diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 8ab96d3a31ac169457adad9899a466592abec705..8590922131d57cd76ba4a638b10e3e7e169a984a 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -78,6 +78,30 @@ class TreeObsForRailEnv(ObservationBuilder):
self.predicted_pos.update({t: coordinate_to_position(self.env.width, pos_list)})
self.predicted_dir.update({t: dir_list})
self.max_prediction_depth = len(self.predicted_pos)
+ # Update local lookup table for all agents' positions
+ # ignore other agents not in the grid (only status active and done)
+ # self.location_has_agent = {tuple(agent.position): 1 for agent in self.env.agents if
+ # agent.status in [RailAgentStatus.ACTIVE, RailAgentStatus.DONE]}
+
+ self.location_has_agent = {}
+ self.location_has_agent_direction = {}
+ self.location_has_agent_speed = {}
+ self.location_has_agent_malfunction = {}
+ self.location_has_agent_ready_to_depart = {}
+
+ for _agent in self.env.agents:
+ if _agent.status in [RailAgentStatus.ACTIVE, RailAgentStatus.DONE] and \
+ _agent.position:
+ self.location_has_agent[tuple(_agent.position)] = 1
+ self.location_has_agent_direction[tuple(_agent.position)] = _agent.direction
+ self.location_has_agent_speed[tuple(_agent.position)] = _agent.speed_data['speed']
+ self.location_has_agent_malfunction[tuple(_agent.position)] = _agent.malfunction_data[
+ 'malfunction']
+
+ if _agent.status in [RailAgentStatus.READY_TO_DEPART] and \
+ _agent.initial_position:
+ self.location_has_agent_ready_to_depart[tuple(_agent.initial_position)] = \
+ self.location_has_agent_ready_to_depart.get(tuple(_agent.initial_position), 0) + 1
observations = super().get_many(handles)
@@ -162,30 +186,6 @@ class TreeObsForRailEnv(ObservationBuilder):
In case the target node is reached, the values are [0, 0, 0, 0, 0].
"""
- # Update local lookup table for all agents' positions
- # ignore other agents not in the grid (only status active and done)
- # self.location_has_agent = {tuple(agent.position): 1 for agent in self.env.agents if
- # agent.status in [RailAgentStatus.ACTIVE, RailAgentStatus.DONE]}
-
- self.location_has_agent = {}
- self.location_has_agent_direction = {}
- self.location_has_agent_speed = {}
- self.location_has_agent_malfunction = {}
- self.location_has_agent_ready_to_depart = {}
-
- for _agent in self.env.agents:
- if _agent.status in [RailAgentStatus.ACTIVE, RailAgentStatus.DONE] and \
- _agent.position:
- self.location_has_agent[tuple(_agent.position)] = 1
- self.location_has_agent_direction[tuple(_agent.position)] = _agent.direction
- self.location_has_agent_speed[tuple(_agent.position)] = _agent.speed_data['speed']
- self.location_has_agent_malfunction[tuple(_agent.position)] = _agent.malfunction_data['malfunction']
-
- if _agent.status in [RailAgentStatus.READY_TO_DEPART] and \
- _agent.initial_position:
- self.location_has_agent_ready_to_depart[tuple(_agent.initial_position)] = \
- self.location_has_agent_ready_to_depart.get(tuple(_agent.initial_position), 0) + 1
-
if handle > len(self.env.agents):
print("ERROR: obs _get - handle ", handle, " len(agents)", len(self.env.agents))
agent = self.env.agents[handle] # TODO: handle being treated as index
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index d9963a2276e352b2adcf1030035c7078aea374e6..7a9362011c140772832629672612bdb5127eb4b9 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -14,6 +14,7 @@ from flatland.core.env import Environment
from flatland.core.env_observation_builder import ObservationBuilder
from flatland.core.grid.grid4 import Grid4TransitionsEnum, Grid4Transitions
from flatland.core.grid.grid4_utils import get_new_position
+from flatland.core.grid.grid_utils import IntVector2D
from flatland.core.transition_map import GridTransitionMap
from flatland.envs.agent_utils import EnvAgentStatic, EnvAgent, RailAgentStatus
from flatland.envs.distance_map import DistanceMap
@@ -83,6 +84,7 @@ class RailEnv(Environment):
- invalid_action_penalty = 0
- step_penalty = -alpha
- global_reward = beta
+ - epsilon = avoid rounding errors
- stop_penalty = 0 # penalty for stopping a moving agent
- start_penalty = 0 # penalty for starting a stopped agent
@@ -217,6 +219,9 @@ class RailEnv(Environment):
self.valid_positions = None
+ # global numpy array of agents position, True means that there is an agent at that cell
+ self.agent_positions: np.ndarray = np.full((height, width), False)
+
def _seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
@@ -242,7 +247,7 @@ class RailEnv(Environment):
agent = self.agents[handle]
if agent.status == RailAgentStatus.READY_TO_DEPART and self.cell_free(agent.initial_position):
