From fe5f6f463c67af3d8b57ef7fd1512b5611d624ef Mon Sep 17 00:00:00 2001
From: u214892 <u214892@sbb.ch>
Date: Tue, 12 Nov 2019 19:26:46 -0500
Subject: [PATCH] SIM-119 refactoring ActionPlan; TODO extract Agent from
ActionPlanReplayer
---
flatland/action_plan/action_plan.py | 142 +++-----
flatland/envs/rail_env_shortest_paths.py | 44 +--
.../envs/rail_train_run_data_structures.py | 13 +
tests/test_action_plan.py | 86 +++--
tests/test_flatland_envs_predictions.py | 15 +-
...t_flatland_envs_rail_env_shortest_paths.py | 342 ++++++++----------
6 files changed, 287 insertions(+), 355 deletions(-)
create mode 100644 flatland/envs/rail_train_run_data_structures.py
diff --git a/flatland/action_plan/action_plan.py b/flatland/action_plan/action_plan.py
index 017b9551..441a2ca0 100644
--- a/flatland/action_plan/action_plan.py
+++ b/flatland/action_plan/action_plan.py
@@ -2,38 +2,25 @@ import pprint
from typing import Dict, List, Optional, NamedTuple
import numpy as np
+
from flatland.core.grid.grid_utils import Vec2dOperations as Vec2d
from flatland.envs.rail_env import RailEnv, RailEnvActions
-from flatland.envs.rail_env_shortest_paths import WalkingElement, get_action_for_move
+from flatland.envs.rail_env_shortest_paths import get_action_for_move
+from flatland.envs.rail_train_run_data_structures import WayPoint, TrainRun, TrainRunWayPoint
from flatland.utils.rendertools import RenderTool, AgentRenderVariant
-
-#---- Input Data Structures (graph representation) ---------------------------------------------
-# A cell pin represents the one of the four pins in which the cell at row,column may be entered.
-CellPin = NamedTuple('CellPin', [('r', int), ('c', int), ('d', int)])
-
-# A path schedule element represents the entry time of agent at a cell pin.
-PathScheduleElement = NamedTuple('PathScheduleElement', [
- ('scheduled_at', int),
- ('cell_pin', CellPin)
-])
-# A path schedule is the list of an agent's cell pin entries
-PathSchedule = List[PathScheduleElement]
-
-
-#---- Output Data Structures (FLATland representation) ---------------------------------------------
+# ---- Output Data Structures (FLATland representation) ---------------------------------------------
# An action plan element represents the actions to be taken by an agent at deterministic time steps
# plus the position before the action
ActionPlanElement = NamedTuple('ActionPlanElement', [
('scheduled_at', int),
- ('walking_element', WalkingElement)
+ ('action', RailEnvActions)
])
# An action plan deterministically represents all the actions to be taken by an agent
# plus its position before the actions are taken
ActionPlan = Dict[int, List[ActionPlanElement]]
-
class ActionPlanReplayer():
"""Allows to deduce an `ActionPlan` from the agents' `PathSchedule` and
to be replayed/verified in a FLATland env without malfunction."""
@@ -42,15 +29,17 @@ class ActionPlanReplayer():
def __init__(self,
env: RailEnv,
- chosen_path_dict: Dict[int, PathSchedule]):
+ train_run_dict: Dict[int, TrainRun]):
self.env = env
+ self.train_run_dict: Dict[int, TrainRun] = train_run_dict
+ print(train_run_dict)
self.action_plan = [[] for _ in range(self.env.get_num_agents())]
- for agent_id, chosen_path in chosen_path_dict.items():
+ for agent_id, chosen_path in train_run_dict.items():
self._add_aggent_to_action_plan(self.action_plan, agent_id, chosen_path)
- def get_walking_element_before_or_at_step(self, agent_id: int, step: int) -> WalkingElement:
+ def get_way_point_before_or_at_step(self, agent_id: int, step: int) -> WayPoint:
"""
Get the walking element from which the current position can be extracted.
