From 0a151b327ec4894366491dfce1f16e5725a25465 Mon Sep 17 00:00:00 2001
From: hagrid67 <jdhwatson@gmail.com>
Date: Wed, 1 May 2019 20:16:19 +0100
Subject: [PATCH] split up rail_env.py into rail_env, generators and
env_utils.py
---
examples/play_model.py | 3 +-
flatland/envs/rail_env.py | 733 +-------------------------
flatland/utils/editor.py | 24 +-
tests/test_env_observation_builder.py | 3 +-
tests/test_environments.py | 4 +-
tests/test_transitions.py | 3 +-
6 files changed, 27 insertions(+), 743 deletions(-)
diff --git a/examples/play_model.py b/examples/play_model.py
index 1f654c1..e6e81c9 100644
--- a/examples/play_model.py
+++ b/examples/play_model.py
@@ -1,4 +1,5 @@
-from flatland.envs.rail_env import RailEnv, complex_rail_generator
+from flatland.envs.rail_env import RailEnv
+from flatland.envs.generators import complex_rail_generator
# from flatland.core.env_observation_builder import TreeObsForRailEnv
from flatland.utils.rendertools import RenderTool
from flatland.baselines.dueling_double_dqn import Agent
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 8969af3..eb8786c 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -8,737 +8,10 @@ import numpy as np
from flatland.core.env import Environment
from flatland.core.env_observation_builder import TreeObsForRailEnv
+from flatland.envs.generators import random_rail_generator
-from flatland.core.transitions import Grid8Transitions, RailEnvTransitions
-from flatland.core.transition_map import GridTransitionMap
-
-
-class AStarNode():
- """A node class for A* Pathfinding"""
-
- def __init__(self, parent=None, pos=None):
- self.parent = parent
- self.pos = pos
- self.g = 0
- self.h = 0
- self.f = 0
-
- def __eq__(self, other):
- return self.pos == other.pos
-
- def update_if_better(self, other):
- if other.g < self.g:
- self.parent = other.parent
- self.g = other.g
- self.h = other.h
- self.f = other.f
-
-
-def get_direction(pos1, pos2):
- """
- Assumes pos1 and pos2 are adjacent location on grid.
- Returns direction (int) that can be used with transitions.
- """
- diff_0 = pos2[0] - pos1[0]
- diff_1 = pos2[1] - pos1[1]
- if diff_0 < 0:
- return 0
- if diff_0 > 0:
- return 2
- if diff_1 > 0:
- return 1
- if diff_1 < 0:
- return 3
- return 0
-
-
-def mirror(dir):
- return (dir + 2) % 4
-
-
-def validate_new_transition(rail_trans, rail_array, prev_pos, current_pos, new_pos, end_pos):
- # start by getting direction used to get to current node
- # and direction from current node to possible child node
- new_dir = get_direction(current_pos, new_pos)
- if prev_pos is not None:
- current_dir = get_direction(prev_pos, current_pos)
- else:
- current_dir = new_dir
- # create new transition that would go to child
- new_trans = rail_array[current_pos]
- if prev_pos is None:
- if new_trans == 0:
- # need to flip direction because of how end points are defined
- new_trans = rail_trans.set_transition(new_trans, mirror(current_dir), new_dir, 1)
- else:
- # check if matches existing layout
- new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
- # new_trans = rail_trans.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
- # rail_trans.print(new_trans)
- else:
- # set the forward path
- new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
- # set the backwards path
- new_trans = rail_trans.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
- if new_pos == end_pos:
- # need to validate end pos setup as well
- new_trans_e = rail_array[end_pos]
- if new_trans_e == 0:
- # need to flip direction because of how end points are defined
- new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, mirror(new_dir), 1)
- else:
- # check if matches existing layout
- new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, new_dir, 1)
- # new_trans_e = rail_trans.set_transition(new_trans_e, mirror(new_dir), mirror(new_dir), 1)
- # print("end:", end_pos, current_pos)
- # rail_trans.print(new_trans_e)
-
- # print("========> end trans")
- # rail_trans.print(new_trans_e)
- if not rail_trans.is_valid(new_trans_e):
- # print("end failed", end_pos, current_pos)
- return False
- # else:
- # print("end ok!", end_pos, current_pos)
-
- # is transition is valid?