agent.status = RailAgentStatus.ACTIVE
- agent.position = agent.initial_position
+ self._set_agent_to_initial_position(agent, agent.initial_position)
def restart_agents(self):
""" Reset the agents to their starting positions defined in agents_static
@@ -339,6 +344,8 @@ class RailEnv(Environment):
else:
self._max_episode_steps = self.compute_max_episode_steps(width=self.width, height=self.height)
+ self.agent_positions = np.full((self.height, self.width), False)
+
self.restart_agents()
if activate_agents:
@@ -438,7 +445,14 @@ class RailEnv(Environment):
return False
def step(self, action_dict_: Dict[int, RailEnvActions]):
+ """
+ Updates rewards for the agents at a step.
+
+ Parameters
+ ----------
+ action_dict_ : Dict[int,RailEnvActions]
+ """
self._elapsed_steps += 1
# If we're done, set reward and info_dict and step() is done.
@@ -520,7 +534,7 @@ class RailEnv(Environment):
if action in [RailEnvActions.MOVE_LEFT, RailEnvActions.MOVE_RIGHT,
RailEnvActions.MOVE_FORWARD] and self.cell_free(agent.initial_position):
agent.status = RailAgentStatus.ACTIVE
- agent.position = agent.initial_position
+ self._set_agent_to_initial_position(agent, agent.initial_position)
self.rewards_dict[i_agent] += self.step_penalty * agent.speed_data['speed']
return
else:
@@ -615,7 +629,7 @@ class RailEnv(Environment):
assert new_cell_valid
assert transition_valid
if cell_free:
- agent.position = new_position
+ self._move_agent_to_new_position(agent, new_position)
agent.direction = new_direction
agent.speed_data['position_fraction'] = 0.0
@@ -624,16 +638,54 @@ class RailEnv(Environment):
agent.status = RailAgentStatus.DONE
self.dones[i_agent] = True
agent.moving = False
-
- if self.remove_agents_at_target:
- agent.position = None
- agent.status = RailAgentStatus.DONE_REMOVED
+ self._remove_agent_from_scene(agent)
else:
self.rewards_dict[i_agent] += self.step_penalty * agent.speed_data['speed']
else:
# step penalty if not moving (stopped now or before)
self.rewards_dict[i_agent] += self.step_penalty * agent.speed_data['speed']
+ def _set_agent_to_initial_position(self, agent: EnvAgent, new_position: IntVector2D):
+ """
+ Sets the agent to its initial position. Updates the agent object and the position
+ of the agent inside the global agent_position numpy array
+
+ Parameters
+ -------
+ agent: EnvAgent object
+ new_position: IntVector2D
+ """
+ agent.position = new_position
+ self.agent_positions[agent.position] = True
+
+ def _move_agent_to_new_position(self, agent: EnvAgent, new_position: IntVector2D):
+ """
+ Move the agent to the a new position. Updates the agent object and the position
+ of the agent inside the global agent_position numpy array
+
+ Parameters
+ -------
+ agent: EnvAgent object
+ new_position: IntVector2D
+ """
+ agent.position = new_position
+ self.agent_positions[agent.old_position] = False
+ self.agent_positions[agent.position] = True
+
+ def _remove_agent_from_scene(self, agent: EnvAgent):
+ """
+ Remove the agent from the scene. Updates the agent object and the position
+ of the agent inside the global agent_position numpy array
+
+ Parameters
+ -------
+ agent: EnvAgent object
+ """
+ self.agent_positions[agent.position] = False
+ if self.remove_agents_at_target:
+ agent.position = None
+ agent.status = RailAgentStatus.DONE_REMOVED
+
def _check_action_on_agent(self, action: RailEnvActions, agent: EnvAgent):
"""
@@ -670,16 +722,32 @@ class RailEnv(Environment):
(*agent.position, agent.direction),
new_direction)
- # Check the new position is not the same as any of the existing agent positions
- # (including itself, for simplicity, since it is moving)
- cell_free = self.cell_free(new_position)
+
+ # only call cell_free() if new cell is inside the scene
+ if new_cell_valid:
+ # Check the new position is not the same as any of the existing agent positions
+ # (including itself, for simplicity, since it is moving)
+ cell_free = self.cell_free(new_position)
+ else:
+ # if new cell is outside of scene -> cell_free is False
+ cell_free = False
return cell_free, new_cell_valid, new_direction, new_position, transition_valid
- def cell_free(self, position):
+ def cell_free(self, position: IntVector2D) -> bool:
+ """
+ Utility to check if a cell is free
- agent_positions = [agent.position for agent in self.agents if agent.position is not None]
- ret = len(agent_positions) == 0 or not np.any(np.equal(position, agent_positions).all(1))
- return ret
+ Parameters:
+ --------
+ position : Tuple[int, int]
+
+ Returns
+ -------
+ bool
+ is the cell free or not?
