From fcc163ab51722c9aedb6affba7380b2e15a66438 Mon Sep 17 00:00:00 2001
From: hagrid67 <jdhwatson@gmail.com>
Date: Wed, 1 May 2019 19:46:23 +0100
Subject: [PATCH] Added comments and fixed lint
---
flatland/core/env_observation_builder.py | 2 +-
flatland/envs/rail_env.py | 103 ++++++++++++++---------
2 files changed, 62 insertions(+), 43 deletions(-)
diff --git a/flatland/core/env_observation_builder.py b/flatland/core/env_observation_builder.py
index 1ae2819d..de3ee932 100644
--- a/flatland/core/env_observation_builder.py
+++ b/flatland/core/env_observation_builder.py
@@ -137,7 +137,7 @@ class TreeObsForRailEnv(ObservationBuilder):
new_cell = self._new_position(position, neigh_direction)
if new_cell[0] >= 0 and new_cell[0] < self.env.height and \
- new_cell[1] >= 0 and new_cell[1] < self.env.width:
+ new_cell[1] >= 0 and new_cell[1] < self.env.width:
desired_movement_from_new_cell = (neigh_direction + 2) % 4
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index f1a3d20c..eff1c108 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -163,9 +163,9 @@ def a_star(rail_trans, rail_array, start, end):
for new_pos in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
node_pos = (current_node.pos[0] + new_pos[0], current_node.pos[1] + new_pos[1])
if node_pos[0] >= rail_shape[0] or \
- node_pos[0] < 0 or \
- node_pos[1] >= rail_shape[1] or \
- node_pos[1] < 0:
+ node_pos[0] < 0 or \
+ node_pos[1] >= rail_shape[1] or \
+ node_pos[1] < 0:
continue
# validate positions
@@ -540,8 +540,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 8):
for i in range(len(transitions_templates_)):
is_match = True
for j in range(4):
- if template[j] >= 0 and \
- template[j] != transitions_templates_[i][0][j]:
+ if template[j] >= 0 and template[j] != transitions_templates_[i][0][j]:
is_match = False
break
if is_match:
@@ -742,6 +741,29 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 8):
return generator
+class EnvAgentStatic(object):
+ """ TODO: EnvAgentStatic - To store initial position, direction and target.
+ This is like static data for the environment - it's where an agent starts,
+ rather than where it is at the moment.
+ The target should also be stored here.
+ """
+ def __init__(self, rcPos, iDir, rcTarget):
+ self.rcPos = rcPos
+ self.iDir = iDir
+ self.rcTarget = rcTarget
+
+
+class EnvAgent(object):
+ """ TODO: EnvAgent - replace separate agent lists with a single list
+ of agent objects. The EnvAgent represent's the environment's view
+ of the dynamic agent state. So target is not part of it - target is
+ static.
+ """
+ def __init__(self, rcPos, iDir):
+ self.rcPos = rcPos
+ self.iDir = iDir
+
+
class RailEnv(Environment):
"""
RailEnv environment class.
@@ -836,6 +858,8 @@ class RailEnv(Environment):
return self.agents_handles
def fill_valid_positions(self):
+ ''' Populate the valid_positions list for the current TransitionMap.
+ '''
self.valid_positions = valid_positions = []
for r in range(self.height):
for c in range(self.width):
@@ -843,12 +867,20 @@ class RailEnv(Environment):
valid_positions.append((r, c))
def check_agent_lists(self):
+ ''' Check that the agent_handles, position and direction lists are all of length
+ number_of_agents.
+ (Suggest this is replaced with a single list of Agent objects :)
+ '''
for lAgents, name in zip(
- [self.agents_handles, self.agents_position, self.agents_direction],
- ["handles", "positions", "directions"]):
+ [self.agents_handles, self.agents_position, self.agents_direction],
+ ["handles", "positions", "directions"]):
assert self.number_of_agents == len(lAgents), "Inconsistent agent list:" + name
def check_agent_locdirpath(self, iAgent):
+ ''' Check that agent iAgent has a valid location and direction,
+ with a path to its target.
+ (Not currently used?)
+ '''
valid_movements = []
for direction in range(4):
position = self.agents_position[iAgent]
@@ -861,13 +893,20 @@ class RailEnv(Environment):
for m in valid_movements:
new_position = self._new_position(self.agents_position[iAgent], m[1])
if m[0] not in valid_starting_directions and \
- self._path_exists(new_position, m[0], self.agents_target[iAgent]):
+ self._path_exists(new_position, m[0], self.agents_target[iAgent]):
valid_starting_directions.append(m[0])
if len(valid_starting_directions) == 0:
return False
+ else:
+ return True
def pick_agent_direction(self, rcPos, rcTarget):
+ """ Pick and return a valid direction index (0..3) for an agent starting at
+ row,col rcPos with target rcTarget.
