From 5bdf72e03457ce69f0b36d364802580852037746 Mon Sep 17 00:00:00 2001
From: hagrid67 <jdhwatson@gmail.com>
Date: Tue, 14 May 2019 21:39:07 +0100
Subject: [PATCH] SVG trains bend around corners
---
examples/play_model.py | 20 +++++------
flatland/envs/agent_utils.py | 3 +-
flatland/envs/rail_env.py | 68 +++++++++++++++++++----------------
flatland/utils/render_qt.py | 26 +++++++++-----
flatland/utils/rendertools.py | 26 +++++++++++---
flatland/utils/svg.py | 10 +++---
6 files changed, 91 insertions(+), 62 deletions(-)
diff --git a/examples/play_model.py b/examples/play_model.py
index 4f6ba79..f80d9a1 100644
--- a/examples/play_model.py
+++ b/examples/play_model.py
@@ -106,10 +106,7 @@ def main(render=True, delay=0.0):
if render:
env_renderer = RenderTool(env, gl="QTSVG")
- # plt.figure(figsize=(5,5))
- # fRedis = redis.Redis()
-
- # handle = env.get_agent_handles()
+ # env_renderer = RenderTool(env, gl="QT")
state_size = 105
action_size = 4
@@ -167,6 +164,14 @@ def main(render=True, delay=0.0):
action_prob[action] += 1
action_dict.update({a: action})
+ if render:
+ env_renderer.renderEnv(show=True, frames=True, iEpisode=trials, iStep=step, action_dict=action_dict)
+ #time.sleep(10)
+ if delay > 0:
+ time.sleep(delay)
+
+ iFrame += 1
+
# Environment step
next_obs, all_rewards, done, _ = env.step(action_dict)
for a in range(env.get_num_agents()):
@@ -177,13 +182,6 @@ def main(render=True, delay=0.0):
agent.step(obs[a], action_dict[a], all_rewards[a], next_obs[a], done[a])
score += all_rewards[a]
- if render:
- env_renderer.renderEnv(show=True, frames=True, iEpisode=trials, iStep=step)
- #time.sleep(10)
- if delay > 0:
- time.sleep(delay)
-
- iFrame += 1
obs = next_obs.copy()
if done['__all__']:
diff --git a/flatland/envs/agent_utils.py b/flatland/envs/agent_utils.py
index 6ef8aa4..4920946 100644
--- a/flatland/envs/agent_utils.py
+++ b/flatland/envs/agent_utils.py
@@ -23,8 +23,7 @@ class EnvAgentStatic(object):
position = attrib()
direction = attrib()
target = attrib()
-
- next_handle = 0 # this is not properly implemented
+ old_direction = attrib(default=None)
@classmethod
def from_lists(cls, positions, directions, targets):
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 33b9f96..adb40f0 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -208,34 +208,11 @@ class RailEnv(Environment):
# compute number of possible transitions in the current
# cell used to check for invalid actions
- possible_transitions = self.rail.get_transitions((*agent.position, agent.direction))
- num_transitions = np.count_nonzero(possible_transitions)
-
- movement = agent.direction
- # print(nbits,np.sum(possible_transitions))
- if action == 1:
- movement = agent.direction - 1
- if num_transitions <= 1:
- transition_isValid = False
-
- elif action == 3:
- movement = agent.direction + 1
- if num_transitions <= 1:
- transition_isValid = False
-
- movement %= 4
-
- if action == 2:
- if num_transitions == 1:
- # - dead-end, straight line or curved line;
- # movement will be the only valid transition
- # - take only available transition
- movement = np.argmax(possible_transitions)
- transition_isValid = True
-
- new_position = get_new_position(agent.position, movement)
+ new_direction, transition_isValid = self.check_action(agent, action)
+
+ new_position = get_new_position(agent.position, new_direction)