- # print("=======> trans")
- # rail_trans.print(new_trans)
- return rail_trans.is_valid(new_trans)
-
-
-def a_star(rail_trans, rail_array, start, end):
- """
- Returns a list of tuples as a path from the given start to end.
- If no path is found, returns path to closest point to end.
- """
- rail_shape = rail_array.shape
- start_node = AStarNode(None, start)
- end_node = AStarNode(None, end)
- open_list = []
- closed_list = []
-
- open_list.append(start_node)
-
- # this could be optimized
- def is_node_in_list(node, the_list):
- for o_node in the_list:
- if node == o_node:
- return o_node
- return None
-
- while len(open_list) > 0:
- # get node with current shortest est. path (lowest f)
- current_node = open_list[0]
- current_index = 0
- for index, item in enumerate(open_list):
- if item.f < current_node.f:
- current_node = item
- current_index = index
-
- # pop current off open list, add to closed list
- open_list.pop(current_index)
- closed_list.append(current_node)
-
- # print("a*:", current_node.pos)
- # for cn in closed_list:
- # print("closed:", cn.pos)
-
- # found the goal
- if current_node == end_node:
- path = []
- current = current_node
- while current is not None:
- path.append(current.pos)
- current = current.parent
- # return reversed path
- return path[::-1]
-
- # generate children
- children = []
- if current_node.parent is not None:
- prev_pos = current_node.parent.pos
- else:
- prev_pos = None
- 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:
- continue
-
- # validate positions
- # debug: avoid all current rails
- # if rail_array.item(node_pos) != 0:
- # continue
-
- # validate positions
- if not validate_new_transition(rail_trans, rail_array, prev_pos, current_node.pos, node_pos, end_node.pos):
- # print("A*: transition invalid")
- continue
-
- # create new node
- new_node = AStarNode(current_node, node_pos)
- children.append(new_node)
-
- # loop through children
- for child in children:
- # already in closed list?
- closed_node = is_node_in_list(child, closed_list)
- if closed_node is not None:
- continue
-
- # create the f, g, and h values
- child.g = current_node.g + 1
- # this heuristic favors diagonal paths
- # child.h = ((child.pos[0] - end_node.pos[0]) ** 2) + \
- # ((child.pos[1] - end_node.pos[1]) ** 2)
- # this heuristic avoids diagonal paths
- child.h = abs(child.pos[0] - end_node.pos[0]) + abs(child.pos[1] - end_node.pos[1])
- child.f = child.g + child.h
-
- # already in the open list?
- open_node = is_node_in_list(child, open_list)
- if open_node is not None:
- open_node.update_if_better(child)
- continue
-
- # add the child to the open list
- open_list.append(child)
-
- # no full path found, return partial path
- if len(open_list) == 0:
- path = []
- current = current_node
- while current is not None:
- path.append(current.pos)
- current = current.parent
- # return reversed path
- print("partial:", start, end, path[::-1])
- return path[::-1]
-
-
-def connect_rail(rail_trans, rail_array, start, end):
- """
- Creates a new path [start,end] in rail_array, based on rail_trans.
