From 1940bf874062e3763a851dd1292a1eaf9b941624 Mon Sep 17 00:00:00 2001
From: "Egli Adrian (IT-SCI-API-PFI)" <adrian.egli@sbb.ch>
Date: Tue, 20 Aug 2019 14:00:28 +0200
Subject: [PATCH] generator
---
flatland/envs/generators.py | 138 +++++++-----------
...test_flatland_env_sparse_rail_generator.py | 4 +-
2 files changed, 58 insertions(+), 84 deletions(-)
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 8eae9312..4589633e 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -670,26 +670,17 @@ def realistic_rail_generator(nr_start_goal=1, seed=0, add_max_dead_end=20, two_t
np.random.seed(seed + num_resets)
- max_n_track_seg = np.random.choice([3, 4, 5, 6]) + int(two_track_back_bone)
+ max_n_track_seg = np.random.choice([3, 4, 5]) + int(two_track_back_bone)
x_offsets = np.arange(0, height, max_n_track_seg).astype(int)
- agents_positions_forward = []
- agents_directions_forward = []
- agents_positions_backward = []
- agents_directions_backward = []
+ agents_positions = []
+ agents_directions = []
agents_targets = []
- idx_forward = []
- idx_backward = []
-
- idx_target = 0
for off_set_loop in range(len(x_offsets)):
off_set = x_offsets[off_set_loop]
# second track
- data = np.arange(
- int((width - 4 - 2 * int(
- two_track_back_bone) - max_n_track_seg) / max_n_track_seg)) * max_n_track_seg + 4 + int(
- two_track_back_bone)
+ data = np.arange(3, width - 4, 3)
n_track_seg = np.random.choice(max_n_track_seg) + 1
track_2 = False
@@ -732,6 +723,13 @@ def realistic_rail_generator(nr_start_goal=1, seed=0, add_max_dead_end=20, two_t
two_track_back_bone_loop))
new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
+ if (goal_track[1] - start_track[1]) > 1:
+ add_pos = (
+ int((start_track[0] + goal_track[0]) / 2), int((start_track[1] + goal_track[1]) / 2))
+ agents_positions.append(add_pos)
+ agents_directions.append(([1, 3][off_set_loop % 2]))
+ agents_targets.append(add_pos)
+
add_rail(width, height, grid_map,
(x_offsets[off_set_loop - 1] + int(two_track_back_bone_loop),
width - 2 - int(two_track_back_bone_loop)),
@@ -776,6 +774,13 @@ def realistic_rail_generator(nr_start_goal=1, seed=0, add_max_dead_end=20, two_t
int(two_track_back_bone_loop))
new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
+ if (goal_track[1] - start_track[1]) > 1:
+ add_pos = (
+ int((start_track[0] + goal_track[0]) / 2), int((start_track[1] + goal_track[1]) / 2))
+ agents_positions.append(add_pos)
+ agents_directions.append(([1, 3][off_set_loop % 2]))
+ agents_targets.append(add_pos)
+
add_rail(width, height, grid_map,
(x_offsets[off_set_loop - 1] + int(two_track_back_bone_loop),
1 + int(two_track_back_bone_loop)),
@@ -833,50 +838,39 @@ def realistic_rail_generator(nr_start_goal=1, seed=0, add_max_dead_end=20, two_t
make_switch_w_e(width, height, grid_map, c)
add_pos = (int((start[0] + goal[0]) / 2), int((start[1] + goal[1]) / 2))
- if nbr_track_loop % 2 == 0:
- agents_positions_forward.append(add_pos)
- agents_directions_forward.append(([1, 3][off_set_loop % 2]))
- idx_forward.append(idx_target)
- else:
- agents_positions_backward.append(add_pos)
- agents_directions_backward.append(([1, 3][off_set_loop % 2]))
- idx_backward.append(idx_target)
-
- add_pos = (int((start[0] + goal[0]) / 2), int((2 * start[1] + goal[1]) / 3), idx_target)
+ agents_positions.append(add_pos)
+ agents_directions.append(([1, 3][off_set_loop % 2]))
+ add_pos = (int((start[0] + goal[0]) / 2), int((2 * start[1] + goal[1]) / 3))
agents_targets.append(add_pos)
- idx_target += 1
- for pos_y in np.random.choice(np.arange(width - 7) + 3, min(width - 7, add_max_dead_end), False):
+ pos_ys = np.random.choice(np.arange(width - 7) + 3, min(width - 7, add_max_dead_end), False)
+ for pos_y in pos_ys:
pos_x = off_set + 1 + int(two_track_back_bone)
if pos_x < height - 1:
ok = True
- for k in range(6):
- c = (pos_x - 1, pos_y - k + 1)
- ok &= grid_map.grid[c[0]][c[1]] == 1025
+ for k in range(4):
+ if two_track_back_bone:
+ c = (pos_x - 1, pos_y - k + 1)
+ ok &= grid_map.grid[c[0]][c[1]] == 1025
c = (pos_x, pos_y - k + 1)
ok &= grid_map.grid[c[0]][c[1]] == 0
if ok:
- if np.random.random() < 0.5:
+ if np.random.random() < 0.95:
start_track = (pos_x, pos_y)
goal_track = (pos_x, pos_y - 2)
new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
if len(new_path) > 0:
c = (pos_x - 1, pos_y - 1)
make_switch_e_w(width, height, grid_map, c)
- if np.random.random() < 0.5:
- add_pos = (