# Is it a legal move?
- # 1) transition allows the movement in the cell,
+ # 1) transition allows the new_direction 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
@@ -259,7 +236,7 @@ class RailEnv(Environment):
if transition_isValid is None:
transition_isValid = self.rail.get_transition(
(*agent.position, agent.direction),
- movement)
+ new_direction)
# cell_isFree = True
# for j in range(self.number_of_agents):
@@ -272,12 +249,13 @@ class RailEnv(Environment):
np.equal(new_position, [agent2.position for agent2 in self.agents]).all(1))
if all([new_cell_isValid, transition_isValid, cell_isFree]):
- # move and change direction to face the movement that was
+ # move and change direction to face the new_direction that was
# performed
# self.agents_position[i] = new_position
- # self.agents_direction[i] = movement
+ # self.agents_direction[i] = new_direction
agent.position = new_position
- agent.direction = movement
+ agent.old_direction = agent.direction
+ agent.direction = new_direction
else:
# the action was not valid, add penalty
self.rewards_dict[iAgent] += invalid_action_penalty
@@ -307,6 +285,34 @@ class RailEnv(Environment):
self.actions = [0] * self.get_num_agents()
return self._get_observations(), self.rewards_dict, self.dones, {}
+ def check_action(self, agent, action):
+ transition_isValid = None
+ possible_transitions = self.rail.get_transitions((*agent.position, agent.direction))
+ num_transitions = np.count_nonzero(possible_transitions)
+
+ new_direction = agent.direction
+ # print(nbits,np.sum(possible_transitions))
+ if action == 1:
+ new_direction = agent.direction - 1
+ if num_transitions <= 1:
+ transition_isValid = False
+
+ elif action == 3:
+ new_direction = agent.direction + 1
+ if num_transitions <= 1:
+ transition_isValid = False
+
+ new_direction %= 4
+
+ if action == 2:
+ if num_transitions == 1:
+ # - dead-end, straight line or curved line;
+ # new_direction will be the only valid transition
+ # - take only available transition
+ new_direction = np.argmax(possible_transitions)
+ transition_isValid = True
+ return new_direction, transition_isValid
+
def _get_observations(self):
self.obs_dict = {}
# for handle in self.agents_handles:
diff --git a/flatland/utils/render_qt.py b/flatland/utils/render_qt.py
index 5608806..f70afae 100644
--- a/flatland/utils/render_qt.py
+++ b/flatland/utils/render_qt.py
@@ -175,38 +175,46 @@ class QTSVG(GraphicsLayer):
svgWidget.renderer().load(bySVG)
self.layout.addWidget(svgWidget, row, col)
self.lwTrack.append(svgWidget)
+ else:
+ print("Illegal rail:", row, col, format(binTrans, "#018b")[2:])
def setAgentAt(self, iAgent, row, col, iDirIn, iDirOut):
if iAgent < len(self.lwAgents):
wAgent = self.lwAgents[iAgent]
agentPrev = self.agents_prev[iAgent]
+
+ # If we have an existing agent widget, we can just move it
if wAgent is not None:
self.layout.removeWidget(wAgent)
self.layout.addWidget(wAgent, row, col)
- if agentPrev.direction == iDirIn:
- # print("moved ", iAgent, row, col, iDirIn)
+ # We can only reuse the image if noth new and old are straight and the same:
+ if iDirIn == iDirOut and \
+ agentPrev.direction == iDirIn and \
+ agentPrev.old_direction == agentPrev.direction:
return
else:
+ # need to load new image
# print("new dir:", iAgent, row, col, agentPrev.direction, iDirIn)
- agentPrev.direction = iDirIn
+ agentPrev.direction = iDirOut
+ agentPrev.old_direction = iDirIn
sSVG = self.zug.getSvg(iAgent, iDirIn, iDirOut).to_string()
bySVG = bytearray(sSVG, encoding='utf-8')
wAgent.renderer().load(bySVG)
return
- else:
- # Ensure we have adequate slots in the list lwAgents
- for i in range(len(self.lwAgents), iAgent+1):
- self.lwAgents.append(None)
- self.agents_prev.append(None)
+ # Ensure we have adequate slots in the list lwAgents
+ for i in range(len(self.lwAgents), iAgent+1):
+ self.lwAgents.append(None)
+ self.agents_prev.append(None)
+ # Create a new widget for the agent
sSVG = self.zug.getSvg(iAgent, iDirIn, iDirOut).to_string()
bySVG = bytearray(sSVG, encoding='utf-8')
svgWidget = QtSvg.QSvgWidget()
svgWidget.renderer().load(bySVG)
self.lwAgents[iAgent] = svgWidget
- self.agents_prev[iAgent] = EnvAgent((row, col), iDirIn, (0, 0))
+ self.agents_prev[iAgent] = EnvAgent((row, col), iDirOut, (0, 0), old_direction=iDirIn)
self.layout.addWidget(svgWidget, row, col)
# print("Created ", iAgent, row, col)
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 16fcd05..18bc3c8 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -476,7 +476,8 @@ class RenderTool(object):
self, show=False, curves=True, spacing=False,
arrows=False, agents=True, sRailColor="gray",
frames=False, iEpisode=None, iStep=None,
- iSelectedAgent=None):
+ iSelectedAgent=None,
+ action_dict=None):
"""
Draw the environment using matplotlib.
