From 5064de8e8ecfe004f4e3a0bcb472bc62d7ad5aff Mon Sep 17 00:00:00 2001
From: spiglerg <spiglerg@gmail.com>
Date: Thu, 18 Apr 2019 21:30:44 +0200
Subject: [PATCH] change in API: rail_generator
---
examples/temporary_example.py | 20 +++++----
flatland/core/env.py | 49 ++++++++++++++++-----
flatland/utils/rail_env_generator.py | 66 +++++++++++++++++++++-------
tests/test_environments.py | 21 +++++----
tests/test_rendertools.py | 3 +-
5 files changed, 110 insertions(+), 49 deletions(-)
diff --git a/examples/temporary_example.py b/examples/temporary_example.py
index 2ea68cfd..8b53b1dd 100644
--- a/examples/temporary_example.py
+++ b/examples/temporary_example.py
@@ -9,32 +9,36 @@ from flatland.utils.rendertools import *
random.seed(1)
np.random.seed(1)
-
# Example generate a random rail
-rail = generate_random_rail(20, 20)
-
-env = RailEnv(rail, number_of_agents=10)
+env = RailEnv(width=20, height=20, rail_generator=generate_random_rail, number_of_agents=10)
env.reset()
env_renderer = RenderTool(env)
env_renderer.renderEnv(show=True)
-
# Example generate a rail given a manual specification,
# a map of tuples (cell_type, rotation)
specs = [[(0, 0), (0, 0), (0, 0), (0, 0), (7, 0), (0, 0)],
[(7, 270), (1, 90), (1, 90), (1, 90), (2, 90), (7, 90)]]
-rail = generate_rail_from_manual_specifications(specs)
-env = RailEnv(rail, number_of_agents=1)
+env = RailEnv(width=6,
+ height=2,
+ rail_generator=generate_rail_from_manual_specifications(specs),
+ number_of_agents=1)
handle = env.get_agent_handles()
-env.reset()
+obs = env.reset()
env.agents_position = [[1, 4]]
env.agents_target = [[1, 1]]
env.agents_direction = [1]
+# TODO: watch out: if these variables are overridden, the obs_builder object has to be reset, too!
+env.obs_builder.reset()
+
+# TODO: delete next line
+#print(env.obs_builder.distance_map[0,:,:])
+#print(env.obs_builder.max_dist)
env_renderer = RenderTool(env)
env_renderer.renderEnv(show=True)
diff --git a/flatland/core/env.py b/flatland/core/env.py
index a7e63fd4..02d912a3 100644
--- a/flatland/core/env.py
+++ b/flatland/core/env.py
@@ -6,6 +6,7 @@ The base Environment class is adapted from rllib.env.MultiAgentEnv
import random
from .env_observation_builder import TreeObsForRailEnv
+from flatland.utils.rail_env_generator import generate_random_rail
class Environment:
@@ -121,35 +122,56 @@ class RailEnv:
"""
def __init__(self,
- rail,
+ width,
+ height,
+ rail_generator=generate_random_rail,
number_of_agents=1,
- custom_observation_builder=TreeObsForRailEnv):
+ obs_builder_object=TreeObsForRailEnv(max_depth=2)):
"""
Environment init.
Parameters
-------
- rail : numpy.ndarray of type numpy.uint16
- The transition matrix that defines the environment.
+ rail_generator : function
+ The rail_generator function is a function that takes the width and
+ height of a rail map along with the number of times the env has
+ been reset, and returns a GridTransitionMap object.
+ Implemented functions are:
+ generate_random_rail : generate a random rail of given size
+ TODO: generate_rail_from_saved_list ---
+ width : int
+ The width of the rail map. Potentially in the future,
+ a range of widths to sample from.
+ height : int
+ The height of the rail map. Potentially in the future,
+ a range of heights to sample from.
number_of_agents : int
- Number of agents to spawn on the map.
- custom_observation_builder: ObservationBuilder object
- ObservationBuilder-derived object that takes this env object
- as input as provides observation vectors for each agent.
+ Number of agents to spawn on the map. Potentially in the future,
+ a range of number of agents to sample from.
+ obs_builder_object: ObservationBuilder object
+ ObservationBuilder-derived object that takes builds observation
+ vectors for each agent.
"""
- self.rail = rail
- self.width = rail.width
- self.height = rail.height
+ self.rail_generator = rail_generator
+ self.num_resets = 0
+ self.rail = None
+ self.width = width
+ self.height = height
self.number_of_agents = number_of_agents
- self.obs_builder = custom_observation_builder(env=self)
+ self.obs_builder = obs_builder_object
+ self.obs_builder.set_env(self)
self.actions = [0]*self.number_of_agents
self.rewards = [0]*self.number_of_agents
self.done = False
+ self.agents_position = []
+ self.agents_target = []
+ self.agents_direction = []
+
self.dones = {"__all__": False}
self.obs_dict = {}
self.rewards_dict = {}
@@ -160,6 +182,9 @@ class RailEnv:
return self.agents_handles
def reset(self):
+ self.rail = self.rail_generator(self.width, self.height, self.num_resets)
+ self.num_resets += 1
+
self.dones = {"__all__": False}
for handle in self.agents_handles:
self.dones[handle] = False
diff --git a/flatland/utils/rail_env_generator.py b/flatland/utils/rail_env_generator.py
index 69e5b831..ab11ac5e 100644
--- a/flatland/utils/rail_env_generator.py
+++ b/flatland/utils/rail_env_generator.py
@@ -24,28 +24,62 @@ def generate_rail_from_manual_specifications(rail_spec):
Returns
-------
- numpy.ndarray of type numpy.uint16
- The matrix with the correct 16-bit bitmaps for each cell.
