From a9716d8a66ccb70c2f02d4862c54c955864f74ed Mon Sep 17 00:00:00 2001
From: MLErik <baerenjesus@gmail.com>
Date: Mon, 19 Aug 2019 11:31:39 -0400
Subject: [PATCH] added realistic_mode for less random levels added more
complex intersections
---
flatland/core/transition_map.py | 2 +
flatland/envs/generators.py | 144 ++++++++----------
flatland/utils/graphics_pil.py | 6 +-
flatland/utils/rendertools.py | 9 +-
...test_flatland_env_sparse_rail_generator.py | 20 +--
5 files changed, 80 insertions(+), 101 deletions(-)
diff --git a/flatland/core/transition_map.py b/flatland/core/transition_map.py
index 8c0bcb6d..048593d9 100644
--- a/flatland/core/transition_map.py
+++ b/flatland/core/transition_map.py
@@ -412,6 +412,8 @@ class GridTransitionMap(TransitionMap):
grcMax = self.grid.shape
# loop over available outbound directions (indices) for rcPos
+ self.set_transitions(rcPos, 0)
+
incomping_connections = np.zeros(4)
for iDirOut in np.arange(4):
gdRC = gDir2dRC[iDirOut] # row,col increment
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index cbce5062..62e0616c 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -543,7 +543,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 11):
return generator
-def realistic_rail_generator(nr_start_goal=1, seed=0,max_add_dead_end = 7):
+def realistic_rail_generator(nr_start_goal=1, seed=0):
"""
Parameters
-------
@@ -746,80 +746,33 @@ def realistic_rail_generator(nr_start_goal=1, seed=0,max_add_dead_end = 7):
data = []
for x_loop in range(int(len(x) / 2)):
start = (
- max(0, min(off_set + nbr_track_loop + 1, height - 1)),
- max(0, min(x[2 * x_loop], width - 1)))
+ max(0, min(off_set + nbr_track_loop + 1, height - 1)), max(0, min(x[2 * x_loop], width - 1)))
goal = (
max(0, min(off_set + nbr_track_loop + 1, height - 1)),
max(0, min(x[2 * x_loop + 1], width - 1)))
-
- if (off_set + nbr_track_loop + 1 == start[0]) and (off_set + nbr_track_loop + 1 == goal[0]):
- 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(width, height, grid_map, c)
- c = (off_set + nbr_track_loop, x[2 * x_loop + 1] + 1)
- make_switch_w_e(width, height, grid_map, c)
-
- add_pos = (int((start[0] + goal[0]) / 2), int((start[1] + goal[1]) / 2))
- if off_set_loop % 2 == 0:
- agents_positions_forward.append(add_pos)
- agents_directions_forward.append(([1, 3][nbr_track_loop % 2]))
- idx_forward.append(idx_target)
- else:
- agents_positions_backward.append(add_pos)
- agents_directions_backward.append(([3, 1][nbr_track_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_targets.append(add_pos)
- idx_target += 1
-
- # add dead-end
- if True:
- n = max_add_dead_end#int(np.random.choice(np.arange(max_add_dead_end-2)+1, 1)[0])
- for pos_y in np.random.choice(np.arange(width - 7) + 3, n):
- pos_x = off_set
- pos_x1 = max(0, min(pos_x + 1, height - 1))
- if np.random.random() > 0.5:
- if pos_x + 1 < height - 1:
- start_track = (pos_x1, pos_y)
- goal_track = (pos_x1, pos_y + 1)
- ok = True
- for k in range(4):
- ok &= grid_map.grid[pos_x1][pos_y + (k-1) ] == 0
- if ok:
- new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
- if len(new_path) > 0:
- c = (pos_x1 - 1, pos_y + 1)
- make_switch_e_w(width, height, grid_map, c)
- add_pos = goal_track # (int((start_track[0] + goal_track[0]) / 2), int((start_track[1] + goal_track[1]) / 2))
- agents_positions_forward.append(add_pos)
- agents_directions_forward.append(3)
- idx_forward.append(idx_target)
- agents_targets.append((goal_track[0], goal_track[1], idx_target))
- idx_target += 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(width, height, grid_map, c)
+ c = (off_set + nbr_track_loop, x[2 * x_loop + 1] + 1)
+ 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:
- pos_x = max(0, min(pos_x + 1, height - 1))
- if pos_x + 1 < height - 1:
- start_track = (pos_x1, pos_y - 1)
- goal_track = (pos_x1, pos_y - 2)
- ok = True
- for k in range(4):
- ok &= grid_map.grid[pos_x1][pos_y - k] == 0
- if ok:
- new_path = connect_rail(rail_trans, rail_array, start_track, goal_track)
- if len(new_path) > 0:
- c = (pos_x1 - 1, pos_y)
- make_switch_w_e(width, height, grid_map, c)
- add_pos = goal_track # (int((start_track[0] + goal_track[0]) / 2), int((start_track[1] + goal_track[1]) / 2))
- agents_positions_backward.append(add_pos)
- agents_directions_backward.append(1)