- """
- # in the worst case we will need to do a A* search, so we might as well set that up
- path = a_star(rail_trans, rail_array, start, end)
- # print("connecting path", path)
- if len(path) < 2:
- return
- current_dir = get_direction(path[0], path[1])
- end_pos = path[-1]
- for index in range(len(path) - 1):
- current_pos = path[index]
- new_pos = path[index + 1]
- new_dir = get_direction(current_pos, new_pos)
-
- new_trans = rail_array[current_pos]
- if index == 0:
- if new_trans == 0:
- # end-point
- # need to flip direction because of how end points are defined
- new_trans = rail_trans.set_transition(new_trans, mirror(current_dir), new_dir, 1)
- else:
- # into existing rail
- new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
- # new_trans = rail_trans.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
- pass
- else:
- # set the forward path
- new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
- # set the backwards path
- new_trans = rail_trans.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
- rail_array[current_pos] = new_trans
-
- if new_pos == end_pos:
- # setup end pos setup
- new_trans_e = rail_array[end_pos]
- if new_trans_e == 0:
- # end-point
- new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, mirror(new_dir), 1)
- else:
- # into existing rail
- new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, new_dir, 1)
- # new_trans_e = rail_trans.set_transition(new_trans_e, mirror(new_dir), mirror(new_dir), 1)
- rail_array[end_pos] = new_trans_e
-
- current_dir = new_dir
-
-
-def distance_on_rail(pos1, pos2):
- return abs(pos1[0] - pos2[0]) + abs(pos1[1] - pos2[1])
-
-
-def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
- """
- Parameters
- -------
- width : int
- The width (number of cells) of the grid to generate.
- height : int
- The height (number of cells) of the grid to generate.
-
- Returns
- -------
- numpy.ndarray of type numpy.uint16
- The matrix with the correct 16-bit bitmaps for each cell.
- """
-
- def generator(width, height, num_resets=0):
- rail_trans = RailEnvTransitions()
- rail_array = np.zeros(shape=(width, height), dtype=np.uint16)
-
- np.random.seed(seed + num_resets)
-
- # generate rail array
- # step 1:
- # - generate a list of start and goal positions
- # - use a min/max distance allowed as input for this
- # - validate that start/goals are not placed too close to other start/goals
- #
- # step 2: (optional)
- # - place random elements on rails array
- # - for instance "train station", etc.
- #
- # step 3:
- # - iterate over all [start, goal] pairs:
- # - [first X pairs]
- # - draw a rail from [start,goal]
- # - draw either vertical or horizontal part first (randomly)
- # - if rail crosses existing rail then validate new connection
- # - if new connection is invalid turn 90 degrees to left/right
- # - possibility that this fails to create a path to goal
- # - on failure goto step1 and retry with seed+1
- # - [avoid crossing other start,goal positions] (optional)
- #
- # - [after X pairs]
- # - find closest rail from start (Pa)
- # - iterating outwards in a "circle" from start until an existing rail cell is hit
- # - connect [start, Pa]
- # - validate crossing rails
- # - Do A* from Pa to find closest point on rail (Pb) to goal point
- # - Basically normal A* but find point on rail which is closest to goal
- # - since full path to goal is unlikely
- # - connect [Pb, goal]
- # - validate crossing rails
- #
- # step 4: (optional)
- # - add more rails to map randomly
- #
- # step 5:
- # - return transition map + list of [start, goal] points
- #
-
- start_goal = []
- for _ in range(nr_start_goal):
- sanity_max = 9000
- for _ in range(sanity_max):
- start = (np.random.randint(0, width), np.random.randint(0, height))
- goal = (np.random.randint(0, height), np.random.randint(0, height))
- # check to make sure start,goal pos is empty?
- if rail_array[goal] != 0 or rail_array[start] != 0:
- continue
- # check min/max distance
- dist_sg = distance_on_rail(start, goal)
- if dist_sg < min_dist:
- continue
- if dist_sg > max_dist:
- continue
- # check distance to existing points
- sg_new = [start, goal]
-
- def check_all_dist(sg_new):
- for sg in start_goal:
- for i in range(2):
- for j in range(2):
- dist = distance_on_rail(sg_new[i], sg[j])
- if dist < 2:
- # print("too close:", dist, sg_new[i], sg[j])
- return False
- return True
-
- if check_all_dist(sg_new):
- break
- start_goal.append([start, goal])
- connect_rail(rail_trans, rail_array, start, goal)
-
- print("Created #", len(start_goal), "pairs")
- # print(start_goal)
-
- return_rail = GridTransitionMap(width=width, height=height, transitions=rail_trans)
- return_rail.grid = rail_array
- # TODO: return start_goal
- return return_rail
-
- return generator
-
-
-def rail_from_manual_specifications_generator(rail_spec):
- """
- Utility to convert a rail given by manual specification as a map of tuples
- (cell_type, rotation), to a transition map with the correct 16-bit
- transitions specifications.