+
+ """
+ return not self.agent_positions[position]
def check_action(self, agent: EnvAgent, action: RailEnvActions):
"""
@@ -722,13 +790,35 @@ class RailEnv(Environment):
return new_direction, transition_valid
def _get_observations(self):
+ """
+ Utility which returns the observations for an agent with respect to environment
+
+ Returns
+ ------
+ Dict object
+ """
self.obs_dict = self.obs_builder.get_many(list(range(self.get_num_agents())))
return self.obs_dict
def get_valid_directions_on_grid(self, row: int, col: int) -> List[int]:
+ """
+ Returns directions in which the agent can move
+
+ Parameters:
+ ---------
+ row : int
+ col : int
+
+ Returns:
+ -------
+ List[int]
+ """
return Grid4Transitions.get_entry_directions(self.rail.get_full_transitions(row, col))
def get_full_state_msg(self):
+ """
+ Returns state of environment in msgpack object
+ """
grid_data = self.rail.grid.tolist()
agent_static_data = [agent.to_list() for agent in self.agents_static]
agent_data = [agent.to_list() for agent in self.agents]
@@ -742,12 +832,22 @@ class RailEnv(Environment):
return msgpack.packb(msg_data, use_bin_type=True)
def get_agent_state_msg(self):
+ """
+ Returns agents information in msgpack object
+ """
agent_data = [agent.to_list() for agent in self.agents]
msg_data = {
"agents": agent_data}
return msgpack.packb(msg_data, use_bin_type=True)
def set_full_state_msg(self, msg_data):
+ """
+ Sets environment state with msgdata object passed as argument
+
+ Parameters
+ -------
+ msg_data: msgpack object
+ """
data = msgpack.unpackb(msg_data, use_list=False, encoding='utf-8')
self.rail.grid = np.array(data["grid"])
# agents are always reset as not moving
@@ -760,6 +860,13 @@ class RailEnv(Environment):
self.dones = dict.fromkeys(list(range(self.get_num_agents())) + ["__all__"], False)
def set_full_state_dist_msg(self, msg_data):
+ """
+ Sets environment grid state and distance map with msgdata object passed as argument
+
+ Parameters
+ -------
+ msg_data: msgpack object
+ """
data = msgpack.unpackb(msg_data, use_list=False, encoding='utf-8')
self.rail.grid = np.array(data["grid"])
# agents are always reset as not moving
@@ -774,6 +881,9 @@ class RailEnv(Environment):
self.dones = dict.fromkeys(list(range(self.get_num_agents())) + ["__all__"], False)
def get_full_state_dist_msg(self):
+ """
+ Returns environment information with distance map information as msgpack object
+ """
grid_data = self.rail.grid.tolist()
agent_static_data = [agent.to_list() for agent in self.agents_static]
agent_data = [agent.to_list() for agent in self.agents]
@@ -791,6 +901,14 @@ class RailEnv(Environment):
return msgpack.packb(msg_data, use_bin_type=True)
def save(self, filename, save_distance_maps=False):
+ """
+ Saves environment and distance map information in a file
+
+ Parameters:
+ ---------
+ filename: string
+ save_distance_maps: bool
+ """
if save_distance_maps is True:
if self.distance_map.get() is not None:
if len(self.distance_map.get()) > 0:
@@ -807,14 +925,31 @@ class RailEnv(Environment):
file_out.write(self.get_full_state_msg())
def load(self, filename):
+ """
+ Load environment with distance map from a file
+
+ Parameters:
+ -------
+ filename: string
+ """
with open(filename, "rb") as file_in:
load_data = file_in.read()
self.set_full_state_dist_msg(load_data)
def load_pkl(self, pkl_data):
+ """
+ Load environment with distance map from a pickle file
+
+ Parameters:
+ -------
+ pkl_data: pickle file
+ """
self.set_full_state_msg(pkl_data)
def load_resource(self, package, resource):
+ """
+ Load environment with distance map from a binary
+ """
from importlib_resources import read_binary
load_data = read_binary(package, resource)
self.set_full_state_msg(load_data)
diff --git a/flatland/envs/rail_generators.py b/flatland/envs/rail_generators.py
index 028928aeec2c08c7b9035d875a874987dce79896..3e90128c74bda860d8a4c75d71652071660482a3 100644