- idx_backward.append(idx_target)
- agents_targets.append((goal_track[0], goal_track[1], idx_target))
- idx_target += 1
+ 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_targets.append(add_pos)
+ idx_target += 1
agents_position = []
agents_target = []
@@ -860,7 +813,7 @@ def realistic_rail_generator(nr_start_goal=1, seed=0,max_add_dead_end = 7):
def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstations=2, min_node_dist=20, node_radius=2,
- num_neighb=4, realistic_mode=False, seed=0):
+ num_neighb=4, realistic_mode=False, enhance_intersection=False, seed=0):
'''
:param nr_train_stations:
@@ -897,6 +850,7 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
nodes_per_col = int(np.ceil(tot_num_node / nodes_per_row))
x_positions = np.linspace(2, height - 2, nodes_per_row, dtype=int)
y_positions = np.linspace(2, width - 2, nodes_per_col, dtype=int)
+
for node_idx in range(num_cities + num_intersections):
to_close = True
tries = 0
@@ -946,7 +900,7 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
delete_idx = np.where(available_cities == current_node)
available_cities = np.delete(available_cities, delete_idx, 0)
- elif len(available_intersections) > 0 and len(available_cities) > 0:
+ elif current_node >= num_cities and len(available_cities) > 0:
available_nodes = available_cities
delete_idx = np.where(available_intersections == current_node)
available_intersections = np.delete(available_intersections, delete_idx, 0)
@@ -1008,6 +962,37 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
# Check if connection was made
if len(connection) == 0:
train_stations[trainstation_node].pop(-1)
+
+ # Place passing lanes at intersections
+ # We currently place them uniformly distirbuted among all cities
+ if enhance_intersection:
+
+ for intersection in range(num_intersections):
+ intersect_x_1 = np.clip(intersection_positions[intersection][0] + np.random.randint(1, 3),
+ 1,
+ height - 2)
+ intersect_y_1 = np.clip(intersection_positions[intersection][1] + np.random.randint(-3, 3),
+ 2,
+ width - 2)
+ intersect_x_2 = np.clip(
+ intersection_positions[intersection][0] + np.random.randint(-3, -1),
+ 1,
+ height - 2)
+ intersect_y_2 = np.clip(
+ intersection_positions[intersection][1] + np.random.randint(-3, 3),
+ 1,
+ width - 2)
+
+ # Connect train station to the correct node
+ connect_nodes(rail_trans, rail_array, (intersect_x_1, intersect_y_1),
+ (intersect_x_2, intersect_y_2))
+ connect_nodes(rail_trans, rail_array, intersection_positions[intersection],
+ (intersect_x_1, intersect_y_1))
+ connect_nodes(rail_trans, rail_array, intersection_positions[intersection],
+ (intersect_x_2, intersect_y_2))
+ grid_map.fix_transitions((intersect_x_1, intersect_y_1))
+ grid_map.fix_transitions((intersect_x_2, intersect_y_2))
+
# Fix all nodes with illegal transition maps
for current_node in node_positions:
grid_map.fix_transitions(current_node)
@@ -1052,17 +1037,22 @@ def sparse_rail_generator(num_cities=100, num_intersections=10, num_trainstation
current_start_node = agent_start_targets_nodes[agent_idx][0]
current_target_node = agent_start_targets_nodes[agent_idx][1]
target_station_idx = np.random.randint(len(train_stations[current_target_node]))
- start_station_idx = np.random.randint(len(train_stations[current_start_node]))
target = train_stations[current_target_node][target_station_idx]
- start = train_stations[current_start_node][start_station_idx]
while (target[0], target[1]) in agents_target:
target_station_idx = np.random.randint(len(train_stations[current_target_node]))
target = train_stations[current_target_node][target_station_idx]
- while (start[0], start[1]) in agents_position:
+ agents_target.append((target[0], target[1]))
+
+ for agent_idx in range(num_agents):
+ current_start_node = agent_start_targets_nodes[agent_idx][0]
+ current_target_node = agent_start_targets_nodes[agent_idx][1]
+ start_station_idx = np.random.randint(len(train_stations[current_start_node]))
+ start = train_stations[current_start_node][start_station_idx]
+
+ while (start[0], start[1]) in agents_position or (start[0], start[1]) in agents_target:
start_station_idx = np.random.randint(len(train_stations[current_start_node]))
start = train_stations[current_start_node][start_station_idx]
agents_position.append((start[0], start[1]))
- agents_target.append((target[0], target[1]))