Draw into the figure if provided.
@@ -489,7 +490,7 @@ class RenderTool(object):
self.renderEnv2(show, curves, spacing,
arrows, agents, sRailColor,
frames, iEpisode, iStep,
- iSelectedAgent)
+ iSelectedAgent, action_dict)
return
# cell_size is a bit pointless with matplotlib - it does not relate to pixels,
@@ -691,7 +692,8 @@ class RenderTool(object):
self, show=False, curves=True, spacing=False,
arrows=False, agents=True, sRailColor="gray",
frames=False, iEpisode=None, iStep=None,
- iSelectedAgent=None):
+ iSelectedAgent=None,
+ action_dict=dict()):
"""
Draw the environment using matplotlib.
Draw into the figure if provided.
@@ -715,10 +717,24 @@ class RenderTool(object):
for iAgent, agent in enumerate(self.env.agents):
if agent is None:
continue
- self.gl.setAgentAt(iAgent, *agent.position, agent.direction, agent.direction)
+ new_direction = agent.direction
+ action_isValid = False
+
+ if iAgent in action_dict:
+ iAction = action_dict[iAgent]
+ new_direction, action_isValid = self.env.check_action(agent, iAction)
+
+ if action_isValid:
+ self.gl.setAgentAt(iAgent, *agent.position, agent.direction, new_direction)
+ else:
+ pass
+ # print("invalid action - agent ", iAgent, " bend ", agent.direction, new_direction)
+ # self.gl.setAgentAt(iAgent, *agent.position, agent.direction, new_direction)
+
self.gl.show()
- self.gl.processEvents()
+ for i in range(3):
+ self.gl.processEvents()
self.iFrame += 1
return
diff --git a/flatland/utils/svg.py b/flatland/utils/svg.py
index f9daf19..bd6ab4e 100644
--- a/flatland/utils/svg.py
+++ b/flatland/utils/svg.py
@@ -65,19 +65,21 @@ class Zug(object):
def getSvg(self, iAgent, iDirIn, iDirOut):
delta_dir = (iDirOut - iDirIn) % 4
+ # if delta_dir != 0:
+ # print("Bend:", iAgent, iDirIn, iDirOut)
if delta_dir in (0, 2):
svg = self.svg_straight.copy()
svg.set_rotate(iDirIn * 90)
return svg
- if delta_dir == 1:
+ if delta_dir == 1: # bend to right, eg N->E, E->S
svg = self.svg_curve1.copy()
svg.set_rotate((iDirIn - 1) * 90)
return svg
- elif delta_dir == 3:
- svg = self.svg_curve1.copy()
+ elif delta_dir == 3: # bend to left, eg N->W
+ svg = self.svg_curve2.copy()
svg.set_rotate(iDirIn * 90)
return svg
@@ -94,7 +96,7 @@ class Track(object):
"ES NW": "Gleis_Kurve_unten_links.svg",
"NE WS": "Gleis_Kurve_unten_rechts.svg",
"NN SS": "Gleis_vertikal.svg",
- "NN SS ES NW SE WN": "Weiche_Double_Slip.svg",
+ "NN SS EE WW ES NW SE WN": "Weiche_Double_Slip.svg",
"EE WW EN SW": "Weiche_horizontal_oben_links.svg",
"EE WW SE WN": "Weiche_horizontal_oben_rechts.svg",
"EE WW ES NW": "Weiche_horizontal_unten_links.svg",
--
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