diff --git a/examples/demo.py b/examples/demo.py
index dae2118c9a80680fbf89b38481c988ec7d404ed7..02fae475039578e09fbd885d0bde0275b8aa6ac9 100644
--- a/examples/demo.py
+++ b/examples/demo.py
@@ -1,8 +1,8 @@
import os
import time
import random
-
import numpy as np
+from datetime import datetime
from flatland.envs.generators import complex_rail_generator
# from flatland.envs.generators import rail_from_list_of_saved_GridTransitionMap_generator
@@ -125,21 +125,27 @@ class Demo:
self.env = env
self.create_renderer()
self.action_size = 4
+ self.max_frame_rate = 60
def create_renderer(self):
- self.renderer = RenderTool(self.env, gl="QTSVG")
+ self.renderer = RenderTool(self.env, gl="PILSVG")
handle = self.env.get_agent_handles()
return handle
+ def set_max_framerate(self,max_frame_rate):
+ self.max_frame_rate = max_frame_rate
+
def run_demo(self, max_nbr_of_steps=30):
action_dict = dict()
# Reset environment
_ = self.env.reset(False, False)
+ time.sleep(0.0001) # to satisfy lint...
+
for step in range(max_nbr_of_steps):
- # time.sleep(.1)
+ begin_frame_time_stamp = datetime.now()
# Action
for iAgent in range(self.env.get_num_agents()):
@@ -173,7 +179,19 @@ class Demo:
break
-if True:
+ # ensure that the rendering is not faster then the maximal allowed frame rate
+ end_frame_time_stamp = datetime.now()
+ frame_exe_time = end_frame_time_stamp - begin_frame_time_stamp
+ max_time = 1/self.max_frame_rate
+ delta = (max_time - frame_exe_time.total_seconds())
+ if delta > 0.0:
+ time.sleep(delta)
+
+
+ self.renderer.close_window()
+
+
+if False:
demo_000 = Demo(Scenario_Generator.generate_random_scenario())
demo_000.run_demo()
demo_000 = None
@@ -194,18 +212,18 @@ if True:
demo_002.run_demo()
demo_002 = None
- demo_flatland_000 = Demo(Scenario_Generator.load_scenario('./env-data/railway/example_flatland_000.pkl'))
- demo_flatland_000.renderer.resize()
- demo_flatland_000.run_demo(300)
- demo_flatland_000 = None
-
- demo_flatland_000 = Demo(Scenario_Generator.load_scenario('./env-data/railway/example_flatland_001.pkl'))
- demo_flatland_000.renderer.resize()
- demo_flatland_000.run_demo(300)
- demo_flatland_000 = None
+demo_flatland_000 = Demo(Scenario_Generator.load_scenario('./env-data/railway/example_flatland_000.pkl'))
+demo_flatland_000.renderer.resize()
+demo_flatland_000.run_demo(60)
+demo_flatland_000 = None
+demo_flatland_000 = Demo(Scenario_Generator.load_scenario('./env-data/railway/example_flatland_001.pkl'))
+demo_flatland_000.renderer.resize()
+demo_flatland_000.run_demo(60)
+demo_flatland_000 = None
demo_flatland_000 = Demo(Scenario_Generator.load_scenario('./env-data/railway/example_network_003.pkl'))
demo_flatland_000.renderer.resize()
-demo_flatland_000.run_demo(1800)
+demo_flatland_000.set_max_framerate(5)
+demo_flatland_000.run_demo(30)
demo_flatland_000 = None
diff --git a/examples/simple_example_3.py b/examples/simple_example_3.py
index b5283df627b89294b899a0dc3f4652d5d2375152..1978e27c8511154d317ef5c96c3a9bc6816168c5 100644
--- a/examples/simple_example_3.py
+++ b/examples/simple_example_3.py
@@ -3,7 +3,7 @@ import random
from flatland.envs.generators import random_rail_generator
from flatland.envs.rail_env import RailEnv
from flatland.utils.rendertools import RenderTool
-from flatland.core.env_observation_builder import TreeObsForRailEnv
+from flatland.envs.observations import TreeObsForRailEnv
import numpy as np
random.seed(100)
diff --git a/examples/tkplay.py b/examples/tkplay.py
index a46dcbc6f3aca2b84a9b35f33c339c3f03291c32..c17ea519014ff304f654036f111ac953f328a118 100644
--- a/examples/tkplay.py
+++ b/examples/tkplay.py
@@ -26,7 +26,7 @@ def tkmain(n_trials=2, n_steps=50, sGL="PIL"):
env_renderer.renderEnv(show=True, frames=True, iEpisode=trials, iStep=step,
action_dict=oPlayer.action_dict)
- env_renderer.gl.close_window()
+ env_renderer.close_window()
if __name__ == "__main__":
diff --git a/flatland/utils/editor.py b/flatland/utils/editor.py
index 7c9e0687b15f6d599ad8338906b082fc9bac7a8c..1f4a604770575f5bd24d62ade3092cbd251081be 100644
--- a/flatland/utils/editor.py
+++ b/flatland/utils/editor.py
@@ -174,10 +174,9 @@ class View(object):
self.oRT = rt.RenderTool(self.editor.env, gl=self.sGL)
def redraw(self):
- # TODO: bit of a hack - can we suppress the console messages from MPL at source?