# Orient the agent correctly
for orientation in range(4):
diff --git a/flatland/utils/graphics_pil.py b/flatland/utils/graphics_pil.py
index 6333909e..47ff8e6c 100644
--- a/flatland/utils/graphics_pil.py
+++ b/flatland/utils/graphics_pil.py
@@ -41,7 +41,7 @@ class PILGL(GraphicsLayer):
SELECTED_AGENT_LAYER = 4
SELECTED_TARGET_LAYER = 5
- def __init__(self, width, height, jupyter=False, screen_width=800,screen_height=600):
+ def __init__(self, width, height, jupyter=False, screen_width=800, screen_height=600):
self.yxBase = (0, 0)
self.linewidth = 4
self.n_agent_colors = 1 # overridden in loadAgent
@@ -263,9 +263,9 @@ class PILGL(GraphicsLayer):
class PILSVG(PILGL):
- def __init__(self, width, height, jupyter=False, screen_width=800,screen_height=600):
+ def __init__(self, width, height, jupyter=False, screen_width=800, screen_height=600):
oSuper = super()
- oSuper.__init__(width, height, jupyter,screen_width,screen_height)
+ oSuper.__init__(width, height, jupyter, screen_width, screen_height)
self.lwAgents = []
self.agents_prev = []
diff --git a/flatland/utils/rendertools.py b/flatland/utils/rendertools.py
index 00c1e1b9..5118af75 100644
--- a/flatland/utils/rendertools.py
+++ b/flatland/utils/rendertools.py
@@ -39,7 +39,8 @@ class RenderTool(object):
theta = np.linspace(0, np.pi / 2, 5)
arc = array([np.cos(theta), np.sin(theta)]).T # from [1,0] to [0,1]
- def __init__(self, env, gl="PILSVG", jupyter=False, agent_render_variant=AgentRenderVariant.ONE_STEP_BEHIND, screen_width=800,screen_height=600):
+ def __init__(self, env, gl="PILSVG", jupyter=False, agent_render_variant=AgentRenderVariant.ONE_STEP_BEHIND,
+ screen_width=800, screen_height=600):
self.env = env
self.frame_nr = 0
self.start_time = time.time()
@@ -48,12 +49,12 @@ class RenderTool(object):
self.agent_render_variant = agent_render_variant
if gl == "PIL":
- self.gl = PILGL(env.width, env.height, jupyter, screen_width=screen_width,screen_height=screen_height)
+ self.gl = PILGL(env.width, env.height, jupyter, screen_width=screen_width, screen_height=screen_height)
elif gl == "PILSVG":
- self.gl = PILSVG(env.width, env.height, jupyter, screen_width=screen_width,screen_height=screen_height)
+ self.gl = PILSVG(env.width, env.height, jupyter, screen_width=screen_width, screen_height=screen_height)
else:
print("[", gl, "] not found, switch to PILSVG")
- self.gl = PILSVG(env.width, env.height, jupyter, screen_width=screen_width,screen_height=screen_height)
+ self.gl = PILSVG(env.width, env.height, jupyter, screen_width=screen_width, screen_height=screen_height)
self.new_rail = True
self.update_background()
diff --git a/tests/test_flatland_env_sparse_rail_generator.py b/tests/test_flatland_env_sparse_rail_generator.py
index 46675e3a..86e02c75 100644
--- a/tests/test_flatland_env_sparse_rail_generator.py
+++ b/tests/test_flatland_env_sparse_rail_generator.py
@@ -1,6 +1,3 @@
-import os
-import time
-
import numpy as np
from flatland.envs.generators import sparse_rail_generator, realistic_rail_generator
@@ -22,15 +19,6 @@ def test_realistic_rail_generator(vizualization_folder_name=None):
screen_width=1600)
env_renderer.render_env(show=True, show_observations=True, show_predictions=False)
- if vizualization_folder_name is not None:
- env_renderer.gl.save_image(
- os.path.join(
- vizualization_folder_name,
- "flatland_frame_{:04d}.png".format(test_loop)
- ))
- env_renderer.close_window()
-
-
def test_sparse_rail_generator():
env = RailEnv(width=50,
height=50,
@@ -39,15 +27,13 @@ def test_sparse_rail_generator():
num_trainstations=50, # Number of possible start/targets on map
min_node_dist=6, # Minimal distance of nodes
node_radius=3, # Proximity of stations to city center
- num_neighb=4, # Number of connections to other cities
+ num_neighb=3, # Number of connections to other cities
seed=5, # Random seed
+ realistic_mode=True # Ordered distribution of nodes
),
- number_of_agents=45,
+ number_of_agents=10,
obs_builder_object=GlobalObsForRailEnv())
# reset to initialize agents_static
env_renderer = RenderTool(env, gl="PILSVG", )
env_renderer.render_env(show=True, show_observations=True, show_predictions=False)
- time.sleep(2)
-
-test_realistic_rail_generator(vizualization_folder_name="./rendering")
--
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