From 3ce07cf2782661cd0c511bea8a398bac49c00e08 Mon Sep 17 00:00:00 2001
From: "Egli Adrian (IT-SCI-API-PFI)" <adrian.egli@sbb.ch>
Date: Tue, 17 Sep 2019 15:38:56 +0200
Subject: [PATCH] update
---
.../Simple_Realistic_Railway_Generator.py | 89 +++++++++++++------
flatland/core/grid/grid4_astar.py | 22 ++++-
2 files changed, 82 insertions(+), 29 deletions(-)
diff --git a/examples/Simple_Realistic_Railway_Generator.py b/examples/Simple_Realistic_Railway_Generator.py
index 09f3b538..c9c3bdc6 100644
--- a/examples/Simple_Realistic_Railway_Generator.py
+++ b/examples/Simple_Realistic_Railway_Generator.py
@@ -1,5 +1,6 @@
import copy
import os
+import time
import warnings
import numpy as np
@@ -138,25 +139,58 @@ def realistic_rail_generator(num_cities=5,
def create_switches_at_stations(rail_trans: RailEnvTransitions, grid_map: GridTransitionMap,
station_tracks: IntVector2DArrayType,
- nodes_added: IntVector2DArrayType) -> IntVector2DArrayType:
- for city_loop in range(len(station_tracks)):
- datas = station_tracks[city_loop]
- if len(datas) > 1:
- a = datas[0]
- if len(a) > 0:
- start_node = a[np.random.choice(len(a) - 2) + 1]
- for i in np.arange(1, len(datas)):
- b = datas[i]
- if len(b) > 2:
- x = np.random.choice(len(b) - 2) + 1
- end_node = b[x]
- connection = connect_rail(rail_trans, grid_map, start_node, end_node)
- if len(connection) == 0:
- if print_out_info:
- print("create_switches_at_stations : connect_rail -> no path found")
- nodes_added.append(start_node)
- nodes_added.append(end_node)
- start_node = b[np.random.choice(len(b) - 2) + 1]
+ nodes_added: IntVector2DArrayType,
+ intern_nbr_of_switches_per_station_track: int) -> IntVector2DArrayType:
+
+ for k in range(intern_nbr_of_switches_per_station_track):
+ for city_loop in range(len(station_tracks)):
+ datas = station_tracks[city_loop]
+ if len(datas) > 1:
+ track = datas[0]
+ if len(track) > 3:
+ if k % 2 == 0:
+ x = 1
+ else:
+ x = len(track) - 2
+
+ start_node = track[x]
+ for i in np.arange(1, len(datas)):
+ track = datas[i]
+ if len(track) > 3:
+ if k % 2 == 0:
+ x = x + 2
+ if len(track) <= x:
+ x = 1
+ else:
+ x = x - 2
+ if x < 2:
+ x = len(track) - 2
+ end_node = track[x]
+ connection = connect_rail(rail_trans, grid_map, start_node, end_node)
+ print(start_node, end_node, "-->", connection)
+ if len(connection) == 0:
+ if print_out_info:
+ print("create_switches_at_stations : connect_rail -> no path found")
+ if len(datas[i-1])>0:
+ start_node = datas[i-1][0]
+ end_node = datas[i][0]
+ connection = connect_rail(rail_trans, grid_map, start_node, end_node)
+
+
+ nodes_added.append(start_node)
+ nodes_added.append(end_node)
+
+
+
+ if k % 2 == 0:
+ x = x + 2
+ if len(track) <= x:
+ x = 1
+ else:
+ x = x - 2
+ if x < 2:
+ x = len(track) - 2
+ start_node = track[x]
return nodes_added
@@ -382,12 +416,13 @@ def realistic_rail_generator(num_cities=5,
# build switches
# TODO remove true/false block
if True:
- create_switches_at_stations(rail_trans, grid_map, station_tracks, nodes_added)
+ create_switches_at_stations(rail_trans, grid_map, station_tracks, nodes_added,
+ intern_nbr_of_switches_per_station_track)
# ----------------------------------------------------------------------------------
# connect stations
# TODO remove true/false block
- if True:
+ if False:
if do_random_connect_stations:
connect_random_stations(rail_trans, grid_map, s_nodes, e_nodes, nodes_added,
intern_connect_max_nbr_of_shortes_city)
@@ -452,19 +487,19 @@ if os.path.exists("./../render_output/"):
np.random.seed(itrials)
env = RailEnv(width=40 + np.random.choice(100),
height=40 + np.random.choice(100),
- rail_generator=realistic_rail_generator(num_cities=2 + np.random.choice(10),
+ rail_generator=realistic_rail_generator(num_cities=1000,
city_size=10 + np.random.choice(10),
- allowed_rotation_angles=[0],
- max_number_of_station_tracks=np.random.choice(4) + 4,
- nbr_of_switches_per_station_track=np.random.choice(4) + 2,
- connect_max_nbr_of_shortes_city=2,
+ allowed_rotation_angles=np.arange(-180, 180, 15),
+ max_number_of_station_tracks=1 + np.random.choice(4),
+ nbr_of_switches_per_station_track=2,
+ connect_max_nbr_of_shortes_city=2 + np.random.choice(4),
do_random_connect_stations=False,
# Number of cities in map
seed=itrials, # Random seed
print_out_info=True
),
schedule_generator=sparse_schedule_generator(),
- number_of_agents=100,
+ number_of_agents=0,
obs_builder_object=GlobalObsForRailEnv())
# reset to initialize agents_static
diff --git a/flatland/core/grid/grid4_astar.py b/flatland/core/grid/grid4_astar.py
index 779ee984..91fec9a9 100644
--- a/flatland/core/grid/grid4_astar.py
+++ b/flatland/core/grid/grid4_astar.py
@@ -1,3 +1,6 @@
+import numpy as np
+from matplotlib import pyplot as plt
+
from flatland.core.grid.grid_utils import IntVector2D
from flatland.core.grid.grid_utils import IntVector2DArrayType
from flatland.core.grid.grid_utils import Vec2dOperations as Vec2d
@@ -31,12 +34,16 @@ class AStarNode:
def a_star(rail_trans: RailEnvTransitions,
grid_map: GridTransitionMap,
- start: IntVector2D, end: IntVector2D) -> IntVector2DArrayType:
+ start: IntVector2D, end: IntVector2D,
+ a_star_distance_function=Vec2d.get_manhattan_distance) -> IntVector2DArrayType:
"""
Returns a list of tuples as a path from the given start to end.
If no path is found, returns path to closest point to end.
"""
rail_shape = grid_map.grid.shape
+
+ tmp = np.zeros(rail_shape) - 10
+
start_node = AStarNode(None, start)
end_node = AStarNode(None, end)
open_nodes = set()
@@ -64,6 +71,14 @@ def a_star(rail_trans: RailEnvTransitions,
while current is not None:
path.append(current.pos)
current = current.parent
+
+ if False:
+ plt.ion()
+ plt.clf()
+ plt.imshow(tmp, interpolation='nearest')
+ plt.draw()
+ plt.pause(1e-17)
+
# return reversed path
return path[::-1]
@@ -73,6 +88,7 @@ def a_star(rail_trans: RailEnvTransitions,
prev_pos = current_node.parent.pos
else:
prev_pos = None
+
for new_pos in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
# update the "current" pos
node_pos = Vec2d.add(current_node.pos, new_pos)
@@ -98,9 +114,11 @@ def a_star(rail_trans: RailEnvTransitions,
# create the f, g, and h values
child.g = current_node.g + 1.0
# this heuristic avoids diagonal paths
- child.h = Vec2d.get_manhattan_distance(child.pos, end_node.pos)
+ child.h = a_star_distance_function(child.pos, end_node.pos)
child.f = child.g + child.h
+ tmp[child.pos[0]][child.pos[1]] = child.f
+
# already in the open list?
if child in open_nodes:
continue
--
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