-
- Parameters
- -------
- rail_spec : list of list of tuples
- List (rows) of lists (columns) of tuples, each specifying a cell for
- the RailEnv environment as (cell_type, rotation), with rotation being
- clock-wise and in [0, 90, 180, 270].
-
- Returns
- -------
- function
- Generator function that always returns a GridTransitionMap object with
- the matrix of correct 16-bit bitmaps for each cell.
- """
-
- def generator(width, height, num_resets=0):
- t_utils = RailEnvTransitions()
-
- height = len(rail_spec)
- width = len(rail_spec[0])
- rail = GridTransitionMap(width=width, height=height, transitions=t_utils)
-
- for r in range(height):
- for c in range(width):
- cell = rail_spec[r][c]
- if cell[0] < 0 or cell[0] >= len(t_utils.transitions):
- print("ERROR - invalid cell type=", cell[0])
- return []
- rail.set_transitions((r, c), t_utils.rotate_transition(t_utils.transitions[cell[0]], cell[1]))
-
- return rail
-
- return generator
-
-
-def rail_from_GridTransitionMap_generator(rail_map):
- """
- Utility to convert a rail given by a GridTransitionMap map with the correct
- 16-bit transitions specifications.
-
- Parameters
- -------
- rail_map : GridTransitionMap object
- GridTransitionMap object to return when the generator is called.
-
- Returns
- -------
- function
- Generator function that always returns the given `rail_map' object.
- """
-
- def generator(width, height, num_resets=0):
- return rail_map
-
- return generator
-
-
-def rail_from_list_of_saved_GridTransitionMap_generator(list_of_filenames):
- """
- Utility to sequentially and cyclically return GridTransitionMap-s from a list of files, on each environment reset.
-
- Parameters
- -------
- list_of_filenames : list
- List of filenames with the saved grids to load.
-
- Returns
- -------
- function
- Generator function that always returns the given `rail_map' object.
- """
-
- def generator(width, height, num_resets=0):
- t_utils = RailEnvTransitions()
- rail_map = GridTransitionMap(width=width, height=height, transitions=t_utils)
- rail_map.load_transition_map(list_of_filenames[num_resets % len(list_of_filenames)], override_gridsize=False)
-
- if rail_map.grid.dtype == np.uint64:
- rail_map.transitions = Grid8Transitions()
-
- return rail_map
-
- return generator
-
-
-"""
-def generate_rail_from_list_of_manual_specifications(list_of_specifications)
- def generator(width, height, num_resets=0):
- return generate_rail_from_manual_specifications(list_of_specifications)
-
- return generator
-"""
-
-
-def random_rail_generator(cell_type_relative_proportion=[1.0] * 8):
- """
- Dummy random level generator:
- - fill in cells at random in [width-2, height-2]
- - keep filling cells in among the unfilled ones, such that all transitions
- are legit; if no cell can be filled in without violating some
- transitions, pick one among those that can satisfy most transitions
- (1,2,3 or 4), and delete (+mark to be re-filled) the cells that were
- incompatible.
- - keep trying for a total number of insertions
- (e.g., (W-2)*(H-2)*MAX_REPETITIONS ); if no solution is found, empty the
- board and try again from scratch.
- - finally pad the border of the map with dead-ends to avoid border issues.
-
- Dead-ends are not allowed inside the grid, only at the border; however, if
- no cell type can be inserted in a given cell (because of the neighboring
- transitions), deadends are allowed if they solve the problem. This was
- found to turn most un-genereatable levels into valid ones.
-
- Parameters
- -------
- width : int
- The width (number of cells) of the grid to generate.
- height : int
- The height (number of cells) of the grid to generate.