@@ -64,14 +53,26 @@ class ActionPlanReplayer():
WalkingElement
"""
- walking_element = None
- for action in self.action_plan[agent_id]:
- if step < action.scheduled_at:
- return walking_element
- if step >= action.scheduled_at:
- walking_element = action.walking_element
- assert walking_element is not None
- return walking_element
+ train_run = self.train_run_dict[agent_id]
+ entry_time_step = train_run[0].scheduled_at
+ # the agent has no position before and at choosing to enter the grid (one tick elapses before the agent enters the grid)
+ if step <= entry_time_step:
+ return WayPoint(position=None, direction=self.env.agents[agent_id].initial_direction)
+
+ # the agent has no position as soon as the target is reached
+ exit_time_step = train_run[-1].scheduled_at
+ if step >= exit_time_step:
+ # agent loses position as soon as target cell is reached
+ return WayPoint(position=None, direction=train_run[-1].way_point.direction)
+
+ way_point = None
+ for train_run_way_point in train_run:
+ if step < train_run_way_point.scheduled_at:
+ return way_point
+ if step >= train_run_way_point.scheduled_at:
+ way_point = train_run_way_point.way_point
+ assert way_point is not None
+ return way_point
def get_action_at_step(self, agent_id: int, current_step: int) -> Optional[RailEnvActions]:
"""
@@ -90,11 +91,10 @@ class ActionPlanReplayer():
for action_plan_step in self.action_plan[agent_id]:
action_plan_step: ActionPlanElement = action_plan_step
scheduled_at = action_plan_step.scheduled_at
- walking_element: WalkingElement = action_plan_step.walking_element
if scheduled_at > current_step:
return None
elif np.isclose(current_step, scheduled_at):
- return walking_element.next_action
+ return action_plan_step.action
return None
def get_action_dict_for_step_replay(self, current_step: int) -> Dict[int, RailEnvActions]:
@@ -130,10 +130,10 @@ class ActionPlanReplayer():
i = 0
while not env.dones['__all__'] and i <= MAX_EPISODE_STEPS:
for agent_id, agent in enumerate(env.agents):
- walking_element: WalkingElement = self.get_walking_element_before_or_at_step(agent_id, i)
- assert agent.position == walking_element.position, \
+ way_point: WayPoint = self.get_way_point_before_or_at_step(agent_id, i)
+ assert agent.position == way_point.position, \
"before {}, agent {} at {}, expected {}".format(i, agent_id, agent.position,
- walking_element.position)
+ way_point.position)
actions = self.get_action_dict_for_step_replay(i)
print("actions for {}: {}".format(i, actions))
@@ -172,15 +172,15 @@ class ActionPlanReplayer():
agent = self.env.agents[agent_id]
minimum_cell_time = int(np.ceil(1.0 / agent.speed_data['speed']))
for path_loop, path_schedule_element in enumerate(agent_path_new):
- path_schedule_element: PathScheduleElement = path_schedule_element
+ path_schedule_element: TrainRunWayPoint = path_schedule_element
- position = (path_schedule_element.cell_pin.r, path_schedule_element.cell_pin.c)
+ position = path_schedule_element.way_point.position
if Vec2d.is_equal(agent.target, position):
break
- next_path_schedule_element: PathScheduleElement = agent_path_new[path_loop + 1]
- next_position = (next_path_schedule_element.cell_pin.r, next_path_schedule_element.cell_pin.c)
+ next_path_schedule_element: TrainRunWayPoint = agent_path_new[path_loop + 1]
+ next_position = next_path_schedule_element.way_point.position
if path_loop == 0:
self._create_action_plan_for_first_path_element_of_agent(
@@ -212,81 +212,63 @@ class ActionPlanReplayer():
action_plan: ActionPlan,
agent_id: int,
minimum_cell_time: int,
- path_schedule_element: PathScheduleElement,
- next_path_schedule_element: PathScheduleElement):
+ path_schedule_element: TrainRunWayPoint,
+ next_path_schedule_element: TrainRunWayPoint):
scheduled_at = path_schedule_element.scheduled_at
next_entry_value = next_path_schedule_element.scheduled_at
- position = (path_schedule_element.cell_pin.r, path_schedule_element.cell_pin.c)
- direction = path_schedule_element.cell_pin.d
- next_position = next_path_schedule_element.cell_pin.r, next_path_schedule_element.cell_pin.c
- next_direction = next_path_schedule_element.cell_pin.d
+ position = path_schedule_element.way_point.position
+ direction = path_schedule_element.way_point.direction
+ next_position = next_path_schedule_element.way_point.position
+ next_direction = next_path_schedule_element.way_point.direction
next_action = get_action_for_move(position,
direction,
next_position,
next_direction,
self.env.rail)
- walking_element = WalkingElement(position, direction, next_action)
-
# if the next entry is later than minimum_cell_time, then stop here and
# move minimum_cell_time before the exit
# we have to do this since agents in the RailEnv are processed in the step() in the order of their handle
if next_entry_value > scheduled_at + minimum_cell_time:
- action = ActionPlanElement(scheduled_at,
- WalkingElement(
- position=position,
- direction=direction,
- next_action=RailEnvActions.STOP_MOVING))
+ action = ActionPlanElement(scheduled_at, RailEnvActions.STOP_MOVING)
