + rtol)) or (a < (b - rtol))
+
+
+def fast_clip(position: (int, int), min_value: (int, int), max_value: (int, int)) -> bool:
+ return (
+ max(min_value[0], min(position[0], max_value[0])),
+ max(min_value[1], min(position[1], max_value[1]))
+ )
+
+
+def fast_argmax(possible_transitions: (int, int, int, int)) -> bool:
+ if possible_transitions[0] == 1:
+ return 0
+ if possible_transitions[1] == 1:
+ return 1
+ if possible_transitions[2] == 1:
+ return 2
+ return 3
+
+
+def fast_position_equal(pos_1: (int, int), pos_2: (int, int)) -> bool:
+ return pos_1[0] == pos_2[0] and pos_1[1] == pos_2[1]
+
+
+def fast_count_nonzero(possible_transitions: (int, int, int, int)):
+ return possible_transitions[0] + possible_transitions[1] + possible_transitions[2] + possible_transitions[3]
+
+
class RailEnvActions(IntEnum):
DO_NOTHING = 0 # implies change of direction in a dead-end!
MOVE_LEFT = 1
@@ -298,11 +324,11 @@ class RailEnv(Environment):
False: Agent cannot provide an action
"""
return (agent.status == RailAgentStatus.READY_TO_DEPART or (
- agent.status == RailAgentStatus.ACTIVE and np.isclose(agent.speed_data['position_fraction'], 0.0,
- rtol=1e-03)))
+ agent.status == RailAgentStatus.ACTIVE and fast_isclose(agent.speed_data['position_fraction'], 0.0,
+ rtol=1e-03)))
def reset(self, regenerate_rail: bool = True, regenerate_schedule: bool = True, activate_agents: bool = False,
- random_seed: bool = None) -> (Dict, Dict):
+ random_seed: bool = None) -> Tuple[Dict, Dict]:
"""
reset(regenerate_rail, regenerate_schedule, activate_agents, random_seed)
@@ -604,7 +630,7 @@ class RailEnv(Environment):
RailEnvActions.MOVE_LEFT, RailEnvActions.MOVE_RIGHT, RailEnvActions.MOVE_FORWARD]
if action in [RailEnvActions.MOVE_LEFT, RailEnvActions.MOVE_RIGHT,
- RailEnvActions.MOVE_FORWARD] and self.cell_free(agent.initial_position):
+ RailEnvActions.MOVE_FORWARD] and self.cell_free(agent.initial_position):
agent.status = RailAgentStatus.ACTIVE
self._set_agent_to_initial_position(agent, agent.initial_position)
self.rewards_dict[i_agent] += self.step_penalty * agent.speed_data['speed']
@@ -626,7 +652,7 @@ class RailEnv(Environment):
# Is the agent at the beginning of the cell? Then, it can take an action.
# As long as the agent is malfunctioning or stopped at the beginning of the cell,
# different actions may be taken!
- if np.isclose(agent.speed_data['position_fraction'], 0.0, rtol=1e-03):
+ if fast_isclose(agent.speed_data['position_fraction'], 0.0, rtol=1e-03):
# No action has been supplied for this agent -> set DO_NOTHING as default
if action is None:
action = RailEnvActions.DO_NOTHING
@@ -686,8 +712,8 @@ class RailEnv(Environment):
# transition_action_on_cellexit if the cell is free.
if agent.moving:
agent.speed_data['position_fraction'] += agent.speed_data['speed']
- if agent.speed_data['position_fraction'] > 1.0 or np.isclose(agent.speed_data['position_fraction'], 1.0,
- rtol=1e-03):
+ if agent.speed_data['position_fraction'] > 1.0 or fast_isclose(agent.speed_data['position_fraction'], 1.0,
+ rtol=1e-03):
