From 87a34e74f1e95c491156fcf19297553dc75d6997 Mon Sep 17 00:00:00 2001
From: "Egli Adrian (IT-SCI-API-PFI)" <adrian.egli@sbb.ch>
Date: Wed, 14 Aug 2019 17:18:49 +0200
Subject: [PATCH] first draft
---
flatland/envs/generators.py | 193 ++++++++++++++++++++----------------
1 file changed, 107 insertions(+), 86 deletions(-)
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 2de26ddc..4cb8b8cc 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -1,3 +1,5 @@
+from enum import IntEnum
+
import msgpack
import numpy as np
@@ -555,6 +557,82 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
The matrix with the correct 16-bit bitmaps for each cell.
"""
+ def add_rail(grid_map, pt_from, pt_via, pt_to, bAddRemove=True):
+ gRCTrans = np.array([[-1, 0], [0, 1], [1, 0], [0, -1]]) # NESW in RC
+
+ lrcStroke = [[pt_from[0], pt_from[1]], [pt_via[0], pt_via[1]], [pt_to[0], pt_to[1]]]
+
+ rc3Cells = np.array(lrcStroke[:3]) # the 3 cells
+ rcMiddle = rc3Cells[1] # the middle cell which we will update
+ bDeadend = np.all(lrcStroke[0] == lrcStroke[2]) # deadend means cell 0 == cell 2
+
+ # get the 2 row, col deltas between the 3 cells, eg [[-1,0],[0,1]] = North, East
+ rc2Trans = np.diff(rc3Cells, axis=0)
+
+ # get the direction index for the 2 transitions
+ liTrans = []
+ for rcTrans in rc2Trans:
+ # gRCTrans - rcTrans gives an array of vector differences between our rcTrans
+ # and the 4 directions stored in gRCTrans.
+ # Where the vector difference is zero, we have a match...
+ # np.all detects where the whole row,col vector is zero.
+ # argwhere gives the index of the zero vector, ie the direction index
+ iTrans = np.argwhere(np.all(gRCTrans - rcTrans == 0, axis=1))
+ if len(iTrans) > 0:
+ iTrans = iTrans[0][0]
+ liTrans.append(iTrans)
+
+ # check that we have two transitions
+ if len(liTrans) == 2:
+ # Set the transition
+ # If this transition spans 3 cells, it is not a deadend, so remove any deadends.
+ # The user will need to resolve any conflicts.
+ grid_map.set_transition((*rcMiddle, liTrans[0]),
+ liTrans[1],
+ bAddRemove,
+ remove_deadends=not bDeadend)
+
+ # Also set the reverse transition
+ # use the reversed outbound transition for inbound
+ # and the reversed inbound transition for outbound
+ grid_map.set_transition((*rcMiddle, mirror(liTrans[1])),
+ mirror(liTrans[0]), bAddRemove, remove_deadends=not bDeadend)
+
+ def make_switch_w_e(grid_map, center):
+ # e -> w
+ start = (center[0]+1, center[1]-1)
+ via = (center[0], center[1] - 1)
+ goal = (center[0], center[1])
+ add_rail(grid_map, start, via, goal)
+ start = (center[0], center[1]-1)
+ via = (center[0]+1, center[1]-1)
+ goal = (center[0]+1, center[1]-2)
+ add_rail(grid_map, start, via, goal)
+
+ def make_switch_e_w(grid_map, center):
+ # e -> w
+ start = (center[0] + 1, center[1])
+ via = (center[0] + 1, center[1] - 1)
+ goal = (center[0], center[1] - 1)
+ add_rail(grid_map, start, via, goal)
+ start = (center[0] + 1, center[1] - 1)
+ via = (center[0], center[1] - 1)
+ goal = (center[0], center[1] - 2)
+ add_rail(grid_map, start, via, goal)
+
+ class Grid4TransitionsEnum(IntEnum):
+ NORTH = 0
+ EAST = 1
+ SOUTH = 2
+ WEST = 3
+
+ @staticmethod
+ def to_char(int: int):
+ return {0: 'N',
+ 1: 'E',
+ 2: 'S',
+ 3: 'W'}[int]
+
def generator(width, height, num_agents, num_resets=0):
if num_agents > nr_start_goal:
@@ -567,97 +645,40 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
np.random.seed(seed + num_resets)
- # generate rail array
- # step 1:
- # - generate a start and goal position
- # - validate min/max distance allowed
- # - validate that start/goals are not placed too close to other start/goals
- # - draw a rail from [start,goal]
- # - if rail crosses existing rail then validate new connection
- # - possibility that this fails to create a path to goal
- # - on failure generate new start/goal
- #
- # step 2:
- # - add more rails to map randomly between cells that have rails
- # - validate all new rails, on failure don't add new rails
- #
- # step 3:
- # - return transition map + list of [start_pos, start_dir, goal_pos] points
- #
- start_goal = []
- start_dir = []
- nr_created = 0
- created_sanity = 0
- sanity_max = 9000
- while nr_created < nr_start_goal and created_sanity < sanity_max:
- all_ok = False
- for _ in range(sanity_max):
- start = (np.random.randint(0, height), np.random.randint(0, width))
- goal = (np.random.randint(0, height), np.random.randint(0, width))
-
- # check to make sure start,goal pos is empty?
