diff --git a/examples/temporary_example.py b/examples/temporary_example.py
index a5c97660e4d22ebaffeef27b320e45b21f29dfe5..6bed439cb21f611353763da36a890739c77e5866 100644
--- a/examples/temporary_example.py
+++ b/examples/temporary_example.py
@@ -3,6 +3,7 @@ import numpy as np
import matplotlib.pyplot as plt
from flatland.envs.rail_env import *
+from flatland.envs.generators import *
from flatland.core.env_observation_builder import TreeObsForRailEnv
from flatland.utils.rendertools import *
@@ -62,6 +63,11 @@ specs = [[(0, 0), (0, 0), (0, 0), (0, 0), (7, 0), (0, 0)],
[(0, 0), (0, 0), (0, 0), (2, 180), (2, 90), (7, 90)],
[(0, 0), (0, 0), (0, 0), (7, 180), (0, 0), (0, 0)]]
+# CURVED RAIL + DEAD-ENDS TEST
+specs = [[(0, 0), (0, 0), (0, 0), (0, 0), (0, 0), (0, 0)],
+ [(7, 270), (1, 90), (1, 90), (8, 90), (0, 0), (0, 0)],
+ [(0, 0), (7, 270),(1, 90), (8, 180), (0, 00), (0, 0)]]
+
env = RailEnv(width=6,
height=4,
rail_generator=rail_from_manual_specifications_generator(specs),
diff --git a/flatland/core/transition_map.py b/flatland/core/transition_map.py
index fd42787a68c9ee007368fb3ced1ff5162c9926eb..2e34b4236943b36b167268828e3010e727108760 100644
--- a/flatland/core/transition_map.py
+++ b/flatland/core/transition_map.py
@@ -314,14 +314,13 @@ class GridTransitionMap(TransitionMap):
Checks that:
- surrounding cells have inbound transitions for all the
outbound transitions of this cell.
-
+
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)]
diff --git a/flatland/core/transitions.py b/flatland/core/transitions.py
index a862c6a81dbd71a0aa95f2305158f940e964c0ad..622d900598bba6bbc48750d6bb48923975af9b5e 100644
--- a/flatland/core/transitions.py
+++ b/flatland/core/transitions.py
@@ -551,7 +551,7 @@ class RailEnvTransitions(Grid4Transitions):
super(RailEnvTransitions, self).__init__(
transitions=self.transition_list
)
-
+
# These bits represent all the possible dead ends
self.maskDeadEnds = 0b0010000110000100
@@ -569,10 +569,10 @@ class RailEnvTransitions(Grid4Transitions):
def print(self, cell_transition):
print(" NESW")
- print("N", format(cell_transition >> (3*4) & 0xF, '04b'))
- print("E", format(cell_transition >> (2*4) & 0xF, '04b'))
- print("S", format(cell_transition >> (1*4) & 0xF, '04b'))
- print("W", format(cell_transition >> (0*4) & 0xF, '04b'))
+ print("N", format(cell_transition >> (3 * 4) & 0xF, '04b'))
+ print("E", format(cell_transition >> (2 * 4) & 0xF, '04b'))
+ print("S", format(cell_transition >> (1 * 4) & 0xF, '04b'))
+ print("W", format(cell_transition >> (0 * 4) & 0xF, '04b'))
def repr(self, cell_transition, version=0):
"""
@@ -585,25 +585,23 @@ class RailEnvTransitions(Grid4Transitions):
sbinTrans = format(cell_transition, "#018b")[2:]
if version == 0:
sRepr = " ".join([
- "{}:{}".format(sDir, sbinTrans[i:i+4])
+ "{}:{}".format(sDir, sbinTrans[i:(i + 4)])
for i, sDir in
zip(
range(0, len(sbinTrans), 4),
- self.lsDirs # NESW
- )])
+ self.lsDirs)]) # NESW
return sRepr
if version == 1:
lsRepr = []
for iDirIn in range(0, 4):
- sDirTrans = sbinTrans[iDirIn*4:iDirIn*4+4]
+ sDirTrans = sbinTrans[(iDirIn * 4):(iDirIn * 4 + 4)]
if sDirTrans == "0000":
continue
sDirsOut = [
self.lsDirs[iDirOut]
for iDirOut in range(0, 4)
- if sDirTrans[iDirOut] == "1"
- ]
+ if sDirTrans[iDirOut] == "1"]
lsRepr.append(self.lsDirs[iDirIn] + ":" + "".join(sDirsOut))
return ", ".join(lsRepr)
diff --git a/flatland/envs/env_utils.py b/flatland/envs/env_utils.py
index 79f5eb0d23b8b8a50bc1afd9ba1d34bba76c4ffd..382bdd7d9c483aa491f9c11b06b62b13b45490a5 100644
--- a/flatland/envs/env_utils.py
+++ b/flatland/envs/env_utils.py
@@ -271,4 +271,3 @@ def connect_rail(rail_trans, rail_array, start, end):
def distance_on_rail(pos1, pos2):
return abs(pos1[0] - pos2[0]) + abs(pos1[1] - pos2[1])
-
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index baba6baac4a4efe76844147d7c49435a88ad79af..021c63f31a958790c04e17f49c7a1da57777cb9c 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -250,7 +250,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 8):
transitions_templates_ = []
transition_probabilities = []
- for i in range(len(t_utils.transitions)-4): # don't include dead-ends
+ for i in range(len(t_utils.transitions) - 4): # don't include dead-ends
all_transitions = 0
for dir_ in range(4):
trans = t_utils.get_transitions(t_utils.transitions[i], dir_)
@@ -475,4 +475,3 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 8):
return return_rail
return generator
-