-
- Returns
- -------
- numpy.ndarray of type numpy.uint16
- The matrix with the correct 16-bit bitmaps for each cell.
- """
-
- def generator(width, height, num_resets=0):
- t_utils = RailEnvTransitions()
-
- transition_probability = cell_type_relative_proportion
-
- transitions_templates_ = []
- transition_probabilities = []
- 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_)
- all_transitions |= (trans[0] << 3) | \
- (trans[1] << 2) | \
- (trans[2] << 1) | \
- (trans[3])
-
- template = [int(x) for x in bin(all_transitions)[2:]]
- template = [0] * (4 - len(template)) + template
-
- # add all rotations
- for rot in [0, 90, 180, 270]:
- transitions_templates_.append((template,
- t_utils.rotate_transition(
- t_utils.transitions[i],
- rot)))
- transition_probabilities.append(transition_probability[i])
- template = [template[-1]] + template[:-1]
-
- def get_matching_templates(template):
- ret = []
- 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]:
- is_match = False
- break
- if is_match:
- ret.append((transitions_templates_[i][1], transition_probabilities[i]))
- return ret
-
- MAX_INSERTIONS = (width - 2) * (height - 2) * 10
- MAX_ATTEMPTS_FROM_SCRATCH = 10
-
- attempt_number = 0
- while attempt_number < MAX_ATTEMPTS_FROM_SCRATCH:
- cells_to_fill = []
- rail = []
- for r in range(height):
- rail.append([None] * width)
- if r > 0 and r < height - 1:
- cells_to_fill = cells_to_fill + [(r, c) for c in range(1, width - 1)]
-
- num_insertions = 0
- while num_insertions < MAX_INSERTIONS and len(cells_to_fill) > 0:
- # cell = random.sample(cells_to_fill, 1)[0]
- cell = cells_to_fill[np.random.choice(len(cells_to_fill), 1)[0]]
- cells_to_fill.remove(cell)
- row = cell[0]
- col = cell[1]
-
- # look at its neighbors and see what are the possible transitions
- # that can be chosen from, if any.
- valid_template = [-1, -1, -1, -1]
-
- for el in [(0, 2, (-1, 0)),
- (1, 3, (0, 1)),
- (2, 0, (1, 0)),
- (3, 1, (0, -1))]: # N, E, S, W
- neigh_trans = rail[row + el[2][0]][col + el[2][1]]
- if neigh_trans is not None:
- # select transition coming from facing direction el[1] and
- # moving to direction el[1]
- max_bit = 0
- for k in range(4):
- max_bit |= t_utils.get_transition(neigh_trans, k, el[1])
-
- if max_bit:
- valid_template[el[0]] = 1
- else:
- valid_template[el[0]] = 0
-
- possible_cell_transitions = get_matching_templates(valid_template)
-
- if len(possible_cell_transitions) == 0: # NO VALID TRANSITIONS
- # no cell can be filled in without violating some transitions
- # can a dead-end solve the problem?
- if valid_template.count(1) == 1:
- for k in range(4):
- if valid_template[k] == 1:
- rot = 0
- if k == 0:
- rot = 180
- elif k == 1:
- rot = 270
- elif k == 2:
- rot = 0
- elif k == 3:
- rot = 90
-
- rail[row][col] = t_utils.rotate_transition(int('0010000000000000', 2), rot)
- num_insertions += 1
-
- break
-
- else:
- # can I get valid transitions by removing a single
- # neighboring cell?
- bestk = -1
- besttrans = []
- for k in range(4):
- tmp_template = valid_template[:]
- tmp_template[k] = -1
- possible_cell_transitions = get_matching_templates(tmp_template)
- if len(possible_cell_transitions) > len(besttrans):
- besttrans = possible_cell_transitions
- bestk = k
-
- if bestk >= 0:
- # Replace the corresponding cell with None, append it
- # to cells to fill, fill in a transition in the current
- # cell.