+ function
+ Generator function that always returns a GridTransitionMap object with
+ the matrix of correct 16-bit bitmaps for each cell.
"""
- t_utils = RailEnvTransitions()
+ def generator(width, height, num_resets=0):
+ t_utils = RailEnvTransitions()
- height = len(rail_spec)
- width = len(rail_spec[0])
- rail = GridTransitionMap(width=width, height=height, transitions=t_utils)
+ height = len(rail_spec)
+ width = len(rail_spec[0])
+ rail = GridTransitionMap(width=width, height=height, transitions=t_utils)
- for r in range(height):
- for c in range(width):
- cell = rail_spec[r][c]
- if cell[0] < 0 or cell[0] >= len(t_utils.transitions):
- print("ERROR - invalid cell type=", cell[0])
- return []
- rail.set_transitions((r, c), t_utils.rotate_transition(
- t_utils.transitions[cell[0]], cell[1]))
+ for r in range(height):
+ for c in range(width):
+ cell = rail_spec[r][c]
+ if cell[0] < 0 or cell[0] >= len(t_utils.transitions):
+ print("ERROR - invalid cell type=", cell[0])
+ return []
+ rail.set_transitions((r, c), t_utils.rotate_transition(
+ t_utils.transitions[cell[0]], cell[1]))
- return rail
+ return rail
+
+ return generator
+
+
+def generate_rail_from_GridTransitionMap(rail_map):
+ """
+ Utility to convert a rail given by a GridTransitionMap map with the correct
+ 16-bit transitions specifications.
+
+ Parameters
+ -------
+ rail_map : GridTransitionMap object
+ GridTransitionMap object to return when the generator is called.
+
+ Returns
+ -------
+ function
+ Generator function that always returns the given `rail_map' object.
+ """
+ def generator(width, height, num_resets=0):
+ return rail_map
+
+ return generator
+
+
+"""
+def generate_rail_from_list_of_manual_specifications(list_of_specifications)
+ def generator(width, height, num_resets=0):
+ return generate_rail_from_manual_specifications(list_of_specifications)
+
+ return generator
+"""
-def generate_random_rail(width, height):
+def generate_random_rail(width, height, num_resets=0):
"""
Dummy random level generator:
- fill in cells at random in [width-2, height-2]
diff --git a/tests/test_environments.py b/tests/test_environments.py
index 03544b08..ce9fbd4f 100644
--- a/tests/test_environments.py
+++ b/tests/test_environments.py
@@ -4,6 +4,7 @@
from flatland.core.env import RailEnv
from flatland.core.transitions import Grid4Transitions
from flatland.core.transition_map import GridTransitionMap
+from flatland.utils.rail_env_generator import generate_rail_from_GridTransitionMap
import numpy as np
"""Tests for `flatland` package."""
@@ -46,7 +47,7 @@ def test_rail_environment_single_agent():
rail = GridTransitionMap(width=3, height=3, transitions=transitions)
rail.grid = rail_map
- rail_env = RailEnv(rail, number_of_agents=1)
+ rail_env = RailEnv(width=3, height=3, rail_generator=generate_rail_from_GridTransitionMap(rail), number_of_agents=1)
for _ in range(200):
_ = rail_env.reset()
@@ -118,7 +119,10 @@ def test_dead_end():
transitions=transitions)
rail.grid = rail_map
- rail_env = RailEnv(rail, number_of_agents=1)
+ rail_env = RailEnv(width=rail_map.shape[1],
+ height=rail_map.shape[0],
+ rail_generator=generate_rail_from_GridTransitionMap(rail),
+ number_of_agents=1)
def check_consistency(rail_env):
# We run step to check that trains do not move anymore
@@ -164,7 +168,10 @@ def test_dead_end():
transitions=transitions)
rail.grid = rail_map
- rail_env = RailEnv(rail, number_of_agents=1)
+ rail_env = RailEnv(width=rail_map.shape[1],
+ height=rail_map.shape[0],
+ rail_generator=generate_rail_from_GridTransitionMap(rail),
+ number_of_agents=1)
rail_env.reset()
rail_env.agents_target[0] = [0, 0]
@@ -177,11 +184,3 @@ def test_dead_end():
rail_env.agents_position[0] = [2, 0]
rail_env.agents_direction[0] = 0
check_consistency(rail_env)
-
-
-
-
-
-
-test_dead_end()
-
diff --git a/tests/test_rendertools.py b/tests/test_rendertools.py
index ae9a9e18..5fecd085 100644
--- a/tests/test_rendertools.py
+++ b/tests/test_rendertools.py
@@ -37,8 +37,7 @@ def checkFrozenImage(sFileImage):
def test_render_env():
random.seed(100)
- oRail = rail_env_generator.generate_random_rail(10, 10)
- oEnv = RailEnv(oRail, number_of_agents=2)
+ oEnv = RailEnv(width=10, height=10, rail_generator=rail_env_generator.generate_random_rail, number_of_agents=2)
oEnv.reset()
oRT = rt.RenderTool(oEnv)
plt.figure(figsize=(10, 10))
--
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