action_plan[agent_id].append(action)
- action = ActionPlanElement(next_entry_value - minimum_cell_time, walking_element)
+ action = ActionPlanElement(next_entry_value - minimum_cell_time, next_action)
action_plan[agent_id].append(action)
else:
- action = ActionPlanElement(scheduled_at, walking_element)
+ action = ActionPlanElement(scheduled_at, next_action)
action_plan[agent_id].append(action)
def _create_action_plan_for_target_at_path_element_just_before_target(self,
action_plan: ActionPlan,
agent_id: int,
minimum_cell_time: int,
- path_schedule_element: PathScheduleElement,
- next_path_schedule_element: PathScheduleElement):
+ path_schedule_element: TrainRunWayPoint,
+ next_path_schedule_element: TrainRunWayPoint):
scheduled_at = path_schedule_element.scheduled_at
- next_path_schedule_element.cell_pin
+ next_path_schedule_element.way_point
- action = ActionPlanElement(scheduled_at + minimum_cell_time,
- WalkingElement(
- position=None,
- direction=next_path_schedule_element.cell_pin.d,
- next_action=RailEnvActions.STOP_MOVING))
+ action = ActionPlanElement(scheduled_at + minimum_cell_time, RailEnvActions.STOP_MOVING)
action_plan[agent_id].append(action)
def _create_action_plan_for_first_path_element_of_agent(self,
action_plan: ActionPlan,
agent_id: int,
- path_schedule_element: PathScheduleElement,
- next_path_schedule_element: PathScheduleElement):
+ path_schedule_element: TrainRunWayPoint,
+ next_path_schedule_element: TrainRunWayPoint):
scheduled_at = path_schedule_element.scheduled_at
- position = (path_schedule_element.cell_pin.r, path_schedule_element.cell_pin.c)
- direction = path_schedule_element.cell_pin.d
- next_position = next_path_schedule_element.cell_pin.r, next_path_schedule_element.cell_pin.c
- next_direction = next_path_schedule_element.cell_pin.d
+ position = path_schedule_element.way_point.position
+ direction = path_schedule_element.way_point.direction
+ next_position = next_path_schedule_element.way_point.position
+ next_direction = next_path_schedule_element.way_point.direction
# add intial do nothing if we do not enter immediately
if scheduled_at > 0:
- action = ActionPlanElement(0,
- WalkingElement(
- position=None,
- direction=direction,
- next_action=RailEnvActions.DO_NOTHING))
+ action = ActionPlanElement(0, RailEnvActions.DO_NOTHING)
action_plan[agent_id].append(action)
# add action to enter the grid
- action = ActionPlanElement(scheduled_at,
- WalkingElement(
- position=None,
- direction=direction,
- next_action=RailEnvActions.MOVE_FORWARD))
+ action = ActionPlanElement(scheduled_at, RailEnvActions.MOVE_FORWARD)
action_plan[agent_id].append(action)
next_action = get_action_for_move(position,
@@ -296,9 +278,5 @@ class ActionPlanReplayer():
self.env.rail)
# now, we have a position need to perform the action
- action = ActionPlanElement(scheduled_at + 1,
- WalkingElement(
- position=position,
- direction=direction,
- next_action=next_action))
+ action = ActionPlanElement(scheduled_at + 1, next_action)
action_plan[agent_id].append(action)
diff --git a/flatland/envs/rail_env_shortest_paths.py b/flatland/envs/rail_env_shortest_paths.py
index bc7afee9..ffbd9e81 100644
--- a/flatland/envs/rail_env_shortest_paths.py
+++ b/flatland/envs/rail_env_shortest_paths.py
@@ -1,5 +1,5 @@
import math
-from typing import Dict, List, Optional, NamedTuple, Tuple, Set
+from typing import Dict, List, Optional, Tuple, Set
import matplotlib.pyplot as plt
import numpy as np
@@ -10,12 +10,9 @@ from flatland.core.transition_map import GridTransitionMap
from flatland.envs.agent_utils import RailAgentStatus
from flatland.envs.distance_map import DistanceMap
from flatland.envs.rail_env import RailEnvNextAction, RailEnvActions, RailEnv
+from flatland.envs.rail_train_run_data_structures import WayPoint
from flatland.utils.ordered_set import OrderedSet
-WalkingElement = \
- NamedTuple('WalkingElement',
- [('position', Tuple[int, int]), ('direction', int), ('next_action', Optional[RailEnvActions])])
-
def get_valid_move_actions_(agent_direction: Grid4TransitionsEnum,
agent_position: Tuple[int, int],
@@ -195,7 +192,7 @@ def get_action_for_move(
# N.B. get_shortest_paths is not part of distance_map since it refers to RailEnvActions (would lead to circularity!)
def get_shortest_paths(distance_map: DistanceMap, max_depth: Optional[int] = None, agent_handle: Optional[int] = None) \
- -> Dict[int, Optional[List[WalkingElement]]]:
+ -> Dict[int, Optional[List[WayPoint]]]:
"""
Computes the shortest path for each agent to its target and the action to be taken to do so.
The paths are derived from a `DistanceMap`.
@@ -245,8 +242,7 @@ def get_shortest_paths(distance_map: DistanceMap, max_depth: Optional[int] = Non
best_next_action = next_action
distance = next_action_distance
- shortest_paths[agent.handle].append(
- WalkingElement(position, direction, best_next_action.action if best_next_action is not None else None))
+ shortest_paths[agent.handle].append(WayPoint(position, direction))
