diff --git a/examples/play_model.py b/examples/play_model.py
index a61954ea57bfa63485f188a9b6964649e6515d56..cba087bccfc60ccb10ec4aef1d13c806369303da 100644
--- a/examples/play_model.py
+++ b/examples/play_model.py
@@ -95,21 +95,10 @@ def main(render=True, delay=0.0):
random.seed(1)
np.random.seed(1)
- # Example generate a rail given a manual specification,
- # a map of tuples (cell_type, rotation)
- # transition_probability = [0.5, # empty cell - Case 0
- # 1.0, # Case 1 - straight
- # 1.0, # Case 2 - simple switch
- # 0.3, # Case 3 - diamond crossing
- # 0.5, # Case 4 - single slip
- # 0.5, # Case 5 - double slip
- # 0.2, # Case 6 - symmetrical
- # 0.0] # Case 7 - dead end
-
# Example generate a random rail
env = RailEnv(width=15, height=15,
rail_generator=complex_rail_generator(nr_start_goal=15, min_dist=5),
- number_of_agents=1)
+ number_of_agents=5)
if render:
env_renderer = RenderTool(env, gl="QT")
diff --git a/flatland/envs/env_utils.py b/flatland/envs/env_utils.py
index ac29408051efd4bc85f8120b02f7dfd59b14dee9..1ad6c6de0fa5bc3db8daf0f40b74be5433e69fba 100644
--- a/flatland/envs/env_utils.py
+++ b/flatland/envs/env_utils.py
@@ -75,7 +75,6 @@ def validate_new_transition(rail_trans, rail_array, prev_pos, current_pos, new_p
# 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)
@@ -91,20 +90,11 @@ def validate_new_transition(rail_trans, rail_array, prev_pos, current_pos, new_p
# 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)
@@ -141,10 +131,6 @@ def a_star(rail_trans, rail_array, start, end):
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 = []
@@ -169,14 +155,8 @@ def a_star(rail_trans, rail_array, start, end):
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
@@ -216,7 +196,7 @@ def a_star(rail_trans, rail_array, start, end):
path.append(current.pos)
current = current.parent
# return reversed path
- print("partial:", start, end, path[::-1])
+ # print("partial:", start, end, path[::-1])
return path[::-1]
@@ -226,9 +206,8 @@ def connect_rail(rail_trans, rail_array, start, end):
"""
# 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
+ return []
current_dir = get_direction(path[0], path[1])
end_pos = path[-1]
for index in range(len(path) - 1):
@@ -246,7 +225,6 @@ def connect_rail(rail_trans, rail_array, start, end):
# 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)
@@ -267,6 +245,7 @@ def connect_rail(rail_trans, rail_array, start, end):
rail_array[end_pos] = new_trans_e
current_dir = new_dir
+ return path
def distance_on_rail(pos1, pos2):
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index de75b70b62145a911d64effa3dbad162c928289c..29f8c6f4151a35b55f99f8478383195384b7a9e7 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -5,7 +5,8 @@ import numpy as np
from flatland.core.transitions import Grid8Transitions, RailEnvTransitions
from flatland.core.transition_map import GridTransitionMap
-from flatland.envs.env_utils import distance_on_rail, connect_rail, get_rnd_agents_pos_tgt_dir_on_rail
+from flatland.envs.env_utils import distance_on_rail, connect_rail, get_direction, mirror
+from flatland.envs.env_utils import get_rnd_agents_pos_tgt_dir_on_rail
def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
@@ -25,7 +26,9 @@ def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
def generator(width, height, agents_handles, num_resets=0):
rail_trans = RailEnvTransitions()
- rail_array = np.zeros(shape=(width, height), dtype=np.uint16)
+ grid_map = GridTransitionMap(width=width, height=height, transitions=rail_trans)
+ rail_array = grid_map.grid
+ rail_array.fill(0)
np.random.seed(seed + num_resets)
@@ -69,8 +72,11 @@ def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
#
start_goal = []
- for _ in range(nr_start_goal):
- sanity_max = 9000
+ start_dir = []
+ nr_created = 0
+ created_sanity = 0
+ sanity_max = 9000
+ while nr_created < nr_start_goal and created_sanity < sanity_max:
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))
@@ -98,20 +104,26 @@ def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
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)
+ new_path = connect_rail(rail_trans, rail_array, start, goal)
+ if len(new_path) >= 2:
+ nr_created += 1
+ # print(":::: path: ", new_path)
+ start_goal.append([start, goal])
+ start_dir.append(mirror(get_direction(new_path[0], new_path[1])))
+ else:
+ # after too many failures we will give up
+ # print("failed...")
+ created_sanity += 1
- return_rail = GridTransitionMap(width=width, height=height, transitions=rail_trans)
- return_rail.grid = rail_array
+ # print("Created #", len(start_goal), "pairs")
+ # print(start_goal)
- # TODO: return agents_position, agents_direction and agents_target!
- # NOTE: the initial direction must be such that the target can be reached.
- # See env_utils.get_rnd_agents_pos_tgt_dir_on_rail() for hints, if required.
+ agents_position = [sg[0] for sg in start_goal]
+ agents_target = [sg[1] for sg in start_goal]
+ agents_direction = start_dir
- return return_rail, [], [], []
+ return grid_map, agents_position, agents_direction, agents_target
return generator
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index c54b2fed0a1a9420b33b33183da7f471ace6c2ec..aba58fb2d86163242890eee8d4dc21c57405eac2 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -553,7 +553,7 @@ class RenderTool(object):
bDeadEnd = nbits == 1
if not bCellValid:
- print("invalid:", r, c)
+ # print("invalid:", r, c)
self.gl.scatter(*xyCentre, color="r", s=50)
for orientation in range(4): # ori is where we're heading
@@ -659,7 +659,7 @@ class RenderTool(object):
self.gl.endFrame()
t2 = time.time()
- print(t2 - t1, "seconds")
+ # print(t2 - t1, "seconds")
if show:
self.gl.show(block=False)