# Perform stored action to transition to the next cell as soon as cell is free
# Notice that we've already checked new_cell_valid and transition valid when we stored the action,
# so we only have to check cell_free now!
@@ -695,7 +721,7 @@ class RailEnv(Environment):
# Traditional check that next cell is free
# cell and transition validity was checked when we stored transition_action_on_cellexit!
cell_free, new_cell_valid, new_direction, new_position, transition_valid = self._check_action_on_agent(
- agent.speed_data['transition_action_on_cellexit'], agent)
+ agent.speed_data['transition_action_on_cellexit'], agent)
# N.B. validity of new_cell and transition should have been verified before the action was stored!
assert new_cell_valid
@@ -845,7 +871,6 @@ class RailEnv(Environment):
trans_block = sbTrans[agent.direction*4 : agent.direction * 4 + 4]
if (trans_block == "0000"):
print (i_agent, agent.position, agent.direction, sbTrans, trans_block)
- # debugpy.breakpoint()
# if agent cannot enter env, then we should have move=False
@@ -862,20 +887,16 @@ class RailEnv(Environment):
if not all([transition_valid, new_cell_valid]):
print(f"ERRROR: step_agent2 invalid transition ag {i_agent} dir {new_direction} pos {agent.position} next {rc_next}")
- # debugpy.breakpoint()
if new_position != rc_next:
print(f"ERROR: agent {i_agent} new_pos {new_position} != rc_next {rc_next} " +
- f"pos {agent.position} dir {agent.direction} new_dir {new_direction}" +
- f"stored action: {agent.speed_data['transition_action_on_cellexit']}")
- # debugpy.breakpoint()
-
+ f"pos {agent.position} dir {agent.direction} new_dir {new_direction}" +
+ f"stored action: {agent.speed_data['transition_action_on_cellexit']}")
sbTrans = format(self.rail.grid[agent.position], "016b")
trans_block = sbTrans[agent.direction*4 : agent.direction * 4 + 4]
if (trans_block == "0000"):
print ("ERROR: ", i_agent, agent.position, agent.direction, sbTrans, trans_block)
- # debugpy.breakpoint()
agent.position = rc_next
agent.direction = new_direction
@@ -937,6 +958,7 @@ class RailEnv(Environment):
self.agent_positions[agent.position] = -1
if self.remove_agents_at_target:
agent.position = None
+ # setting old_position to None here stops the DONE agents from appearing in the rendered image
agent.old_position = None
agent.status = RailAgentStatus.DONE_REMOVED
@@ -964,9 +986,9 @@ class RailEnv(Environment):
new_position = get_new_position(agent.position, new_direction)
new_cell_valid = (
- np.array_equal( # Check the new position is still in the grid
+ fast_position_equal( # Check the new position is still in the grid
new_position,
- np.clip(new_position, [0, 0], [self.height - 1, self.width - 1]))
+ fast_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_full_transitions(*new_position) > 0)
@@ -1038,7 +1060,7 @@ class RailEnv(Environment):
"""
transition_valid = None
possible_transitions = self.rail.get_transitions(*agent.position, agent.direction)
- num_transitions = np.count_nonzero(possible_transitions)
+ num_transitions = fast_count_nonzero(possible_transitions)
new_direction = agent.direction
if action == RailEnvActions.MOVE_LEFT:
@@ -1057,7 +1079,7 @@ class RailEnv(Environment):
# - 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)
+ new_direction = fast_argmax(possible_transitions)
transition_valid = True
return new_direction, transition_valid
diff --git a/flatland/utils/env_edit_utils.py b/flatland/utils/env_edit_utils.py
index ac748469..b1a40174 100644
--- a/flatland/utils/env_edit_utils.py
+++ b/flatland/utils/env_edit_utils.py
@@ -122,5 +122,10 @@ def makeTestEnv(sName="single_alternative", nAg=2, bUCF=True):
dSpec = ddEnvSpecs[sName]
-
return makeEnv2(nAg=nAg, bUCF=bUCF, **dSpec)
+
+def getAgentState(env):
+ dAgState={}
+ for iAg, ag in enumerate(env.agents):
+ dAgState[iAg] = (*ag.position, ag.direction)
+ return dAgState
\ No newline at end of file
--
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