From e65e3d7111f4b05525ca426f460aad5abe2276d6 Mon Sep 17 00:00:00 2001
From: u229589 <christian.baumberger@sbb.ch>
Date: Tue, 1 Oct 2019 10:59:06 +0200
Subject: [PATCH] initialize grid in global observation with -1 since 0 is a
valid direction and add unit test
---
flatland/envs/observations.py | 35 +++++++++--------
tests/test_global_observation.py | 64 ++++++++++++++++++++++++++++++++
2 files changed, 81 insertions(+), 18 deletions(-)
create mode 100644 tests/test_global_observation.py
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index de9ee2a4..6f771eb4 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -508,14 +508,14 @@ class GlobalObsForRailEnv(ObservationBuilder):
- transition map array with dimensions (env.height, env.width, 16),\
assuming 16 bits encoding of transitions.
+ - A 3D array (map_height, map_width, 4) with
+ - first channel containing the agents position and direction
+ - second channel containing the other agents positions and diretion
+ - third channel containing agent/other agent malfunctions
+ - fourth channel containing agent/other agent fractional speeds
+
- Two 2D arrays (map_height, map_width, 2) containing respectively the position of the given agent\
target and the positions of the other agents targets.
-
- - A 3D array (map_height, map_width, 4) wtih
- - first channel containing the agents position and direction
- - second channel containing the other agents positions and diretions
- - third channel containing agent malfunctions
- - fourth channel containing agent fractional speeds
"""
def __init__(self):
@@ -535,22 +535,21 @@ class GlobalObsForRailEnv(ObservationBuilder):
self.rail_obs[i, j] = np.array(bitlist)
def get(self, handle: int = 0) -> (np.ndarray, np.ndarray, np.ndarray):
+
obs_targets = np.zeros((self.env.height, self.env.width, 2))
- obs_agents_state = np.zeros((self.env.height, self.env.width, 4))
- agents = self.env.agents
- agent = agents[handle]
+ obs_agents_state = np.zeros((self.env.height, self.env.width, 4)) - 1
- agent_pos = agents[handle].position
- obs_agents_state[agent_pos][0] = agents[handle].direction
+ agent = self.env.agents[handle]
+ obs_agents_state[agent.position][0] = agent.direction
obs_targets[agent.target][0] = 1
- for i in range(len(agents)):
- if i != handle: # TODO: handle used as index...?
- agent2 = agents[i]
- obs_agents_state[agent2.position][1] = agent2.direction
- obs_targets[agent2.target][1] = 1
- obs_agents_state[agents[i].position][2] = agents[i].malfunction_data['malfunction']
- obs_agents_state[agents[i].position][3] = agents[i].speed_data['speed']
+ for i in range(len(self.env.agents)):
+ other_agent = self.env.agents[i]
+ if i != handle:
+ obs_agents_state[other_agent.position][1] = other_agent.direction
+ obs_targets[other_agent.target][1] = 1
+ obs_agents_state[other_agent.position][2] = other_agent.malfunction_data['malfunction']
+ obs_agents_state[other_agent.position][3] = other_agent.speed_data['speed']
return self.rail_obs, obs_agents_state, obs_targets
diff --git a/tests/test_global_observation.py b/tests/test_global_observation.py
new file mode 100644
index 00000000..7213560f
--- /dev/null
+++ b/tests/test_global_observation.py
@@ -0,0 +1,64 @@
+import numpy as np
+
+from flatland.envs.observations import GlobalObsForRailEnv
+from flatland.envs.rail_env import RailEnv
+from flatland.envs.rail_generators import sparse_rail_generator
+from flatland.envs.schedule_generators import sparse_schedule_generator
+
+
+def test_get_global_observation():
+ np.random.seed(1)
+ number_of_agents = 20
+
+ stochastic_data = {'prop_malfunction': 1., # Percentage of defective agents
+ 'malfunction_rate': 30, # Rate of malfunction occurence
+ 'min_duration': 3, # Minimal duration of malfunction
+ 'max_duration': 20 # Max duration of malfunction
+ }
+
+ speed_ration_map = {1.: 0.25, # Fast passenger train
+ 1. / 2.: 0.25, # Fast freight train
+ 1. / 3.: 0.25, # Slow commuter train
+ 1. / 4.: 0.25} # Slow freight train
+
+ env = RailEnv(width=50,
+ height=50,
+ rail_generator=sparse_rail_generator(num_cities=25,
+ # Number of cities in map (where train stations are)
+ num_intersections=10,
+ # Number of intersections (no start / target)
+ num_trainstations=50, # Number of possible start/targets on map
+ min_node_dist=3, # Minimal distance of nodes
+ node_radius=4, # Proximity of stations to city center
+ num_neighb=4,
+ # Number of connections to other cities/intersections
+ seed=15, # Random seed
+ grid_mode=True,
+ enhance_intersection=False
+ ),
+ schedule_generator=sparse_schedule_generator(speed_ration_map),
+ number_of_agents=number_of_agents, stochastic_data=stochastic_data, # Malfunction data generator
+ obs_builder_object=GlobalObsForRailEnv())
+
+ obs, all_rewards, done, _ = env.step({0: 0})
+
+ for i in range(len(env.agents)):
+ obs_agents_state = obs[i][1]
+ obs_targets = obs[i][2]
+
+ nr_agents = np.count_nonzero(obs_targets[:, :, 0])
+ nr_agents_other = np.count_nonzero(obs_targets[:, :, 1])
+ assert nr_agents == 1
+ assert nr_agents_other == (number_of_agents - 1)
+
+ # since the array is initialized with -1 add one in order to used np.count_nonzero
+ obs_agents_state += 1
+ obs_agents_state_0 = np.count_nonzero(obs_agents_state[:, :, 0])
+ obs_agents_state_1 = np.count_nonzero(obs_agents_state[:, :, 1])
+ obs_agents_state_2 = np.count_nonzero(obs_agents_state[:, :, 2])
+ obs_agents_state_3 = np.count_nonzero(obs_agents_state[:, :, 3])
+ assert obs_agents_state_0 == 1
+ assert obs_agents_state_1 == (number_of_agents - 1)
+ assert obs_agents_state_2 == number_of_agents
+ assert obs_agents_state_3 == number_of_agents
+
--
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