From ccd73a5b994666790f7875f51102193331a4a5e1 Mon Sep 17 00:00:00 2001
From: u214892 <u214892@sbb.ch>
Date: Wed, 28 Aug 2019 13:33:11 +0200
Subject: [PATCH] merge #147 -> #141 schedule_generator for
sparse_rail_generator
---
examples/flatland_2_0_example.py | 5 ++-
flatland/envs/rail_generators.py | 47 ++---------------------
flatland/envs/schedule_generators.py | 56 ++++++++++++++++++++++++++++
flatland/utils/graphics_pil.py | 12 +++---
4 files changed, 69 insertions(+), 51 deletions(-)
diff --git a/examples/flatland_2_0_example.py b/examples/flatland_2_0_example.py
index 916e50b2..9f4d62cf 100644
--- a/examples/flatland_2_0_example.py
+++ b/examples/flatland_2_0_example.py
@@ -1,9 +1,10 @@
import numpy as np
-
from flatland.envs.generators import sparse_rail_generator
+
from flatland.envs.observations import TreeObsForRailEnv
from flatland.envs.predictions import ShortestPathPredictorForRailEnv
from flatland.envs.rail_env import RailEnv
+from flatland.envs.schedule_generators import sparse_rail_generator_agents_placer
from flatland.utils.rendertools import RenderTool
np.random.seed(1)
@@ -31,6 +32,7 @@ env = RailEnv(width=20,
realistic_mode=True,
enhance_intersection=True
),
+ agent_generator=sparse_rail_generator_agents_placer(),
number_of_agents=5,
stochastic_data=stochastic_data, # Malfunction data generator
obs_builder_object=TreeObservation)
@@ -75,7 +77,6 @@ class RandomAgent:
# Set action space to 4 to remove stop action
agent = RandomAgent(218, 4)
-
# Empty dictionary for all agent action
action_dict = dict()
diff --git a/flatland/envs/rail_generators.py b/flatland/envs/rail_generators.py
index d338301c..ed507dca 100644
--- a/flatland/envs/rail_generators.py
+++ b/flatland/envs/rail_generators.py
@@ -786,48 +786,9 @@ def sparse_rail_generator(num_cities=5, num_intersections=4, num_trainstations=2
else:
num_agents -= 1
- # Place agents and targets within available train stations
- agents_position = []
- agents_target = []
- agents_direction = []
-
- for agent_idx in range(num_agents):
- # Set target for agent
- current_target_node = agent_start_targets_nodes[agent_idx][1]
- target_station_idx = np.random.randint(len(train_stations[current_target_node]))
- target = train_stations[current_target_node][target_station_idx]
- tries = 0
- 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]
- tries += 1
- if tries > 100:
- warnings.warn("Could not set target position, removing an agent")
- break
- agents_target.append((target[0], target[1]))
-
- # Set start for agent
- current_start_node = agent_start_targets_nodes[agent_idx][0]
- start_station_idx = np.random.randint(len(train_stations[current_start_node]))
- start = train_stations[current_start_node][start_station_idx]
- tries = 0
- while (start[0], start[1]) in agents_position:
- tries += 1
- if tries > 100:
- warnings.warn("Could not set start position, please change initial parameters!!!!")
- break
- 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]))
-
- # Orient the agent correctly
- for orientation in range(4):
- transitions = grid_map.get_transitions(start[0], start[1], orientation)
- if any(transitions) > 0:
- agents_direction.append(orientation)
- continue
-
- return grid_map, agents_position, agents_direction, agents_target, [1.0] * len(agents_position)
+ return grid_map, {'agents_hints': {
+ 'agent_start_targets_nodes': agent_start_targets_nodes,
+ 'train_stations': train_stations
+ }}
return generator
diff --git a/flatland/envs/schedule_generators.py b/flatland/envs/schedule_generators.py
index 50f31378..ef1f9666 100644
--- a/flatland/envs/schedule_generators.py
+++ b/flatland/envs/schedule_generators.py
@@ -1,4 +1,5 @@
"""Schedule generators (railway undertaking, "EVU")."""