depth += 1
# if there is no way to continue, the rail must be disconnected!
@@ -258,7 +254,7 @@ def get_shortest_paths(distance_map: DistanceMap, max_depth: Optional[int] = Non
position = best_next_action.next_position
direction = best_next_action.next_direction
if max_depth is None or depth < max_depth:
- shortest_paths[agent.handle].append(WalkingElement(position, direction, RailEnvActions.STOP_MOVING))
+ shortest_paths[agent.handle].append(WayPoint(position, direction))
if agent_handle is not None:
_shortest_path_for_agent(distance_map.agents[agent_handle])
@@ -273,7 +269,7 @@ def get_k_shortest_paths(env: RailEnv,
source_position: Tuple[int, int],
source_direction: int,
target_position=Tuple[int, int],
- k: int = 1, debug=False) -> List[Tuple[WalkingElement]]:
+ k: int = 1, debug=False) -> List[Tuple[WayPoint]]:
"""
Computes the k shortest paths using modified Dijkstra
following pseudo-code https://en.wikipedia.org/wiki/K_shortest_path_routing
@@ -300,17 +296,17 @@ def get_k_shortest_paths(env: RailEnv,
# P: set of shortest paths from s to t
# P =empty,
- shortest_paths: List[Tuple[WalkingElement]] = []
+ shortest_paths: List[Tuple[WayPoint]] = []
# countu: number of shortest paths found to node u
# countu = 0, for all u in V
count = {(r, c, d): 0 for r in range(env.height) for c in range(env.width) for d in range(4)}
# B is a heap data structure containing paths
- heap: Set[Tuple[WalkingElement]] = set()
+ heap: Set[Tuple[WayPoint]] = set()
# insert path Ps = {s} into B with cost 0
- heap.add((WalkingElement(source_position, source_direction, None),))
+ heap.add((WayPoint(source_position, source_direction),))
# while B is not empty and countt < K:
while len(heap) > 0 and len(shortest_paths) < k:
@@ -323,7 +319,7 @@ def get_k_shortest_paths(env: RailEnv,
if len(path) < c:
pu = path
c = len(path)
- u: WalkingElement = pu[-1]
+ u: WayPoint = pu[-1]
if debug:
print(" looking at pu={}".format(pu))
@@ -355,7 +351,7 @@ def get_k_shortest_paths(env: RailEnv,
if debug:
print(" looking at neighbor v={}".format((*new_position, new_direction)))
- v = WalkingElement(position=new_position, direction=new_direction, next_action=None)
+ v = WayPoint(position=new_position, direction=new_direction)
# CAVEAT: do not allow for loopy paths
if v in pu:
continue
@@ -364,25 +360,9 @@ def get_k_shortest_paths(env: RailEnv,
pv = pu + (v,)
# – insert Pv into B
heap.add(pv)
- # add actions to shortest paths
- shortest_paths_with_action = []
- for p in shortest_paths:
- p_with_action = tuple(
- WalkingElement(position=el.position,
- direction=el.direction,
- next_action=int(get_action_for_move(el.position,
- el.direction,
- p[i + 1].position,
- p[i + 1].direction,
- env.rail))) for i, el in
- enumerate(p[:-1]))
- target_walking_element = WalkingElement(position=p[-1].position,
- direction=p[-1].direction,
- next_action=int(RailEnvActions.DO_NOTHING))
- shortest_paths_with_action.append(p_with_action + (target_walking_element,))
# return P
- return shortest_paths_with_action
+ return shortest_paths
def visualize_distance_map(distance_map: DistanceMap, agent_handle: int = 0):
diff --git a/flatland/envs/rail_train_run_data_structures.py b/flatland/envs/rail_train_run_data_structures.py
new file mode 100644
index 00000000..775b183b
--- /dev/null
+++ b/flatland/envs/rail_train_run_data_structures.py
@@ -0,0 +1,13 @@
+from typing import NamedTuple, Tuple, List
+
+WayPoint = NamedTuple('WayPoint', [('position', Tuple[int, int]), ('direction', int)])
+
+
+# A train run is represented by the waypoints traversed and the times of traversal
+# The terminology follows https://github.com/crowdAI/train-schedule-optimisation-challenge-starter-kit/blob/master/documentation/output_data_model.md
+TrainRunWayPoint = NamedTuple('TrainRunWayPoint', [
+ ('scheduled_at', int),
+ ('way_point', WayPoint)
+])
+# A path schedule is the list of an agent's cell pin entries
+TrainRun = List[TrainRunWayPoint]
diff --git a/tests/test_action_plan.py b/tests/test_action_plan.py
index 876a7a87..4eeb5a49 100644
--- a/tests/test_action_plan.py
+++ b/tests/test_action_plan.py
@@ -1,15 +1,14 @@
-from flatland.action_plan.action_plan import PathScheduleElement, CellPin, ActionPlanReplayer
+from flatland.action_plan.action_plan import TrainRunWayPoint, ActionPlanReplayer, ActionPlanElement
from flatland.core.grid.grid4 import Grid4TransitionsEnum
from flatland.envs.observations import TreeObsForRailEnv
from flatland.envs.predictions import ShortestPathPredictorForRailEnv
from flatland.envs.rail_env import RailEnv, RailEnvActions
-from flatland.envs.rail_env_shortest_paths import WalkingElement
from flatland.envs.rail_generators import rail_from_grid_transition_map
+from flatland.envs.rail_train_run_data_structures import WayPoint
from flatland.envs.schedule_generators import random_schedule_generator
from flatland.utils.simple_rail import make_simple_rail
-
def test_action_plan(rendering: bool = False):
"""Tests ActionPlanReplayer: does action plan generation and replay work as expected."""