- replace_row = row - 1
- replace_col = col
- if bestk == 1:
- replace_row = row
- replace_col = col + 1
- elif bestk == 2:
- replace_row = row + 1
- replace_col = col
- elif bestk == 3:
- replace_row = row
- replace_col = col - 1
-
- cells_to_fill.append((replace_row, replace_col))
- rail[replace_row][replace_col] = None
-
- possible_transitions, possible_probabilities = zip(*besttrans)
- possible_probabilities = [p / sum(possible_probabilities) for p in possible_probabilities]
-
- rail[row][col] = np.random.choice(possible_transitions,
- p=possible_probabilities)
- num_insertions += 1
-
- else:
- print('WARNING: still nothing!')
- rail[row][col] = int('0000000000000000', 2)
- num_insertions += 1
- pass
-
- else:
- possible_transitions, possible_probabilities = zip(*possible_cell_transitions)
- possible_probabilities = [p / sum(possible_probabilities) for p in possible_probabilities]
-
- rail[row][col] = np.random.choice(possible_transitions,
- p=possible_probabilities)
- num_insertions += 1
-
- if num_insertions == MAX_INSERTIONS:
- # Failed to generate a valid level; try again for a number of times
- attempt_number += 1
- else:
- break
-
- if attempt_number == MAX_ATTEMPTS_FROM_SCRATCH:
- print('ERROR: failed to generate level')
-
- # Finally pad the border of the map with dead-ends to avoid border issues;
- # at most 1 transition in the neigh cell
- for r in range(height):
- # Check for transitions coming from [r][1] to WEST
- max_bit = 0
- neigh_trans = rail[r][1]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2 ** 4 - 1)
- max_bit = max_bit | (neigh_trans_from_direction & 1)
- if max_bit:
- rail[r][0] = t_utils.rotate_transition(int('0010000000000000', 2), 270)
- else:
- rail[r][0] = int('0000000000000000', 2)
-
- # Check for transitions coming from [r][-2] to EAST
- max_bit = 0
- neigh_trans = rail[r][-2]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2 ** 4 - 1)
- max_bit = max_bit | (neigh_trans_from_direction & (1 << 2))
- if max_bit:
- rail[r][-1] = t_utils.rotate_transition(int('0010000000000000', 2),
- 90)
- else:
- rail[r][-1] = int('0000000000000000', 2)
-
- for c in range(width):
- # Check for transitions coming from [1][c] to NORTH
- max_bit = 0
- neigh_trans = rail[1][c]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2 ** 4 - 1)
- max_bit = max_bit | (neigh_trans_from_direction & (1 << 3))
- if max_bit:
- rail[0][c] = int('0010000000000000', 2)
- else:
- rail[0][c] = int('0000000000000000', 2)
-
- # Check for transitions coming from [-2][c] to SOUTH
- max_bit = 0
- neigh_trans = rail[-2][c]
- if neigh_trans is not None:
- for k in range(4):
- neigh_trans_from_direction = (neigh_trans >> ((3 - k) * 4)) & (2 ** 4 - 1)
- max_bit = max_bit | (neigh_trans_from_direction & (1 << 1))
- if max_bit:
- rail[-1][c] = t_utils.rotate_transition(int('0010000000000000', 2), 180)
- else:
- rail[-1][c] = int('0000000000000000', 2)
-
- # For display only, wrong levels
- for r in range(height):
- for c in range(width):
- if rail[r][c] is None:
- rail[r][c] = int('0000000000000000', 2)
-
- tmp_rail = np.asarray(rail, dtype=np.uint16)
-
- return_rail = GridTransitionMap(width=width, height=height, transitions=t_utils)
- return_rail.grid = tmp_rail
- return return_rail
-
- return generator
+# from flatland.core.transitions import Grid8Transitions, RailEnvTransitions
+# from flatland.core.transition_map import GridTransitionMap
class EnvAgentStatic(object):
diff --git a/flatland/utils/editor.py b/flatland/utils/editor.py
index ebaf905..5f6625a 100644
--- a/flatland/utils/editor.py
+++ b/flatland/utils/editor.py
@@ -167,26 +167,32 @@ class JupEditor(object):
# get the direction index for the 2 transitions
liTrans = []
for rcTrans in rc2Trans:
+ # gRCTrans - rcTrans gives an array of vector differences between our rcTrans
+ # and the 4 directions stored in gRCTrans.
