diff --git a/flatland/utils/editor.py b/flatland/utils/editor.py
index a33a0116a93b9c1aa25c9da8103925f7c5ed51ae..222883b4442f79bd1dfffaf0c758e117b3f2a428 100644
--- a/flatland/utils/editor.py
+++ b/flatland/utils/editor.py
@@ -15,7 +15,7 @@ import os
# from ipywidgets import IntSlider, link, VBox
from flatland.envs.rail_env import RailEnv, random_rail_generator
-from flatland.envs.generators import complex_rail_generator
+from flatland.envs.generators import complex_rail_generator, empty_rail_generator
# from flatland.core.transitions import RailEnvTransitions
from flatland.envs.observations import TreeObsForRailEnv
import flatland.utils.rendertools as rt
@@ -60,7 +60,7 @@ class View(object):
self.new_env()
self.oRT.renderEnv(spacing=False, arrows=False, sRailColor="gray", show=False)
img = self.oRT.getImage()
- plt.clf()
+ plt.clf() # TODO: remove this plt.clf() call
self.wImage = jpy_canvas.Canvas(img)
self.yxSize = self.wImage.data.shape[:2]
self.writableData = np.copy(self.wImage.data) # writable copy of image - wid_img.data is somehow readonly
@@ -86,6 +86,9 @@ class View(object):
self.wDebug_move = Checkbox(description="Debug mouse move")
self.wDebug_move.observe(self.controller.setDebugMove, names="value")
+ # Checkbox for rendering observations
+ self.wShowObs = Checkbox(description="Show Agent Observations")
+
# This is like a cell widget where loggin goes
self.wOutput = Output()
@@ -95,13 +98,15 @@ class View(object):
self.wFilename.observe(self.controller.setFilename, names="value")
# Size of environment when regenerating
- self.wSize = IntSlider(value=10, min=5, max=30, step=5, description="Regen Size")
- self.wSize.observe(self.controller.setRegenSize, names="value")
+ self.wRegenSize = IntSlider(value=10, min=5, max=100, step=5, description="Regen Size",
+ tip="Click Regenerate after changing this")
+ self.wRegenSize.observe(self.controller.setRegenSize, names="value")
# Number of Agents when regenerating
- self.wNAgents = IntSlider(value=1, min=0, max=20, step=1, description="# Agents")
+ self.wRegenNAgents = IntSlider(value=1, min=0, max=20, step=1, description="# Agents",
+ tip="Click regenerate or reset after changing this")
- self.wRegenMethod = RadioButtons(description="Regen\nMethod", options=["Random Cell", "Path-based"])
+ self.wRegenMethod = RadioButtons(description="Regen\nMethod", options=["Empty", "Random Cell", "Path-based"])
self.wReplaceAgents = Checkbox(value=True, description="Replace Agents")
self.wTab = Tab()
@@ -109,8 +114,8 @@ class View(object):
for i, title in enumerate(tab_contents):
self.wTab.set_title(i, title)
self.wTab.children = [
- VBox([self.wDebug, self.wDebug_move]),
- VBox([self.wRegenMethod, self.wReplaceAgents])]
+ VBox([self.wDebug, self.wDebug_move, self.wShowObs]),
+ VBox([self.wRegenSize, self.wRegenNAgents, self.wRegenMethod, self.wReplaceAgents])]
# Progress bar intended for stepping in the background (not yet working)
self.wProg_steps = ipywidgets.IntProgress(value=0, min=0, max=20, step=1, description="Step")
@@ -140,8 +145,8 @@ class View(object):
self.wVbox_controls = VBox([
self.wFilename, # self.wDrawMode,
*self.lwButtons,
- self.wSize,
- self.wNAgents,
+ # self.wRegenSize,
+ # self.wRegenNAgents,
self.wProg_steps,
self.wTab])
@@ -161,13 +166,17 @@ class View(object):
with self.wOutput:
# plt.figure(figsize=(10, 10))
self.oRT.renderEnv(spacing=False, arrows=False, sRailColor="gray",
- show=False, iSelectedAgent=self.model.iSelectedAgent)
+ show=False, iSelectedAgent=self.model.iSelectedAgent,
+ show_observations=self.show_observations())
img = self.oRT.getImage()
# plt.clf()
# plt.close()
self.wImage.data = img
self.writableData = np.copy(self.wImage.data)
+
+ # the size should only be updated on regenerate at most
+ self.yxSize = self.wImage.data.shape[:2]
return img
def redisplayImage(self):
@@ -191,6 +200,13 @@ class View(object):
else:
print(*args, **kwargs)
+ def show_observations(self):
+ ''' returns whether to show observations - boolean '''
+ if self.wShowObs.value:
+ return True
+ else:
+ return False
+
class Controller(object):
"""
@@ -297,17 +313,17 @@ class Controller(object):
self.model.clear()
def reset(self, event):
- self.log("Reset - nAgents:", self.view.wNAgents.value)
+ self.log("Reset - nAgents:", self.view.wRegenNAgents.value)
self.model.reset(replace_agents=self.view.wReplaceAgents.value,