- # with redirect_stdout(stdout_dest):
with self.wOutput:
# plt.figure(figsize=(10, 10))
+ self.oRT.set_new_rail()
self.oRT.renderEnv(spacing=False, arrows=False, sRailColor="gray",
show=False, iSelectedAgent=self.model.iSelectedAgent,
show_observations=self.show_observations())
diff --git a/flatland/utils/graphics_layer.py b/flatland/utils/graphics_layer.py
index a1de818fe57ed2f91a3b025f652234c578dc11e8..2598a8893cf47ac9be526a7c8809f55ca2bb8ddf 100644
--- a/flatland/utils/graphics_layer.py
+++ b/flatland/utils/graphics_layer.py
@@ -66,7 +66,12 @@ class GraphicsLayer(object):
def get_cmap(self, *args, **kwargs):
return plt.get_cmap(*args, **kwargs)
- def setRailAt(self, row, col, binTrans):
+ def setRailAt(self, row, col, binTrans, iTarget=None):
+ """ Set the rail at cell (row, col) to have transitions binTrans.
+ The target argument can contain the index of the agent to indicate
+ that agent's target is at that cell, so that a station can be
+ rendered in the static rail layer.
+ """
pass
def setAgentAt(self, iAgent, row, col, iDirIn, iDirOut):
diff --git a/flatland/utils/graphics_pil.py b/flatland/utils/graphics_pil.py
index fe5e74b541b3d958df7058acc5b127c45d1a8ebd..40e0a9270ede53de13174203a40972fdf540b61e 100644
--- a/flatland/utils/graphics_pil.py
+++ b/flatland/utils/graphics_pil.py
@@ -10,10 +10,10 @@ from cairosvg import svg2png
from flatland.core.transitions import RailEnvTransitions
# from copy import copy
+from screeninfo import get_monitors
class PILGL(GraphicsLayer):
def __init__(self, width, height, nPixCell=60):
- self.nPixCell = 60
self.yxBase = (0, 0)
self.linewidth = 4
self.nAgentColors = 1 # overridden in loadAgent
@@ -22,9 +22,23 @@ class PILGL(GraphicsLayer):
self.width = width
self.height = height
+ self.screen_width = 99999
+ self.screen_height = 99999
+ for m in get_monitors():
+ self.screen_height = min(self.screen_height,m.height)
+ self.screen_width = min(self.screen_width,m.width)
+
+ w = (self.screen_width-self.width-10)/(self.width + 1 + self.linewidth)
+ h = (self.screen_height-self.height-10)/(self.height + 1 + self.linewidth)
+ self.nPixCell = int(max(1,np.ceil(min(w,h))))
+
# Total grid size at native scale
self.widthPx = self.width * self.nPixCell + self.linewidth
self.heightPx = self.height * self.nPixCell + self.linewidth
+
+ self.xPx = int((self.screen_width - self.widthPx) / 2.0)
+ self.yPx = int((self.screen_height - self.heightPx) / 2.0)
+
self.layers = []
self.draws = []
@@ -33,12 +47,25 @@ class PILGL(GraphicsLayer):
self.tColRail = (0, 0, 0) # black rails
self.tColGrid = (230,) * 3 # light grey for grid
+ sColors = "d50000#c51162#aa00ff#6200ea#304ffe#2962ff#0091ea#00b8d4#00bfa5#00c853" + \
+ "#64dd17#aeea00#ffd600#ffab00#ff6d00#ff3d00#5d4037#455a64"
+
+ self.ltAgentColors = [self.rgb_s2i(sColor) for sColor in sColors.split("#")]
+ self.nAgentColors = len(self.ltAgentColors)
+
self.window_open = False
# self.bShow = show
self.firstFrame = True
self.create_layers()
# self.beginFrame()
+ def rgb_s2i(self, sRGB):
+ """ convert a hex RGB string like 0091ea to 3-tuple of ints """
+ return tuple(int(sRGB[iRGB * 2:iRGB * 2 + 2], 16) for iRGB in [0, 1, 2])
+
+ def getAgentColor(self, iAgent):