rail, rail_map = make_simple_rail()
@@ -33,52 +32,51 @@ def test_action_plan(rendering: bool = False):
for handle, agent in enumerate(env.agents):
print("[{}] {} -> {}".format(handle, agent.initial_position, agent.target))
- chosen_path_dict = {0: [PathScheduleElement(scheduled_at=0, cell_pin=CellPin(r=3, c=0, d=3)),
- PathScheduleElement(scheduled_at=2, cell_pin=CellPin(r=3, c=1, d=1)),
- PathScheduleElement(scheduled_at=3, cell_pin=CellPin(r=3, c=2, d=1)),
- PathScheduleElement(scheduled_at=14, cell_pin=CellPin(r=3, c=3, d=1)),
- PathScheduleElement(scheduled_at=15, cell_pin=CellPin(r=3, c=4, d=1)),
- PathScheduleElement(scheduled_at=16, cell_pin=CellPin(r=3, c=5, d=1)),
- PathScheduleElement(scheduled_at=17, cell_pin=CellPin(r=3, c=6, d=1)),
- PathScheduleElement(scheduled_at=18, cell_pin=CellPin(r=3, c=7, d=1)),
- PathScheduleElement(scheduled_at=19, cell_pin=CellPin(r=3, c=8, d=1)),
- PathScheduleElement(scheduled_at=20, cell_pin=CellPin(r=3, c=8, d=5))],
- 1: [PathScheduleElement(scheduled_at=0, cell_pin=CellPin(r=3, c=8, d=3)),
- PathScheduleElement(scheduled_at=3, cell_pin=CellPin(r=3, c=7, d=3)),
- PathScheduleElement(scheduled_at=5, cell_pin=CellPin(r=3, c=6, d=3)),
- PathScheduleElement(scheduled_at=7, cell_pin=CellPin(r=3, c=5, d=3)),
- PathScheduleElement(scheduled_at=9, cell_pin=CellPin(r=3, c=4, d=3)),
- PathScheduleElement(scheduled_at=11, cell_pin=CellPin(r=3, c=3, d=3)),
- PathScheduleElement(scheduled_at=13, cell_pin=CellPin(r=2, c=3, d=0)),
- PathScheduleElement(scheduled_at=15, cell_pin=CellPin(r=1, c=3, d=0)),
- PathScheduleElement(scheduled_at=17, cell_pin=CellPin(r=0, c=3, d=0)),
- PathScheduleElement(scheduled_at=18, cell_pin=CellPin(r=0, c=3, d=5))]}
+ chosen_path_dict = {0: [TrainRunWayPoint(scheduled_at=0, way_point=WayPoint(position=(3, 0), direction=3)),
+ TrainRunWayPoint(scheduled_at=2, way_point=WayPoint(position=(3, 1), direction=1)),
+ TrainRunWayPoint(scheduled_at=3, way_point=WayPoint(position=(3, 2), direction=1)),
+ TrainRunWayPoint(scheduled_at=14, way_point=WayPoint(position=(3, 3), direction=1)),
+ TrainRunWayPoint(scheduled_at=15, way_point=WayPoint(position=(3, 4), direction=1)),
+ TrainRunWayPoint(scheduled_at=16, way_point=WayPoint(position=(3, 5), direction=1)),
+ TrainRunWayPoint(scheduled_at=17, way_point=WayPoint(position=(3, 6), direction=1)),
+ TrainRunWayPoint(scheduled_at=18, way_point=WayPoint(position=(3, 7), direction=1)),
+ TrainRunWayPoint(scheduled_at=19, way_point=WayPoint(position=(3, 8), direction=1)),
+ TrainRunWayPoint(scheduled_at=20, way_point=WayPoint(position=(3, 8), direction=5))],
+ 1: [TrainRunWayPoint(scheduled_at=0, way_point=WayPoint(position=(3, 8), direction=3)),
+ TrainRunWayPoint(scheduled_at=3, way_point=WayPoint(position=(3, 7), direction=3)),
+ TrainRunWayPoint(scheduled_at=5, way_point=WayPoint(position=(3, 6), direction=3)),
+ TrainRunWayPoint(scheduled_at=7, way_point=WayPoint(position=(3, 5), direction=3)),
+ TrainRunWayPoint(scheduled_at=9, way_point=WayPoint(position=(3, 4), direction=3)),
+ TrainRunWayPoint(scheduled_at=11, way_point=WayPoint(position=(3, 3), direction=3)),
+ TrainRunWayPoint(scheduled_at=13, way_point=WayPoint(position=(2, 3), direction=0)),
+ TrainRunWayPoint(scheduled_at=15, way_point=WayPoint(position=(1, 3), direction=0)),
+ TrainRunWayPoint(scheduled_at=17, way_point=WayPoint(position=(0, 3), direction=0))]}
expected_action_plan = [[
# take action to enter the grid
- (0, WalkingElement(position=None, direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
+ ActionPlanElement(0, RailEnvActions.MOVE_FORWARD),
# take action to enter the cell properly
- (1, WalkingElement(position=(3, 0), direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
- (2, WalkingElement(position=(3, 1), direction=1, next_action=RailEnvActions.MOVE_FORWARD)),
- (3, WalkingElement(position=(3, 2), direction=1, next_action=RailEnvActions.STOP_MOVING)),
- (13, WalkingElement(position=(3, 2), direction=1, next_action=RailEnvActions.MOVE_FORWARD)),
- (14, WalkingElement(position=(3, 3), direction=1, next_action=RailEnvActions.MOVE_FORWARD)),
- (15, WalkingElement(position=(3, 4), direction=1, next_action=RailEnvActions.MOVE_FORWARD)),
- (16, WalkingElement(position=(3, 5), direction=1, next_action=RailEnvActions.MOVE_FORWARD)),
- (17, WalkingElement(position=(3, 6), direction=1, next_action=RailEnvActions.MOVE_FORWARD)),
- (18, WalkingElement(position=(3, 7), direction=1, next_action=RailEnvActions.MOVE_FORWARD)),
- (19, WalkingElement(position=None, direction=1, next_action=RailEnvActions.STOP_MOVING))
+ ActionPlanElement(1, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(2, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(3, RailEnvActions.STOP_MOVING),
+ ActionPlanElement(13, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(14, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(15, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(16, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(17, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(18, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(19, RailEnvActions.STOP_MOVING)
], [
- (0, WalkingElement(position=None, direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
- (1, WalkingElement(position=(3, 8), direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
- (3, WalkingElement(position=(3, 7), direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
- (5, WalkingElement(position=(3, 6), direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
