From ef0b7175d48f8f727679ff467238990cbd1a8f4c Mon Sep 17 00:00:00 2001
From: "Egli Adrian (IT-SCI-API-PFI)" <adrian.egli@sbb.ch>
Date: Tue, 17 Sep 2019 13:19:20 +0200
Subject: [PATCH] refactoring and clean up
---
.../Simple_Realistic_Railway_Generator.py | 4 +-
flatland/core/grid/grid4_astar.py | 10 ++---
flatland/core/grid/grid4_utils.py | 42 +-----------------
flatland/core/transition_map.py | 43 ++++++++++++++++++-
tests/test_flatland_core_transitions.py | 32 +++++++-------
5 files changed, 66 insertions(+), 65 deletions(-)
diff --git a/examples/Simple_Realistic_Railway_Generator.py b/examples/Simple_Realistic_Railway_Generator.py
index 6e5e6a56..f935d3e3 100644
--- a/examples/Simple_Realistic_Railway_Generator.py
+++ b/examples/Simple_Realistic_Railway_Generator.py
@@ -451,7 +451,7 @@ def realistic_rail_generator(num_cities=5,
if os.path.exists("./../render_output/"):
for itrials in range(1000):
print(itrials, "generate new city")
- np.random.seed(0 * int(time.time()))
+ np.random.seed(itrials)
env = RailEnv(width=40 + np.random.choice(100),
height=40 + np.random.choice(100),
rail_generator=realistic_rail_generator(num_cities=2 + np.random.choice(10),
@@ -462,7 +462,7 @@ if os.path.exists("./../render_output/"):
connect_max_nbr_of_shortes_city=2,
do_random_connect_stations=False,
# Number of cities in map
- seed=0*int(time.time()), # Random seed
+ seed=itrials, # Random seed
print_out_info=True
),
schedule_generator=sparse_schedule_generator(),
diff --git a/flatland/core/grid/grid4_astar.py b/flatland/core/grid/grid4_astar.py
index c04d71dd..d0b2cc97 100644
--- a/flatland/core/grid/grid4_astar.py
+++ b/flatland/core/grid/grid4_astar.py
@@ -1,4 +1,4 @@
-from flatland.core.grid.grid4_utils import validate_new_transition
+
from flatland.core.grid.grid_utils import IntVector2D
from flatland.core.grid.grid_utils import IntVector2DArrayType
from flatland.core.grid.grid_utils import Vec2dOperations as Vec2d
@@ -12,9 +12,9 @@ class AStarNode:
def __init__(self, parent: IntVector2D = None, pos: IntVector2D = None):
self.parent: IntVector2D = parent
self.pos: IntVector2D = pos
- self.g: float = 0.0
- self.h: float = 0.0
- self.f: float = 0.0
+ self.g = 0.0
+ self.h = 0.0
+ self.f = 0.0
def __eq__(self, other: IntVector2D):
return self.pos == other.pos
@@ -80,7 +80,7 @@ def a_star(rail_trans: RailEnvTransitions,
continue
# validate positions
- if not validate_new_transition(rail_trans, grid_map.grid, prev_pos, current_node.pos, node_pos,
+ if not grid_map.validate_new_transition(rail_trans, prev_pos, current_node.pos, node_pos,
end_node.pos):
continue
diff --git a/flatland/core/grid/grid4_utils.py b/flatland/core/grid/grid4_utils.py
index d64a160b..0a0ba6b8 100644
--- a/flatland/core/grid/grid4_utils.py
+++ b/flatland/core/grid/grid4_utils.py
@@ -1,7 +1,8 @@
from flatland.core.grid.grid4 import Grid4TransitionsEnum
+from flatland.core.grid.grid_utils import IntVector2DArrayType
-def get_direction(pos1, pos2) -> Grid4TransitionsEnum:
+def get_direction(pos1: IntVector2DArrayType, pos2: IntVector2DArrayType) -> Grid4TransitionsEnum:
"""
Assumes pos1 and pos2 are adjacent location on grid.
Returns direction (int) that can be used with transitions.
@@ -23,45 +24,6 @@ def mirror(dir):
return (dir + 2) % 4
-def validate_new_transition(rail_trans, rail_array, prev_pos, current_pos, new_pos, end_pos):
- # start by getting direction used to get to current node
- # and direction from current node to possible child node
- new_dir = get_direction(current_pos, new_pos)
- if prev_pos is not None:
- current_dir = get_direction(prev_pos, current_pos)
- else:
- current_dir = new_dir
- # create new transition that would go to child
- new_trans = rail_array[current_pos]
- if prev_pos is None:
- if new_trans == 0:
- # need to flip direction because of how end points are defined
- new_trans = rail_trans.set_transition(new_trans, mirror(current_dir), new_dir, 1)
- else:
- # check if matches existing layout
- new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
- else:
- # set the forward path
- new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
- # set the backwards path
- new_trans = rail_trans.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
- if new_pos == end_pos:
- # need to validate end pos setup as well
- new_trans_e = rail_array[end_pos]
- if new_trans_e == 0:
- # need to flip direction because of how end points are defined
- new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, mirror(new_dir), 1)
- else:
- # check if matches existing layout
- new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, new_dir, 1)
-
- if not rail_trans.is_valid(new_trans_e):
- return False
-
- # is transition is valid?