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 9a48915bce8386f0ffe0237c6bf9512b0609d82a..cbb11c2db70dece00199bfae6bb051504f64a9f2 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -268,7 +268,7 @@ class RailEnv(Environment):
break
else:
self.agents_direction[i] = direction
-
+
# Reset the state of the observation builder with the new environment
self.obs_builder.reset()
@@ -314,60 +314,33 @@ class RailEnv(Environment):
# compute number of possible transitions in the current
# cell used to check for invalid actions
- nbits = 0
- tmp = self.rail.get_transitions((pos[0], pos[1]))
possible_transitions = self.rail.get_transitions((pos[0], pos[1], direction))
- # print(np.sum(self.rail.get_transitions((pos[0], pos[1],direction))),
- # self.rail.get_transitions((pos[0], pos[1],direction)),
- # self.rail.get_transitions((pos[0], pos[1])),
- # (pos[0], pos[1],direction))
+ num_transitions = np.count_nonzero(possible_transitions)
- while tmp > 0:
- nbits += (tmp & 1)
- tmp = tmp >> 1
movement = direction
# print(nbits,np.sum(possible_transitions))
if action == 1:
movement = direction - 1
- if nbits <= 2 or np.sum(possible_transitions) <= 1:
+ if num_transitions <= 1:
transition_isValid = False
elif action == 3:
movement = direction + 1
- if nbits <= 2 or np.sum(possible_transitions) <= 1:
+ if num_transitions <= 1:
transition_isValid = False
+
if movement < 0:
movement += 4
if movement >= 4:
movement -= 4
- is_deadend = False
if action == 2:
- if nbits == 1:
- # dead-end; assuming the rail network is consistent,
- # this should match the direction the agent has come
- # from. But it's better to check in any case.
- reverse_direction = 0
- if direction == 0:
- reverse_direction = 2
- elif direction == 1:
- reverse_direction = 3
- elif direction == 2:
- reverse_direction = 0
- elif direction == 3:
- reverse_direction = 1
-
- valid_transition = self.rail.get_transition(
- (pos[0], pos[1], direction),
- reverse_direction)
- if valid_transition:
- direction = reverse_direction
- movement = reverse_direction
- is_deadend = True
-
- if np.sum(possible_transitions) == 1:
- # Take only available transition
+ if num_transitions == 1:
+ # - dead-end, straight line or curved line;
+ # movement will be the only valid transition
+ # - take only available transition
movement = np.argmax(possible_transitions)
+ transition_isValid = True
new_position = self._new_position(pos, movement)
# Is it a legal move? 1) transition allows the movement in the
@@ -388,7 +361,7 @@ class RailEnv(Environment):
if transition_isValid is None:
transition_isValid = self.rail.get_transition(
(pos[0], pos[1], direction),
- movement) or is_deadend
+ movement)
cell_isFree = True
for j in range(self.number_of_agents):
diff --git a/flatland/utils/editor.py b/flatland/utils/editor.py
index 21c1e64b8ce23b70d21dae032eb75f410dbddcca..543b793c5f7a0e0a6a9e07c46902735ec21c7158 100644
--- a/flatland/utils/editor.py
+++ b/flatland/utils/editor.py
@@ -31,10 +31,10 @@ class EditorMVC(object):
if env is None:
env = RailEnv(width=10,
- height=10,
- rail_generator=random_rail_generator(cell_type_relative_proportion=[1, 1] + [0.5] * 6),
- number_of_agents=0,
- obs_builder_object=TreeObsForRailEnv(max_depth=2))
+ height=10,
+ rail_generator=random_rail_generator(cell_type_relative_proportion=[1, 1] + [0.5] * 6),
+ number_of_agents=0,
+ obs_builder_object=TreeObsForRailEnv(max_depth=2))
env.reset()
@@ -113,20 +113,19 @@ class View(object):
wButton = ipywidgets.Button(description=dButton["name"])
wButton.on_click(dButton["method"])
self.lwButtons.append(wButton)
-
+
self.wVbox_controls = VBox([
self.wFilename, # self.wDrawMode,
*self.lwButtons,
self.wSize,
self.wDebug, self.wDebug_move,
- self.wProg_steps
- ])
-
+ self.wProg_steps])
+
self.wMain = HBox([self.wImage, self.wVbox_controls])
def drawStroke(self):
pass
-
+
def new_env(self):
self.oRT = rt.RenderTool(self.editor.env)
@@ -139,11 +138,11 @@ class View(object):
img = self.oRT.getImage()
plt.clf()
plt.close()
-
+
self.wImage.data = img
self.writableData = np.copy(self.wImage.data)
return img
-
+
def redisplayImage(self):
if self.writableData is not None:
# This updates the image in the browser to be the new edited version
@@ -152,7 +151,7 @@ class View(object):
def drag_path_element(self, x, y):
# Draw a black square on the in-memory copy of the image
if x > 10 and x < self.yxSize[1] and y > 10 and y < self.yxSize[0]:
- self.writableData[y-2:y+2, x-2:x+2, :] = 0
+ self.writableData[(y - 2):(y + 2), (x - 2):(x + 2), :] = 0
def xy_to_rc(self, x, y):
rcCell = ((array([y, x]) - self.yxBase) / self.nPixCell).astype(int)
@@ -227,7 +226,7 @@ class Controller(object):