+import warnings
from typing import Tuple, List, Callable, Mapping, Optional, Any
import msgpack
@@ -55,6 +56,61 @@ def complex_rail_generator_agents_placer(speed_ratio_map: Mapping[float, float]
return generator
+def sparse_rail_generator_agents_placer(speed_ratio_map: Mapping[float, float] = None) -> ScheduleGenerator:
+ def generator(rail: GridTransitionMap, num_agents: int, hints: Any = None):
+ train_stations = hints['train_stations']
+ agent_start_targets_nodes = hints['agent_start_targets_nodes']
+ # Place agents and targets within available train stations
+ agents_position = []
+ agents_target = []
+ agents_direction = []
+ for agent_idx in range(num_agents):
+ # Set target for agent
+ current_target_node = agent_start_targets_nodes[agent_idx][1]
+ target_station_idx = np.random.randint(len(train_stations[current_target_node]))
+ target = train_stations[current_target_node][target_station_idx]
+ tries = 0
+ 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]
+ tries += 1
+ if tries > 100:
+ warnings.warn("Could not set target position, removing an agent")
+ break
+ agents_target.append((target[0], target[1]))
+
+ # Set start for agent
+ current_start_node = agent_start_targets_nodes[agent_idx][0]
+ start_station_idx = np.random.randint(len(train_stations[current_start_node]))
+ start = train_stations[current_start_node][start_station_idx]
+ tries = 0
+ while (start[0], start[1]) in agents_position:
+ tries += 1
+ if tries > 100:
+ warnings.warn("Could not set start position, please change initial parameters!!!!")
+ break
+ 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]))
+
+ # Orient the agent correctly
+ for orientation in range(4):
+ transitions = rail.get_transitions(start[0], start[1], orientation)
+ if any(transitions) > 0:
+ agents_direction.append(orientation)
+ continue
+
+ if speed_ratio_map:
+ speeds = speed_initialization_helper(num_agents, speed_ratio_map)
+ else:
+ speeds = [1.0] * len(agents_position)
+
+ return agents_position, agents_direction, agents_target, speeds
+
+ return generator
+
+
def get_rnd_agents_pos_tgt_dir_on_rail(speed_ratio_map: Mapping[float, float] = None) -> ScheduleGenerator:
"""
Given a `rail' GridTransitionMap, return a random placement of agents (initial position, direction and target).
diff --git a/flatland/utils/graphics_pil.py b/flatland/utils/graphics_pil.py
index 6a0a9282..92a0f84f 100644
--- a/flatland/utils/graphics_pil.py
+++ b/flatland/utils/graphics_pil.py
@@ -172,7 +172,7 @@ class PILGL(GraphicsLayer):
def text(self, xPx, yPx, strText, layer=RAIL_LAYER):
xyPixLeftTop = (xPx, yPx)
self.draws[layer].text(xyPixLeftTop, strText, font=self.font, fill=(0, 0, 0, 255))
-
+
def text_rowcol(self, rcTopLeft, strText, layer=AGENT_LAYER):
print("Text:", "rc:", rcTopLeft, "text:", strText, "layer:", layer)
xyPixLeftTop = tuple((array(rcTopLeft) * self.nPixCell)[[1, 0]])
@@ -500,9 +500,9 @@ class PILSVG(PILGL):
False)[0]
self.draw_image_row_col(colored_rail, (row, col), layer=PILGL.PREDICTION_PATH_LAYER)
- def set_rail_at(self, row, col, binary_trans, target=None, is_selected=False, rail_grid=None,
- show_debug=True):
-
+ def set_rail_at(self, row, col, binary_trans, target=None, is_selected=False, rail_grid=None,
+ show_debug=True):
+
if binary_trans in self.pil_rail:
pil_track = self.pil_rail[binary_trans]
if target is not None:
@@ -510,7 +510,7 @@ class PILSVG(PILGL):
target_img = Image.alpha_composite(pil_track, target_img)
self.draw_image_row_col(target_img, (row, col), layer=PILGL.TARGET_LAYER)
if show_debug:
- self.text_rowcol((row+0.8, col+0.0), strText=str(target), layer=PILGL.TARGET_LAYER)
+ self.text_rowcol((row + 0.8, col + 0.0), strText=str(target), layer=PILGL.TARGET_LAYER)
if binary_trans == 0:
if self.background_grid[col][row] <= 4:
@@ -607,7 +607,7 @@ class PILSVG(PILGL):
if show_debug:
print("Call text:")
- self.text_rowcol((row+0.2, col+0.2,), str(agent_idx))
+ self.text_rowcol((row + 0.2, col + 0.2,), str(agent_idx))
def set_cell_occupied(self, agent_idx, row, col):
occupied_im = self.cell_occupied[agent_idx % len(self.cell_occupied)]
--
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