- nAgents=self.view.wNAgents.value)
+ nAgents=self.view.wRegenNAgents.value)
def restartAgents(self, event):
- self.log("Restart Agents - nAgents:", self.view.wNAgents.value)
+ self.log("Restart Agents - nAgents:", self.view.wRegenNAgents.value)
self.model.restartAgents()
def regenerate(self, event):
method = self.view.wRegenMethod.value
- nAgents = self.view.wNAgents.value
+ nAgents = self.view.wRegenNAgents.value
self.model.regenerate(method, nAgents)
def setRegenSize(self, event):
@@ -375,6 +391,43 @@ class EditorModel(object):
def setDrawMode(self, sDrawMode):
self.drawMode = sDrawMode
+ def interpolate_path(self, rcLast, rcCell):
+ if np.array_equal(rcLast, rcCell):
+ return []
+ rcLast = array(rcLast)
+ rcCell = array(rcCell)
+ rcDelta = rcCell - rcLast
+
+ lrcInterp = [] # extra row,col points
+
+ if np.any(np.abs(rcDelta) >= 1):
+ iDim0 = np.argmax(np.abs(rcDelta)) # the dimension with the bigger move
+ iDim1 = 1 - iDim0 # the dim with the smaller move
+ rcRatio = rcDelta[iDim1] / rcDelta[iDim0]
+ delta0 = rcDelta[iDim0]
+ sgn0 = np.sign(delta0)
+
+ iDelta1 = 0
+
+ # count integers along the larger dimension
+ for iDelta0 in range(sgn0, delta0 + sgn0, sgn0):
+ rDelta1 = iDelta0 * rcRatio
+
+ if np.abs(rDelta1 - iDelta1) >= 1:
+ rcInterp = (iDelta0, iDelta1) # fill in the "corner" for "Manhattan interpolation"
+ lrcInterp.append(rcInterp)
+ iDelta1 = int(rDelta1)
+
+ rcInterp = (iDelta0, int(rDelta1))
+ lrcInterp.append(rcInterp)
+ g2Interp = array(lrcInterp)
+ if iDim0 == 1: # if necessary, swap c,r to make r,c
+ g2Interp = g2Interp[:, [1, 0]]
+ g2Interp += rcLast
+ # Convert the array to a list of tuples
+ lrcInterp = list(map(tuple, g2Interp))
+ return lrcInterp
+
def drag_path_element(self, rcCell):
"""Mouse motion event handler for drawing.
"""
@@ -384,8 +437,9 @@ class EditorModel(object):
if len(lrcStroke) > 0:
rcLast = lrcStroke[-1]
if not np.array_equal(rcLast, rcCell): # only save at transition
- lrcStroke.append(rcCell)
- self.debug("lrcStroke ", len(lrcStroke), rcCell)
+ lrcInterp = self.interpolate_path(rcLast, rcCell)
+ lrcStroke.extend(lrcInterp)
+ self.debug("lrcStroke ", len(lrcStroke), rcCell, "interp:", lrcInterp)
else:
# This is the first cell in a mouse stroke
@@ -567,7 +621,9 @@ class EditorModel(object):
def regenerate(self, method=None, nAgents=0):
self.log("Regenerate size", self.regen_size)
- if method is None or method == "Random Cell":
+ if method is None or method == "Empty":
+ fnMethod = empty_rail_generator()
+ elif method == "Random Cell":
fnMethod = random_rail_generator(cell_type_relative_proportion=[1] * 11)
else:
fnMethod = complex_rail_generator(nr_start_goal=5, nr_extra=20, min_dist=12)
@@ -583,6 +639,7 @@ class EditorModel(object):
self.set_env(self.env)
self.player = Player(self.env)
self.view.new_env()
+ # self.view.init_canvas() # Can't do init_canvas - need to keep the same canvas widget!
self.redraw()
def setRegenSize(self, size):
diff --git a/flatland/utils/graphics_layer.py b/flatland/utils/graphics_layer.py
index 40bf319da737c8bb49e6c228c98b70604734ddc4..4cfcc64bffb82f91a0f36822188db297bc1ed37e 100644
--- a/flatland/utils/graphics_layer.py
+++ b/flatland/utils/graphics_layer.py
@@ -51,7 +51,7 @@ class GraphicsLayer(object):
elif type(color) is tuple:
if type(color[0]) is not int:
gcolor = array(color)
- color = tuple((gcolor[:4] * 255).astype(int))
+ color = tuple((gcolor[:3] * 255).astype(int))
else:
color = self.tColGrid
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 26ec39d1f426691e7d4fe5a8b4b6aec3bcc7b1fd..30dccfaca0f0d8506c9fed7bf34601275148bd7b 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -606,7 +606,7 @@ class RenderTool(object):
def renderEnv(
self, show=False, curves=True, spacing=False,
- arrows=False, agents=True, obsrender=True, sRailColor="gray", frames=False,
+ arrows=False, agents=True, show_observations=True, sRailColor="gray", frames=False,
iEpisode=None, iStep=None,
iSelectedAgent=None, action_dict=None):
"""
@@ -643,7 +643,7 @@ class RenderTool(object):
# Draw each agent + its orientation + its target
if agents:
self.plotAgents(targets=True, iSelectedAgent=iSelectedAgent)
- if obsrender:
+ if show_observations:
self.renderObs(range(env.get_num_agents()), env.dev_obs_dict)
# Draw some textual information like fps
yText = [-0.3, -0.6, -0.9]