--- a/flatland/envs/rail_generators.py
+++ b/flatland/envs/rail_generators.py
@@ -343,6 +343,17 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 11, seed=1) -> R
template = [template[-1]] + template[:-1]
def get_matching_templates(template):
+ """
+ Returns a list of possible transition maps for a given template
+
+ Parameters:
+ ------
+ template:List[int]
+
+ Returns:
+ ------
+ List[int]
+ """
ret = []
for i in range(len(transitions_templates_)):
is_match = True
diff --git a/notebooks/simple_example1_env_from_tuple.ipynb b/notebooks/simple_example1_env_from_tuple.ipynb
index 2d13585156b447fe4f9eed07834b3dc04ccf84d6..317a5b63ef171691c0324d38d82ad543e295155c 100644
--- a/notebooks/simple_example1_env_from_tuple.ipynb
+++ b/notebooks/simple_example1_env_from_tuple.ipynb
@@ -10,9 +10,21 @@
},
{
"cell_type": "code",
- "execution_count": 1,
+ "execution_count": 2,
"metadata": {},
- "outputs": [],
+ "outputs": [
+ {
+ "ename": "SystemError",
+ "evalue": "Parent module '' not loaded, cannot perform relative import",
+ "output_type": "error",
+ "traceback": [
+ "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+ "\u001b[0;31mSystemError\u001b[0m Traceback (most recent call last)",
+ "\u001b[0;32m<ipython-input-2-b6a25a9cfbbb>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0;32mfrom\u001b[0m \u001b[0;34m.\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mflatland\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0menvs\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrail_generators\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mrail_from_manual_specifications_generator\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 2\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mflatland\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0menvs\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mobservations\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mTreeObsForRailEnv\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 3\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mflatland\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0menvs\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrail_env\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mRailEnv\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 4\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mflatland\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mutils\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrendertools\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mRenderTool\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mPIL\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mImage\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
+ "\u001b[0;31mSystemError\u001b[0m: Parent module '' not loaded, cannot perform relative import"
+ ]
+ }
+ ],
"source": [
"from flatland.envs.rail_generators import rail_from_manual_specifications_generator\n",
"from flatland.envs.observations import TreeObsForRailEnv\n",
@@ -24,7 +36,9 @@
{
"cell_type": "code",
"execution_count": 2,
- "metadata": {},
+ "metadata": {
+ "collapsed": true
+ },
"outputs": [],
"source": [
"specs = [[(0, 0), (0, 0), (0, 0), (0, 0), (0, 0), (0, 0)],\n",
@@ -83,7 +97,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
- "version": "3.7.3"
+ "version": "3.5.2"
},
"latex_envs": {
"LaTeX_envs_menu_present": true,
diff --git a/notebooks/simple_example2_generate_random_rail.ipynb b/notebooks/simple_example2_generate_random_rail.ipynb
index 19b854ee15d8dd1e19361f58a552eba617b19b67..bfa2c877ef0ecec8c596592c13c08db287661c78 100644
--- a/notebooks/simple_example2_generate_random_rail.ipynb
+++ b/notebooks/simple_example2_generate_random_rail.ipynb
@@ -88,7 +88,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
- "version": "3.6.5"
+ "version": "3.5.2"
},
"latex_envs": {
"LaTeX_envs_menu_present": true,