# The intention was to avoid too many redraws.
if event["buttons"] > 0:
qEvents.append((time.time(), x, y))
-
+
# Process the events in our queue:
# Draw a black square to indicate a trail
# TODO: infer a vector of moves between these squares to avoid gaps
@@ -238,13 +237,13 @@ class Controller(object):
if tNow - qEvents[0][0] > 0.1: # wait before trying to draw
# height, width = wid.data.shape[:2]
# writableData = np.copy(self.wid_img.data) # writable copy of image - wid_img.data is somehow readonly
-
+
# with self.wid_img.hold_sync():
-
+
while len(qEvents) > 0:
t, x, y = qEvents.popleft() # get events from our queue
self.view.drag_path_element(x, y)
-
+
# Translate and scale from x,y to integer row,col (note order change)
# rcCell = ((array([y, x]) - self.yxBase) / self.nPixCell).astype(int)
rcCell = self.view.xy_to_rc(x, y)
@@ -266,13 +265,13 @@ class Controller(object):
def refresh(self, event):
self.debug("refresh")
self.view.redraw()
-
+
def clear(self, event):
self.model.clear()
def regenerate(self, event):
self.model.regenerate()
-
+
def setRegenSize(self, event):
self.model.setRegenSize(event["new"])
@@ -342,14 +341,14 @@ class EditorModel(object):
"""Mouse motion event handler for drawing.
"""
lrcStroke = self.lrcStroke
-
+
# Store the row,col location of the click, if we have entered a new cell
if len(lrcStroke) > 0:
rcLast = lrcStroke[-1]
if not np.array_equal(rcLast, rcCell): # only save at transition
lrcStroke.append(rcCell)
self.debug("lrcStroke ", len(lrcStroke), rcCell)
-
+
else:
# This is the first cell in a mouse stroke
lrcStroke.append(rcCell)
@@ -427,14 +426,16 @@ class EditorModel(object):