- (7, WalkingElement(position=(3, 5), direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
- (9, WalkingElement(position=(3, 4), direction=3, next_action=RailEnvActions.MOVE_FORWARD)),
- (11, WalkingElement(position=(3, 3), direction=3, next_action=RailEnvActions.MOVE_RIGHT)),
- (13, WalkingElement(position=(2, 3), direction=0, next_action=RailEnvActions.MOVE_FORWARD)),
- (15, WalkingElement(position=(1, 3), direction=0, next_action=RailEnvActions.MOVE_FORWARD)),
- (17, WalkingElement(position=None, direction=0, next_action=RailEnvActions.STOP_MOVING)),
+ ActionPlanElement(0, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(1, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(3, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(5, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(7, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(9, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(11, RailEnvActions.MOVE_RIGHT),
+ ActionPlanElement(13, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(15, RailEnvActions.MOVE_FORWARD),
+ ActionPlanElement(17, RailEnvActions.STOP_MOVING),
]]
diff --git a/tests/test_flatland_envs_predictions.py b/tests/test_flatland_envs_predictions.py
index f2084ac3..5b8c385e 100644
--- a/tests/test_flatland_envs_predictions.py
+++ b/tests/test_flatland_envs_predictions.py
@@ -9,8 +9,9 @@ from flatland.envs.agent_utils import RailAgentStatus
from flatland.envs.observations import TreeObsForRailEnv
from flatland.envs.predictions import DummyPredictorForRailEnv, ShortestPathPredictorForRailEnv
from flatland.envs.rail_env import RailEnv, RailEnvActions
-from flatland.envs.rail_env_shortest_paths import get_shortest_paths, WalkingElement
+from flatland.envs.rail_env_shortest_paths import get_shortest_paths
from flatland.envs.rail_generators import rail_from_grid_transition_map
+from flatland.envs.rail_train_run_data_structures import WayPoint
from flatland.envs.schedule_generators import random_schedule_generator
from flatland.utils.rendertools import RenderTool
from flatland.utils.simple_rail import make_simple_rail, make_simple_rail2, make_invalid_simple_rail
@@ -146,12 +147,12 @@ def test_shortest_path_predictor(rendering=False):
paths = get_shortest_paths(env.distance_map)[0]
assert paths == [
- WalkingElement((5, 6), 0, RailEnvActions.MOVE_FORWARD),
- WalkingElement((4, 6), 0, RailEnvActions.MOVE_FORWARD),
- WalkingElement((3, 6), 0, RailEnvActions.MOVE_FORWARD),
- WalkingElement((3, 7), 1, RailEnvActions.MOVE_FORWARD),
- WalkingElement((3, 8), 1, RailEnvActions.MOVE_FORWARD),
- WalkingElement((3, 9), 1, RailEnvActions.STOP_MOVING)
+ WayPoint((5, 6), 0),
+ WayPoint((4, 6), 0),
+ WayPoint((3, 6), 0),
+ WayPoint((3, 7), 1),
+ WayPoint((3, 8), 1),
+ WayPoint((3, 9), 1)
]
# extract the data
diff --git a/tests/test_flatland_envs_rail_env_shortest_paths.py b/tests/test_flatland_envs_rail_env_shortest_paths.py
index 0d0927f5..5f17bb3d 100644
--- a/tests/test_flatland_envs_rail_env_shortest_paths.py
+++ b/tests/test_flatland_envs_rail_env_shortest_paths.py
@@ -5,10 +5,11 @@ import numpy as np
from flatland.core.grid.grid4 import Grid4TransitionsEnum
from flatland.envs.observations import TreeObsForRailEnv
from flatland.envs.predictions import DummyPredictorForRailEnv
-from flatland.envs.rail_env import RailEnvActions, RailEnv
-from flatland.envs.rail_env_shortest_paths import get_shortest_paths, WalkingElement, get_k_shortest_paths
+from flatland.envs.rail_env import RailEnv
+from flatland.envs.rail_env_shortest_paths import get_shortest_paths, get_k_shortest_paths
from flatland.envs.rail_env_utils import load_flatland_environment_from_file
from flatland.envs.rail_generators import rail_from_grid_transition_map
+from flatland.envs.rail_train_run_data_structures import WayPoint
from flatland.envs.schedule_generators import random_schedule_generator
from flatland.utils.rendertools import RenderTool
from flatland.utils.simple_rail import make_disconnected_simple_rail, make_simple_rail_with_alternatives
@@ -47,45 +48,45 @@ def test_get_shortest_paths():
expected = {
0: [
- WalkingElement(position=(1, 1), direction=1, next_action=RailEnvActions.MOVE_FORWARD, ),
- WalkingElement(position=(1, 2), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(1, 3), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 3), direction=2, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 4), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 5), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 6), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 7), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 8), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 9), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 10), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 11), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 12), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 13), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 14), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 15), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 16), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 17), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 18), direction=1, next_action=RailEnvActions.STOP_MOVING)],
+ WayPoint(position=(1, 1), direction=1),
+ WayPoint(position=(1, 2), direction=1),
+ WayPoint(position=(1, 3), direction=1),
+ WayPoint(position=(2, 3), direction=2),
+ WayPoint(position=(2, 4), direction=1),
+ WayPoint(position=(2, 5), direction=1),
+ WayPoint(position=(2, 6), direction=1),
+ WayPoint(position=(2, 7), direction=1),