+ Return None if no path exists.
+ Picks random direction if more than one exists (uniformly).
+ """
valid_movements = []
for direction in range(4):
moves = self.rail.get_transitions((*rcPos, direction))
@@ -879,8 +918,7 @@ class RailEnv(Environment):
valid_starting_directions = []
for m in valid_movements:
new_position = self._new_position(rcPos, m[1])
- if m[0] not in valid_starting_directions and \
- self._path_exists(new_position, m[0], rcTarget):
+ if m[0] not in valid_starting_directions and self._path_exists(new_position, m[0], rcTarget):
valid_starting_directions.append(m[0])
if len(valid_starting_directions) == 0:
@@ -889,6 +927,11 @@ class RailEnv(Environment):
return valid_starting_directions[np.random.choice(len(valid_starting_directions), 1)[0]]
def add_agent(self, rcPos=None, rcTarget=None, iDir=None):
+ """ Add a new agent at position rcPos with target rcTarget and
+ initial direction index iDir.
+ Should also store this initial position etc as environment "meta-data"
+ but this does not yet exist.
+ """
self.check_agent_lists()
if rcPos is None:
@@ -949,31 +992,7 @@ class RailEnv(Environment):
break
else:
self.agents_direction[i] = direction
-
- # Jeremy extracted this into the method pick_agent_direction
- if False:
- for i in range(self.number_of_agents):
- valid_movements = []
- for direction in range(4):
- position = self.agents_position[i]
- moves = self.rail.get_transitions((position[0], position[1], direction))
- for move_index in range(4):
- if moves[move_index]:
- valid_movements.append((direction, move_index))
-
- valid_starting_directions = []
- for m in valid_movements:
- new_position = self._new_position(self.agents_position[i], m[1])
- if m[0] not in valid_starting_directions and \
- self._path_exists(new_position, m[0], self.agents_target[i]):
- valid_starting_directions.append(m[0])
-
- if len(valid_starting_directions) == 0:
- re_generate = True
- else:
- self.agents_direction[i] = valid_starting_directions[
- np.random.choice(len(valid_starting_directions), 1)[0]]
-
+
# Reset the state of the observation builder with the new environment
self.obs_builder.reset()
@@ -1079,14 +1098,14 @@ class RailEnv(Environment):
movement = curv_dir
curv_dir = (curv_dir + 1) % 4
-
new_position = self._new_position(pos, movement)
# Is it a legal move? 1) transition allows the movement in the
# cell, 2) the new cell is not empty (case 0), 3) the cell is
# free, i.e., no agent is currently in that cell
- if new_position[1] >= self.width or \
- new_position[0] >= self.height or \
- new_position[0] < 0 or new_position[1] < 0:
+ if (
+ new_position[1] >= self.width or
+ new_position[0] >= self.height or
+ new_position[0] < 0 or new_position[1] < 0):
new_cell_isValid = False
elif self.rail.get_transitions((new_position[0], new_position[1])) > 0:
@@ -1095,7 +1114,7 @@ class RailEnv(Environment):
new_cell_isValid = False
# If transition validity hasn't been checked yet.
- if transition_isValid == None:
+ if transition_isValid is None:
transition_isValid = self.rail.get_transition(
(pos[0], pos[1], direction),
movement) or is_deadend
@@ -1117,7 +1136,7 @@ class RailEnv(Environment):
# if agent is not in target position, add step penalty
if self.agents_position[i][0] == self.agents_target[i][0] and \
- self.agents_position[i][1] == self.agents_target[i][1]:
+ self.agents_position[i][1] == self.agents_target[i][1]:
self.dones[handle] = True
else:
self.rewards_dict[handle] += step_penalty
@@ -1126,7 +1145,7 @@ class RailEnv(Environment):
num_agents_in_target_position = 0
for i in range(self.number_of_agents):
if self.agents_position[i][0] == self.agents_target[i][0] and \
- self.agents_position[i][1] == self.agents_target[i][1]:
+ self.agents_position[i][1] == self.agents_target[i][1]:
num_agents_in_target_position += 1
if num_agents_in_target_position == self.number_of_agents:
--
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