+ return self.ltAgentColors[iAgent % self.nAgentColors]
+
def plot(self, gX, gY, color=None, linewidth=3, layer=0, opacity=255, **kwargs):
color = self.adaptColor(color)
if len(color) == 3:
@@ -75,6 +102,7 @@ class PILGL(GraphicsLayer):
self.window = tk.Tk()
self.window.title("Flatland")
self.window.configure(background='grey')
+ self.window.geometry('%dx%d+%d+%d' % (self.widthPx, self.heightPx, self.xPx, self.yPx))
self.window_open = True
def close_window(self):
@@ -246,10 +274,17 @@ class PILSVG(PILGL):
"EE WW": "Bahnhof_#d50000_Gleis_horizontal.svg",
"NN SS": "Bahnhof_#d50000_Gleis_vertikal.svg"}
+ # Dict of rail cell images indexed by binary transitions
self.dPilRail = self.loadSVGs(dRailFiles, rotate=True)
- self.dPilTarget = self.loadSVGs(dTargetFiles, rotate=False)
- def loadSVGs(self, dDirFile, rotate=False):
+ # Load the target files (which have rails and transitions of their own)
+ # They are indexed by (binTrans, iAgent), ie a tuple of the binary transition and the agent index
+ dPilRail2 = self.loadSVGs(dTargetFiles, rotate=False, agent_colors=self.ltAgentColors)
+ # Merge them with the regular rails.
+ # https://stackoverflow.com/questions/38987/how-to-merge-two-dictionaries-in-a-single-expression
+ self.dPilRail = {**self.dPilRail, **dPilRail2}
+
+ def loadSVGs(self, dDirFile, rotate=False, agent_colors=False):
dPil = {}
transitions = RailEnvTransitions()
@@ -280,9 +315,10 @@ class PILSVG(PILGL):
# svg = svg.merge(svgBG)
pilRail = self.pilFromSvgFile(sPathSvg)
- dPil[binTrans] = pilRail
-
+
if rotate:
+ # For rotations, we also store the base image
+ dPil[binTrans] = pilRail
# Rotate both the transition binary and the image and save in the dict
for nRot in [90, 180, 270]:
binTrans2 = transitions.rotate_transition(binTrans, nRot)
@@ -290,25 +326,44 @@ class PILSVG(PILGL):
# PIL rotates anticlockwise for positive theta
pilRail2 = pilRail.rotate(-nRot)
dPil[binTrans2] = pilRail2
+
+ if agent_colors:
+ # For recoloring, we don't store the base image.
+ a3BaseColor = self.rgb_s2i("d50000")
+ lPils = self.recolorImage(pilRail, a3BaseColor, self.ltAgentColors)
+ for iColor, pilRail2 in enumerate(lPils):
+ dPil[(binTrans, iColor)] = lPils[iColor]
+
return dPil
- def setRailAt(self, row, col, binTrans, target=None):
- if target is None:
+ def setRailAt(self, row, col, binTrans, iTarget=None):
+ if iTarget is None:
if binTrans in self.dPilRail:
pilTrack = self.dPilRail[binTrans]
self.drawImageRC(pilTrack, (row, col))
else:
print("Illegal rail:", row, col, format(binTrans, "#018b")[2:])
else:
- if binTrans in self.dPilTarget:
- pilTrack = self.dPilTarget[binTrans]
+ if (binTrans, iTarget) in self.dPilRail:
+ pilTrack = self.dPilRail[(binTrans, iTarget)]
self.drawImageRC(pilTrack, (row, col))
else:
print("Illegal target rail:", row, col, format(binTrans, "#018b")[2:])
- def rgb_s2i(self, sRGB):
- """ convert a hex RGB string like 0091ea to 3-tuple of ints """
- return tuple(int(sRGB[iRGB * 2:iRGB * 2 + 2], 16) for iRGB in [0, 1, 2])
+ def recolorImage(self, pil, a3BaseColor, ltColors):
+ rgbaImg = array(pil)
+ lPils = []
+
+ for iColor, tnColor in enumerate(ltColors):
+ # find the pixels which match the base paint color