- if rail_array[goal] != 0 or rail_array[start] != 0:
- continue
- # check min/max distance
- dist_sg = distance_on_rail(start, goal)
- if dist_sg < min_dist:
- continue
- if dist_sg > max_dist:
- continue
- # check distance to existing points
- sg_new = [start, goal]
-
- def check_all_dist(sg_new):
- for sg in start_goal:
- for i in range(2):
- for j in range(2):
- dist = distance_on_rail(sg_new[i], sg[j])
- if dist < 2:
- return False
- return True
-
- if check_all_dist(sg_new):
- all_ok = True
- break
-
- if not all_ok:
- # we might as well give up at this point
- break
+ max_n_track_seg=4
+ x_offsets = np.arange(0,height,max_n_track_seg).astype(int)
+ for off_set in x_offsets:
+ # second track
+ data = np.arange(int((width - max_n_track_seg) / max_n_track_seg)) * max_n_track_seg + 2
+ n_track_seg = np.random.choice(max_n_track_seg) + 1
+ # track one (full track : left right)
+ start = (off_set, 0)
+ goal = (off_set, width - 1)
new_path = connect_rail(rail_trans, rail_array, start, goal)
- if len(new_path) >= 2:
- nr_created += 1
- start_goal.append([start, goal])
- start_dir.append(mirror(get_direction(new_path[0], new_path[1])))
- else:
- # after too many failures we will give up
- created_sanity += 1
- # add extra connections between existing rail
- created_sanity = 0
- nr_created = 0
- while nr_created < nr_extra and created_sanity < sanity_max:
- all_ok = False
- for _ in range(sanity_max):
- start = (np.random.randint(0, height), np.random.randint(0, width))
- goal = (np.random.randint(0, height), np.random.randint(0, width))
- # check to make sure start,goal pos are not empty
- if rail_array[goal] == 0 or rail_array[start] == 0:
- continue
- else:
- all_ok = True
- break
- if not all_ok:
- break
- new_path = connect_rail(rail_trans, rail_array, start, goal)
- if len(new_path) >= 2:
- nr_created += 1
+ agents_position = [new_path[0]]
+ agents_target = [new_path[1]] # len(new_path) - 1]]
+ agents_direction = [3]
- agents_position = [sg[0] for sg in start_goal[:num_agents]]
- agents_target = [sg[1] for sg in start_goal[:num_agents]]
- agents_direction = start_dir[:num_agents]
+ for nbr_track_loop in range(height-1):
+ if len(data) < 2*n_track_seg+1:
+ break
+ x = np.sort(np.random.choice(data, 2 * n_track_seg, False)).astype(int)
+ data = []
+ for x_loop in range(int(len(x) / 2)):
+ start = (off_set+nbr_track_loop+1, x[2 * x_loop])
+ goal = (off_set+nbr_track_loop+1, x[2 * x_loop + 1])
+ d = np.arange(x[2 * x_loop]+1,x[2 * x_loop+1]-1,2)
+ data.extend(d)
+ new_path = connect_rail(rail_trans, rail_array, start, goal)
+ if len(new_path) >0:
+ c = (off_set+nbr_track_loop, x[2 * x_loop] + 1)
+ make_switch_e_w(grid_map, c)
+ c = (off_set+nbr_track_loop, x[2 * x_loop + 1]+1)
+ make_switch_w_e(grid_map, c)
return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position)
- return generator
\ No newline at end of file
+ return generator
--
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