- int((goal_track[0] + start_track[0]) / 2),
- int((goal_track[1] + start_track[1]) / 2),
- idx_target)
- agents_positions_backward.append(add_pos)
- agents_directions_backward.append(3)
- idx_backward.append(idx_target)
- add_pos = (
- int((goal_track[0] + start_track[0]) / 2),
- int((goal_track[1] + start_track[1]) / 2),
- idx_target)
- agents_targets.append(add_pos)
- idx_target += 1
+ add_pos = (
+ int((goal_track[0] + start_track[0]) / 2),
+ int((goal_track[1] + start_track[1]) / 2))
+ agents_positions.append(add_pos)
+ agents_directions.append(3)
+ add_pos = (
+ int((goal_track[0] + start_track[0]) / 2),
+ int((goal_track[1] + start_track[1]) / 2))
+ agents_targets.append(add_pos)
else:
start_track = (pos_x, pos_y)
goal_track = (pos_x, pos_y - 2)
@@ -884,20 +878,15 @@ def realistic_rail_generator(nr_start_goal=1, seed=0, add_max_dead_end=20, two_t
if len(new_path) > 0:
c = (pos_x - 1, pos_y + 1)
make_switch_w_e(width, height, grid_map, c)
- if np.random.random() < 0.5:
- add_pos = (
- int((goal_track[0] + start_track[0]) / 2),
- int((goal_track[1] + start_track[1]) / 2),
- idx_target)
- agents_positions_forward.append(add_pos)
- agents_directions_forward.append(1)
- idx_forward.append(idx_target)
- add_pos = (
- int((goal_track[0] + start_track[0]) / 2),
- int((goal_track[1] + start_track[1]) / 2),
- idx_target)
- agents_targets.append(add_pos)
- idx_target += 1
+ add_pos = (
+ int((goal_track[0] + start_track[0]) / 2),
+ int((goal_track[1] + start_track[1]) / 2))
+ agents_positions.append(add_pos)
+ agents_directions.append(1)
+ add_pos = (
+ int((goal_track[0] + start_track[0]) / 2),
+ int((goal_track[1] + start_track[1]) / 2))
+ agents_targets.append(add_pos)
agents_position = []
agents_target = []
@@ -907,30 +896,15 @@ def realistic_rail_generator(nr_start_goal=1, seed=0, add_max_dead_end=20, two_t
t = np.random.choice(range(len(agents_targets)))
d = agents_targets[t]
agents_targets.pop(t)
- if np.random.random() < 0.5: # d[2] < idx_target:
- if len(idx_backward) > 0:
- agents_target.append((d[0], d[1]))
- sel = np.random.choice(range(len(idx_backward)))
- # backward
- p = agents_positions_backward[sel]
- d = agents_directions_backward[sel]
- agents_positions_backward.pop(sel)
- agents_directions_backward.pop(sel)
- idx_backward.pop(sel)
- agents_position.append((p[0], p[1]))
- agents_direction.append(d)
- else:
- if len(idx_forward) > 0:
- agents_target.append((d[0], d[1]))
- sel = np.random.choice(range(len(idx_forward)))
- # forward
- p = agents_positions_forward[sel]
- d = agents_directions_forward[sel]
- agents_positions_forward.pop(sel)
- agents_directions_forward.pop(sel)
- idx_forward.pop(sel)
- agents_position.append((p[0], p[1]))
- agents_direction.append(d)
+ agents_target.append((d[0], d[1]))
+ sel = np.random.choice(range(len(agents_positions)))
+ # backward
+ p = agents_positions[sel]
+ d = agents_directions[sel]
+ agents_positions.pop(sel)
+ agents_directions.pop(sel)
+ agents_position.append((p[0], p[1]))
+ agents_direction.append(d)
return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position)
@@ -1070,7 +1044,7 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
width - 1)
while (station_x, station_y) in train_stations or (station_x, station_y) == node_positions[
trainstation_node] or \
- rail_array[(station_x, station_y)] != 0:
+ rail_array[(station_x, station_y)] != 0:
station_x = np.clip(
node_positions[trainstation_node][0] + np.random.randint(-node_radius, node_radius),
0,
diff --git a/tests/test_flatland_env_sparse_rail_generator.py b/tests/test_flatland_env_sparse_rail_generator.py
index 8f494df8..b3ee348c 100644
--- a/tests/test_flatland_env_sparse_rail_generator.py
+++ b/tests/test_flatland_env_sparse_rail_generator.py
@@ -8,7 +8,7 @@ from flatland.envs.rail_env import RailEnv
from flatland.utils.rendertools import RenderTool, AgentRenderVariant
def test_realistic_rail_generator(vizualization_folder_name=None):
- for test_loop in range(5):
+ for test_loop in range(50):
print("test_loop", test_loop)
num_agents = np.random.randint(10, 30)
env = RailEnv(width=np.random.randint(40, 80),
@@ -51,4 +51,4 @@ def test_sparse_rail_generator():
env_renderer.render_env(show=True, show_observations=True, show_predictions=False)
env_renderer.close_window()
-# test_realistic_rail_generator("./../rendering/")
+#test_realistic_rail_generator("./../rendering/")
--
GitLab