+ xy_color_mask = np.all(rgbaImg[:, :, 0:3] - a3BaseColor == 0, axis=2)
+ rgbaImg2 = np.copy(rgbaImg)
+
+ # Repaint the base color with the new color
+ rgbaImg2[xy_color_mask, 0:3] = tnColor
+ pil2 = Image.fromarray(rgbaImg2)
+ lPils.append(pil2)
+ return lPils
def loadAgentSVGs(self):
@@ -319,13 +374,8 @@ class PILSVG(PILGL):
(0, 3): "svg/Zug_2_Weiche_#0091ea.svg"
}
- sColors = "d50000#c51162#aa00ff#6200ea#304ffe#2962ff#0091ea#00b8d4#00bfa5#00c853" + \
- "#64dd17#aeea00#ffd600#ffab00#ff6d00#ff3d00#5d4037#455a64"
- lColors = sColors.split("#")
- self.nAgentColors = len(lColors)
-
# "paint" color of the train images we load
- a_base_color = self.rgb_s2i("0091ea")
+ a3BaseColor = self.rgb_s2i("0091ea")
self.dPilZug = {}
@@ -342,14 +392,11 @@ class PILSVG(PILGL):
# PIL rotates anticlockwise for positive theta
pilZug2 = pilZug.rotate(-nDegRot)
- rgbaZug2 = array(pilZug2)
-
- for iColor, sColor in enumerate(lColors):
- tnNewColor = self.rgb_s2i(sColor)
- xy_color_mask = np.all(rgbaZug2[:, :, 0:3] - a_base_color == 0, axis=2)
- rgbaZug3 = np.copy(rgbaZug2)
- rgbaZug3[xy_color_mask, 0:3] = tnNewColor
- self.dPilZug[(iDirIn2, iDirOut2, iColor)] = Image.fromarray(rgbaZug3)
+
+ # Save colored versions of each rotation / variant
+ lPils = self.recolorImage(pilZug2, a3BaseColor, self.ltAgentColors)
+ for iColor, pilZug3 in enumerate(lPils):
+ self.dPilZug[(iDirIn2, iDirOut2, iColor)] = lPils[iColor]
def setAgentAt(self, iAgent, row, col, iDirIn, iDirOut):
delta_dir = (iDirOut - iDirIn) % 4
diff --git a/flatland/utils/render_qt.py b/flatland/utils/render_qt.py
index 233f07bca474204ea31aec5d75b530911071bfad..dc2217c3ee9041caf39c88d8898bf3fb0c7cb24e 100644
--- a/flatland/utils/render_qt.py
+++ b/flatland/utils/render_qt.py
@@ -157,7 +157,7 @@ class QTSVG(GraphicsLayer):
self.lwAgents = []
self.agents_prev = []
- def setRailAt(self, row, col, binTrans):
+ def setRailAt(self, row, col, binTrans, iTarget=None):
if binTrans in self.track.dSvg:
sSVG = self.track.dSvg[binTrans].to_string()
svgWidget = create_QtSvgWidget_from_svg_string(sSVG)
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index f2200b97b03577e4dcdb2f34575b0330ff0693fe..aa8731b1135326586117be2bd8e8bf6da97ea146 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -498,10 +498,11 @@ class RenderTool(object):
"""
rt = self.__class__
- cmap = self.gl.get_cmap('hsv', lut=max(len(self.env.agents), len(self.env.agents_static) + 1))
+ # cmap = self.gl.get_cmap('hsv', lut=max(len(self.env.agents), len(self.env.agents_static) + 1))
for agent in agent_handles:
- color = cmap(agent)
+ # color = cmap(agent)
+ color = self.gl.getAgentColor(agent)
for visited_cell in observation_dict[agent]:
cell_coord = array(visited_cell[:2])
cell_coord_trans = np.matmul(cell_coord, rt.grc2xy) + rt.xyHalf
@@ -757,7 +758,7 @@ class RenderTool(object):
for iAgent, agent in enumerate(self.env.agents_static):
if agent is None:
continue
- dTargets[agent.target] = iAgent
+ dTargets[tuple(agent.target)] = iAgent
# Draw each cell independently
for r in range(env.height):
@@ -767,7 +768,7 @@ class RenderTool(object):
target = dTargets[(r, c)]
else:
target = None
- self.gl.setRailAt(r, c, binTrans)