# Set the transition
# If this transition spans 3 cells, it is not a deadend, so remove any deadends.
# The user will need to resolve any conflicts.
- self.env.rail.set_transition((*rcMiddle, liTrans[0]), liTrans[1], bAddRemove,
- remove_deadends=not bDeadend)
+ self.env.rail.set_transition((*rcMiddle, liTrans[0]),
+ liTrans[1],
+ bAddRemove,
+ remove_deadends=not bDeadend)
# Also set the reverse transition
# use the reversed outbound transition for inbound
# and the reversed inbound transition for outbound
self.env.rail.set_transition((*rcMiddle, mirror(liTrans[1])),
- mirror(liTrans[0]), bAddRemove, remove_deadends=not bDeadend)
+ mirror(liTrans[0]), bAddRemove, remove_deadends=not bDeadend)
# bValid = self.env.rail.is_cell_valid(rcMiddle)
# if not bValid:
@@ -457,7 +458,7 @@ class EditorModel(object):
# get the row, col delta between the 2 cells, eg [-1,0] = North
rc1Trans = np.diff(rc2Cells, axis=0)
-
+
# get the direction index for the transition
liTrans = []
for rcTrans in rc1Trans:
@@ -491,7 +492,7 @@ class EditorModel(object):
self.env.agents_handles = []
self.env.agents_target = []
self.player = None
-
+
self.redraw()
def setFilename(self, filename):
@@ -507,7 +508,7 @@ class EditorModel(object):
self.redraw()
else:
self.log("File does not exist:", self.env_filename, " Working directory: ", os.getcwd())
-
+
def save(self):
self.log("save to ", self.env_filename, " working dir: ", os.getcwd())
self.env.rail.save_transition_map(self.env_filename)
@@ -515,17 +516,17 @@ class EditorModel(object):
def regenerate(self):
self.log("Regenerate size", self.regen_size)
self.env = RailEnv(width=self.regen_size,
- height=self.regen_size,
- rail_generator=random_rail_generator(cell_type_relative_proportion=[1, 1] + [0.5] * 6),
- number_of_agents=self.env.number_of_agents,
- obs_builder_object=TreeObsForRailEnv(max_depth=2))
+ height=self.regen_size,
+ rail_generator=random_rail_generator(cell_type_relative_proportion=[1, 1] + [0.5] * 6),
+ number_of_agents=self.env.number_of_agents,
+ obs_builder_object=TreeObsForRailEnv(max_depth=2))
self.env.reset(regen_rail=True)
self.fix_env()
self.set_env(self.env)
self.player = Player(self.env)
self.view.new_env()
self.redraw()
-
+
def setRegenSize(self, size):
self.regen_size = size
@@ -579,5 +580,9 @@ class EditorModel(object):
def debug_cell(self, rcCell):
binTrans = self.env.rail.get_transitions(rcCell)
sbinTrans = format(binTrans, "#018b")[2:]
- self.debug("cell ", rcCell, "Transitions: ", binTrans, sbinTrans,
- [sbinTrans[i:i+4] for i in range(0, len(sbinTrans), 4)])
+ self.debug("cell ",
+ rcCell,
+ "Transitions: ",
+ binTrans,
+ sbinTrans,
+ [sbinTrans[i:(i + 4)] for i in range(0, len(sbinTrans), 4)])
diff --git a/flatland/utils/render_qt.py b/flatland/utils/render_qt.py
index 05c436dc9f8723abdf2c013b9fad5181e695b58f..0804c9dd27b191b54f796b180165e1d73180ec16 100644
--- a/flatland/utils/render_qt.py
+++ b/flatland/utils/render_qt.py
@@ -61,8 +61,8 @@ class QTGL(GraphicsLayer):
if lastx is not None:
# print("line", lastx, lasty, x, y)
self.qtr.drawLine(
- lastx*self.cell_pixels, -lasty*self.cell_pixels,
- x*self.cell_pixels, -y*self.cell_pixels)
+ lastx * self.cell_pixels, -lasty * self.cell_pixels,
+ x * self.cell_pixels, -y * self.cell_pixels)
lastx = x
lasty = y
else:
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 09ac48997bcb1c420be146ee011042c45b6b597f..e84ff46bb7fa7590bc043a3bc9e3c109670a8879 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -145,7 +145,7 @@ class RenderTool(object):
self.plotTrans(visit.rc, gTransRCAg, depth=str(visit.iDepth), color=color)
def plotAgents(self, targets=True):
- cmap = self.gl.get_cmap('hsv', lut=self.env.number_of_agents+1)
+ cmap = self.gl.get_cmap('hsv', lut=self.env.number_of_agents + 1)
for iAgent in range(self.env.number_of_agents):
oColor = cmap(iAgent)
@@ -208,16 +208,16 @@ class RenderTool(object):
xyDir = np.matmul(rcDir, rt.grc2xy) # agent direction in xy
xyPos = np.matmul(rcPos - rcDir / 2, rt.grc2xy) + rt.xyHalf
- #print("Agent:", rcPos, iDir, rcDir, xyDir, xyPos)
+ # print("Agent:", rcPos, iDir, rcDir, xyDir, xyPos)
self.gl.scatter(*xyPos, color=color, marker="o", s=100) # agent location
- xyDirLine = array([xyPos, xyPos + xyDir/2]).T # line for agent orient.
+ xyDirLine = array([xyPos, xyPos + xyDir / 2]).T # line for agent orient.
self.gl.plot(*xyDirLine, color=color, lw=5, ms=0, alpha=0.6)
if target is not None:
rcTarget = array(target)
xyTarget = np.matmul(rcTarget, rt.grc2xy) + rt.xyHalf
- self._draw_square(xyTarget, 1/3, color)
+ self._draw_square(xyTarget, 1 / 3, color)
def plotTrans(self, rcPos, gTransRCAg, color="r", depth=None):
"""
@@ -587,7 +587,7 @@ class RenderTool(object):
# Draw each agent + its orientation + its target
if agents:
- cmap = self.gl.get_cmap('hsv', lut=env.number_of_agents+1)
+ cmap = self.gl.get_cmap('hsv', lut=env.number_of_agents + 1)
self.plotAgents(targets=True)
if False:
@@ -659,4 +659,3 @@ class RenderTool(object):
def getImage(self):
return self.gl.getImage()
-