+ WayPoint(position=(2, 8), direction=1),
+ WayPoint(position=(2, 9), direction=1),
+ WayPoint(position=(2, 10), direction=1),
+ WayPoint(position=(2, 11), direction=1),
+ WayPoint(position=(2, 12), direction=1),
+ WayPoint(position=(2, 13), direction=1),
+ WayPoint(position=(2, 14), direction=1),
+ WayPoint(position=(2, 15), direction=1),
+ WayPoint(position=(2, 16), direction=1),
+ WayPoint(position=(2, 17), direction=1),
+ WayPoint(position=(2, 18), direction=1)],
1: [
- WalkingElement(position=(3, 18), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(3, 17), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(3, 16), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 16), direction=0, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 15), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 14), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 13), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 12), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 11), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 10), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 9), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 8), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 7), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 6), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 5), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 4), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 3), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 2), direction=3, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 1), direction=3, next_action=RailEnvActions.STOP_MOVING)]
+ WayPoint(position=(3, 18), direction=3),
+ WayPoint(position=(3, 17), direction=3),
+ WayPoint(position=(3, 16), direction=3),
+ WayPoint(position=(2, 16), direction=0),
+ WayPoint(position=(2, 15), direction=3),
+ WayPoint(position=(2, 14), direction=3),
+ WayPoint(position=(2, 13), direction=3),
+ WayPoint(position=(2, 12), direction=3),
+ WayPoint(position=(2, 11), direction=3),
+ WayPoint(position=(2, 10), direction=3),
+ WayPoint(position=(2, 9), direction=3),
+ WayPoint(position=(2, 8), direction=3),
+ WayPoint(position=(2, 7), direction=3),
+ WayPoint(position=(2, 6), direction=3),
+ WayPoint(position=(2, 5), direction=3),
+ WayPoint(position=(2, 4), direction=3),
+ WayPoint(position=(2, 3), direction=3),
+ WayPoint(position=(2, 2), direction=3),
+ WayPoint(position=(2, 1), direction=3)]
}
for agent_handle in expected:
@@ -102,16 +103,12 @@ def test_get_shortest_paths_max_depth():
expected = {
0: [
- WalkingElement(position=(1, 1), direction=1,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(1, 2), direction=1,
- next_action=RailEnvActions.MOVE_FORWARD)
+ WayPoint(position=(1, 1), direction=1),
+ WayPoint(position=(1, 2), direction=1)
],
1: [
- WalkingElement(position=(3, 18), direction=3,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(3, 17), direction=3,
- next_action=RailEnvActions.MOVE_FORWARD),
+ WayPoint(position=(3, 18), direction=3),
+ WayPoint(position=(3, 17), direction=3),
]
}
@@ -130,114 +127,79 @@ def test_get_shortest_paths_agent_handle():
print(actual, file=sys.stderr)
expected = {6:
- [WalkingElement(position=(5, 5),
- direction=0,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(4, 5),
- direction=0,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(3, 5),
- direction=0,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 5),
- direction=0,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(1, 5),
- direction=0,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(0, 5),
- direction=0,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(0, 6),
- direction=1,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(0, 7), direction=1, next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(0, 8),
- direction=1,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(0, 9),
- direction=1,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(0, 10),
- direction=1,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(1, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(2, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(3, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(4, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(5, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(6, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(7, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(8, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(9, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(10, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(11, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(12, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(13, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(14, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(15, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(16, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(17, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(18, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(19, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(20, 10),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(20, 9),
- direction=3,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(20, 8),
- direction=3, next_action=RailEnvActions.MOVE_LEFT),
- WalkingElement(position=(21, 8),
- direction=2,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(21, 7),
- direction=3,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(21, 6),
- direction=3,
- next_action=RailEnvActions.MOVE_FORWARD),
- WalkingElement(position=(21, 5),