+ # Where the vector difference is zero, we have a match...
+ # np.all detects where the whole row,col vector is zero.
+ # argwhere gives the index of the zero vector, ie the direction index
iTrans = np.argwhere(np.all(self.gRCTrans - rcTrans == 0, axis=1))
if len(iTrans) > 0:
iTrans = iTrans[0][0]
liTrans.append(iTrans)
+ # check that we have two transitions
if len(liTrans) == 2:
# Set the transition
- # oEnv.rail.set_transition((*rcLast, iTransLast), iTrans, True) # does nothing
- iValCell = env.rail.transitions.set_transition(
- env.rail.grid[tuple(rcMiddle)], liTrans[0], liTrans[1], bTransition)
+ env.rail.set_transition((*rcMiddle, liTrans[0]), liTrans[1], True)
+ # iValCell = env.rail.transitions.set_transition(
+ # env.rail.grid[tuple(rcMiddle)], liTrans[0], liTrans[1], bTransition)
# Also set the reverse transition
- iValCell = env.rail.transitions.set_transition(
- iValCell,
- (liTrans[1] + 2) % 4,
- (liTrans[0] + 2) % 4,
- bTransition)
+ # iValCell = env.rail.transitions.set_transition(
+ # iValCell,
+ # (liTrans[1] + 2) % 4, # use the reversed outbound transition for inbound
+ # (liTrans[0] + 2) % 4, # use the reversed inbound transition for outbound
+ # bTransition)
# Write the cell transition value back into the grid
- env.rail.grid[tuple(rcMiddle)] = iValCell
+ # env.rail.grid[tuple(rcMiddle)] = iValCell
rcHistory.pop(0) # remove the last-but-one
diff --git a/tests/test_env_observation_builder.py b/tests/test_env_observation_builder.py
index 55c229e..9ec0db0 100644
--- a/tests/test_env_observation_builder.py
+++ b/tests/test_env_observation_builder.py
@@ -5,7 +5,8 @@ import numpy as np
from flatland.core.env_observation_builder import GlobalObsForRailEnv
from flatland.core.transition_map import GridTransitionMap, Grid4Transitions
-from flatland.envs.rail_env import RailEnv, rail_from_GridTransitionMap_generator
+from flatland.envs.rail_env import RailEnv
+from flatland.envs.generators import rail_from_GridTransitionMap_generator
"""Tests for `flatland` package."""
diff --git a/tests/test_environments.py b/tests/test_environments.py
index b46bb38..a10fb06 100644
--- a/tests/test_environments.py
+++ b/tests/test_environments.py
@@ -2,11 +2,13 @@
# -*- coding: utf-8 -*-
import numpy as np
-from flatland.envs.rail_env import RailEnv, rail_from_GridTransitionMap_generator
+from flatland.envs.rail_env import RailEnv
+from flatland.envs.generators import rail_from_GridTransitionMap_generator
from flatland.core.transitions import Grid4Transitions
from flatland.core.transition_map import GridTransitionMap
from flatland.core.env_observation_builder import GlobalObsForRailEnv
+
"""Tests for `flatland` package."""
diff --git a/tests/test_transitions.py b/tests/test_transitions.py
index 2ebfc46..69a7953 100644
--- a/tests/test_transitions.py
+++ b/tests/test_transitions.py
@@ -3,7 +3,8 @@
"""Tests for `flatland` package."""
from flatland.core.transitions import RailEnvTransitions, Grid8Transitions
-from flatland.envs.rail_env import validate_new_transition
+# from flatland.envs.rail_env import validate_new_transition
+from flatland.envs.env_utils import validate_new_transition
import numpy as np
--
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