+ self.gl.setRailAt(r, c, binTrans, iTarget=target)
for iAgent, agent in enumerate(self.env.agents):
if agent is None:
@@ -782,8 +783,12 @@ class RenderTool(object):
direction = agent.direction
old_direction = agent.direction
- cmap = self.gl.get_cmap('hsv', lut=max(len(self.env.agents), len(self.env.agents_static) + 1))
- self.gl.setAgentAt(iAgent, *position, old_direction, direction,color=cmap(iAgent))
+ # setAgentAt uses the agent index for the color
+ # cmap = self.gl.get_cmap('hsv', lut=max(len(self.env.agents), len(self.env.agents_static) + 1))
+ self.gl.setAgentAt(iAgent, *position, old_direction, direction) # ,color=cmap(iAgent))
+
+ if show_observations:
+ self.renderObs(range(env.get_num_agents()), env.dev_obs_dict)
if show:
self.gl.show()
@@ -792,3 +797,6 @@ class RenderTool(object):
self.iFrame += 1
return
+
+ def close_window(self):
+ self.gl.close_window()
diff --git a/flatland/utils/svg.py b/flatland/utils/svg.py
index 0a6b895dcdaa5e9cd4d99cfa5861ecc187dad905..e7b2cebb606089f5937d37c8e4d6381ada9fc211 100644
--- a/flatland/utils/svg.py
+++ b/flatland/utils/svg.py
@@ -60,7 +60,7 @@ class SVG(object):
sNewStyles = "\n"
for sKey, sValue in self.dStyles.items():
if sKey == style_name:
- sValue = "fill:#" + "".join([ ('{:#04x}'.format(int(255.0*col))[2:4]) for col in color[0:3]]) + ";"
+ sValue = "fill:#" + "".join([('{:#04x}'.format(int(255.0*col))[2:4]) for col in color[0:3]]) + ";"
sNewStyle = "\t.st" + sKey + "{" + sValue + "}\n"
sNewStyles += sNewStyle
diff --git a/notebooks/Editor2.ipynb b/notebooks/Editor2.ipynb
index 367bd1299173165ab5264ab7d6fb0077491c2959..e6e9100523e8eff39f3c191945419bad18f2bc32 100644
--- a/notebooks/Editor2.ipynb
+++ b/notebooks/Editor2.ipynb
@@ -106,7 +106,7 @@
{
"data": {
"application/vnd.jupyter.widget-view+json": {
- "model_id": "95562eba9d7b4a2794d8d65721413e04",
+ "model_id": "c6a9337bfb5a49b19941bcf7b643aaad",
"version_major": 2,
"version_minor": 0
},
@@ -132,7 +132,7 @@
{
"data": {
"application/vnd.jupyter.widget-view+json": {
- "model_id": "0fe475488df94151afbfe8dc1e1050e8",
+ "model_id": "b632ca8286e94419b9ea6c4bab7f84ae",
"version_major": 2,
"version_minor": 0
},
diff --git a/requirements_dev.txt b/requirements_dev.txt
index 0bc1c76c25c5fc43a1f43ecaf484d23931f5bf7c..db80383febe488d4b0df2fc54407a976eb84b49b 100644
--- a/requirements_dev.txt
+++ b/requirements_dev.txt
@@ -20,8 +20,10 @@ xarray==0.11.3
matplotlib==3.0.2
PyQt5==5.12
Pillow==5.4.1
-CairoSVG==2.3.1
-pycairo==1.18.1
+# CairoSVG==2.3.1
+# pycairo==1.18.1
msgpack==0.6.1
svgutils==0.3.1
+
+screeninfo==0.3.1
\ No newline at end of file
diff --git a/tests/test_env_edit.py b/tests/test_env_edit.py
new file mode 100644
index 0000000000000000000000000000000000000000..2d8a4e087a0ab1d4425c05cf3153abcded8a8ceb
--- /dev/null
+++ b/tests/test_env_edit.py
@@ -0,0 +1,15 @@
+
+from flatland.envs.rail_env import RailEnv
+# from flatland.envs.agent_utils import EnvAgent
+from flatland.envs.agent_utils import EnvAgentStatic
+
+
+def test_load_env():
+ env = RailEnv(10, 10)
+ env.load("env-data/tests/test-10x10.mpk")
+
+ agent_static = EnvAgentStatic((0, 0), 2, (5, 5))
+ env.add_agent_static(agent_static)
+ assert env.get_num_agents() == 1
+
+