- direction=3,
- next_action=RailEnvActions.STOP_MOVING)
+ [WayPoint(position=(5, 5),
+ direction=0),
+ WayPoint(position=(4, 5),
+ direction=0),
+ WayPoint(position=(3, 5),
+ direction=0),
+ WayPoint(position=(2, 5),
+ direction=0),
+ WayPoint(position=(1, 5),
+ direction=0),
+ WayPoint(position=(0, 5),
+ direction=0),
+ WayPoint(position=(0, 6),
+ direction=1),
+ WayPoint(position=(0, 7), direction=1),
+ WayPoint(position=(0, 8),
+ direction=1),
+ WayPoint(position=(0, 9),
+ direction=1),
+ WayPoint(position=(0, 10),
+ direction=1),
+ WayPoint(position=(1, 10),
+ direction=2),
+ WayPoint(position=(2, 10),
+ direction=2),
+ WayPoint(position=(3, 10),
+ direction=2),
+ WayPoint(position=(4, 10),
+ direction=2),
+ WayPoint(position=(5, 10),
+ direction=2),
+ WayPoint(position=(6, 10),
+ direction=2),
+ WayPoint(position=(7, 10),
+ direction=2),
+ WayPoint(position=(8, 10),
+ direction=2),
+ WayPoint(position=(9, 10),
+ direction=2),
+ WayPoint(position=(10, 10),
+ direction=2),
+ WayPoint(position=(11, 10),
+ direction=2),
+ WayPoint(position=(12, 10),
+ direction=2),
+ WayPoint(position=(13, 10),
+ direction=2),
+ WayPoint(position=(14, 10),
+ direction=2),
+ WayPoint(position=(15, 10),
+ direction=2),
+ WayPoint(position=(16, 10),
+ direction=2),
+ WayPoint(position=(17, 10),
+ direction=2),
+ WayPoint(position=(18, 10),
+ direction=2),
+ WayPoint(position=(19, 10),
+ direction=2),
+ WayPoint(position=(20, 10),
+ direction=2),
+ WayPoint(position=(20, 9),
+ direction=3),
+ WayPoint(position=(20, 8),
+ direction=3),
+ WayPoint(position=(21, 8),
+ direction=2),
+ WayPoint(position=(21, 7),
+ direction=3),
+ WayPoint(position=(21, 6),
+ direction=3),
+ WayPoint(position=(21, 5),
+ direction=3)
]}
for agent_handle in expected:
@@ -285,41 +247,41 @@ def test_get_k_shortest_paths(rendering=False):
expected = set([
(
- WalkingElement(position=(3, 1), direction=3, next_action=2),
- WalkingElement(position=(3, 0), direction=3, next_action=2),
- WalkingElement(position=(3, 1), direction=1, next_action=2),
- WalkingElement(position=(3, 2), direction=1, next_action=2),
- WalkingElement(position=(3, 3), direction=1, next_action=1),
- WalkingElement(position=(2, 3), direction=0, next_action=2),
- WalkingElement(position=(1, 3), direction=0, next_action=2),
- WalkingElement(position=(0, 3), direction=0, next_action=2),
- WalkingElement(position=(0, 4), direction=1, next_action=2),
- WalkingElement(position=(0, 5), direction=1, next_action=2),
- WalkingElement(position=(0, 6), direction=1, next_action=2),
- WalkingElement(position=(0, 7), direction=1, next_action=2),
- WalkingElement(position=(0, 8), direction=1, next_action=2),
- WalkingElement(position=(0, 9), direction=1, next_action=2),
- WalkingElement(position=(1, 9), direction=2, next_action=2),
- WalkingElement(position=(2, 9), direction=2, next_action=2),
- WalkingElement(position=(3, 9), direction=2, next_action=0)),
+ WayPoint(position=(3, 1), direction=3),
+ WayPoint(position=(3, 0), direction=3),
+ WayPoint(position=(3, 1), direction=1),
+ WayPoint(position=(3, 2), direction=1),
+ WayPoint(position=(3, 3), direction=1),
+ WayPoint(position=(2, 3), direction=0),
+ WayPoint(position=(1, 3), direction=0),
+ WayPoint(position=(0, 3), direction=0),
+ WayPoint(position=(0, 4), direction=1),
+ WayPoint(position=(0, 5), direction=1),
+ WayPoint(position=(0, 6), direction=1),
+ WayPoint(position=(0, 7), direction=1),
+ WayPoint(position=(0, 8), direction=1),
+ WayPoint(position=(0, 9), direction=1),
+ WayPoint(position=(1, 9), direction=2),
+ WayPoint(position=(2, 9), direction=2),
+ WayPoint(position=(3, 9), direction=2)),
(
- WalkingElement(position=(3, 1), direction=3, next_action=2),
- WalkingElement(position=(3, 0), direction=3, next_action=2),
- WalkingElement(position=(3, 1), direction=1, next_action=2),
- WalkingElement(position=(3, 2), direction=1, next_action=2),
- WalkingElement(position=(3, 3), direction=1, next_action=2),
- WalkingElement(position=(3, 4), direction=1, next_action=2),
- WalkingElement(position=(3, 5), direction=1, next_action=2),
- WalkingElement(position=(3, 6), direction=1, next_action=2),
- WalkingElement(position=(4, 6), direction=2, next_action=2),
- WalkingElement(position=(5, 6), direction=2, next_action=2),
- WalkingElement(position=(6, 6), direction=2, next_action=2),
- WalkingElement(position=(5, 6), direction=0, next_action=2),
- WalkingElement(position=(4, 6), direction=0, next_action=3),
- WalkingElement(position=(4, 7), direction=1, next_action=2),
- WalkingElement(position=(4, 8), direction=1, next_action=2),
- WalkingElement(position=(4, 9), direction=1, next_action=2),
- WalkingElement(position=(3, 9), direction=0, next_action=0))
+ WayPoint(position=(3, 1), direction=3),
+ WayPoint(position=(3, 0), direction=3),
+ WayPoint(position=(3, 1), direction=1),
+ WayPoint(position=(3, 2), direction=1),
+ WayPoint(position=(3, 3), direction=1),
+ WayPoint(position=(3, 4), direction=1),
+ WayPoint(position=(3, 5), direction=1),
+ WayPoint(position=(3, 6), direction=1),
+ WayPoint(position=(4, 6), direction=2),
+ WayPoint(position=(5, 6), direction=2),
+ WayPoint(position=(6, 6), direction=2),
+ WayPoint(position=(5, 6), direction=0),
+ WayPoint(position=(4, 6), direction=0),
+ WayPoint(position=(4, 7), direction=1),
+ WayPoint(position=(4, 8), direction=1),
+ WayPoint(position=(4, 9), direction=1),
+ WayPoint(position=(3, 9), direction=0))
])
assert actual == expected, "actual={},expected={}".format(actual, expected)
--
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