- return rail_trans.is_valid(new_trans)
-
-
def get_new_position(position, movement):
""" Utility function that converts a compass movement over a 2D grid to new positions (r, c). """
if movement == Grid4TransitionsEnum.NORTH:
diff --git a/flatland/core/transition_map.py b/flatland/core/transition_map.py
index 232d6fda..2b06714b 100644
--- a/flatland/core/transition_map.py
+++ b/flatland/core/transition_map.py
@@ -7,7 +7,8 @@ from importlib_resources import path
from numpy import array
from flatland.core.grid.grid4 import Grid4Transitions
-from flatland.core.grid.grid4_utils import get_new_position
+from flatland.core.grid.grid4_utils import get_new_position, get_direction
+from flatland.core.grid.grid_utils import IntVector2DArrayType
from flatland.core.grid.rail_env_grid import RailEnvTransitions
from flatland.core.transitions import Transitions
@@ -540,6 +541,46 @@ class GridTransitionMap(TransitionMap):
self.set_transitions((rcPos[0], rcPos[1]), transition)
return True
+ def validate_new_transition(self, rail_trans: RailEnvTransitions,
+ prev_pos: IntVector2DArrayType, current_pos: IntVector2DArrayType,
+ new_pos: IntVector2DArrayType, end_pos: IntVector2DArrayType):
+ # start by getting direction used to get to current node
+ # and direction from current node to possible child node
+ new_dir = get_direction(current_pos, new_pos)
+ if prev_pos is not None:
+ current_dir = get_direction(prev_pos, current_pos)
+ else:
+ current_dir = new_dir
+ # create new transition that would go to child
+ new_trans = self.grid[current_pos]
+ if prev_pos is None:
+ if new_trans == 0:
+ # need to flip direction because of how end points are defined
+ new_trans = rail_trans.set_transition(new_trans, mirror(current_dir), new_dir, 1)
+ else:
+ # check if matches existing layout
+ new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
+ else:
+ # set the forward path
+ new_trans = rail_trans.set_transition(new_trans, current_dir, new_dir, 1)
+ # set the backwards path
+ new_trans = rail_trans.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
+ if new_pos == end_pos:
+ # need to validate end pos setup as well
+ new_trans_e = self.grid[end_pos]
+ if new_trans_e == 0:
+ # need to flip direction because of how end points are defined
+ new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, mirror(new_dir), 1)
+ else:
+ # check if matches existing layout
+ new_trans_e = rail_trans.set_transition(new_trans_e, new_dir, new_dir, 1)
+
+ if not rail_trans.is_valid(new_trans_e):
+ return False
+
+ # is transition is valid?
+ return rail_trans.is_valid(new_trans)
+
def mirror(dir):
return (dir + 2) % 4
diff --git a/tests/test_flatland_core_transitions.py b/tests/test_flatland_core_transitions.py
index 9d4a72c0..9c01be4b 100644
--- a/tests/test_flatland_core_transitions.py
+++ b/tests/test_flatland_core_transitions.py
@@ -2,12 +2,10 @@
# -*- coding: utf-8 -*-
"""Tests for `flatland` package."""
-import numpy as np
-
from flatland.core.grid.grid4 import Grid4Transitions
from flatland.core.grid.grid8 import Grid8Transitions
from flatland.core.grid.rail_env_grid import RailEnvTransitions
-from flatland.core.grid.grid4_utils import validate_new_transition
+from flatland.core.transition_map import GridTransitionMap
# remove whitespace in string; keep whitespace below for easier reading
@@ -117,35 +115,35 @@ def test_is_valid_railenv_transitions():
def test_adding_new_valid_transition():
rail_trans = RailEnvTransitions()
- rail_array = np.zeros(shape=(15, 15), dtype=np.uint16)
+ grid_map = GridTransitionMap(width=15, height=15, transitions=rail_trans)
# adding straight
- assert (validate_new_transition(rail_trans, rail_array, (4, 5), (5, 5), (6, 5), (10, 10)) is True)
+ assert (grid_map.validate_new_transition(rail_trans, (4, 5), (5, 5), (6, 5), (10, 10)) is True)
# adding valid right turn
- assert (validate_new_transition(rail_trans, rail_array, (5, 4), (5, 5), (5, 6), (10, 10)) is True)
+ assert (grid_map.validate_new_transition(rail_trans, (5, 4), (5, 5), (5, 6), (10, 10)) is True)
# adding valid left turn
- assert (validate_new_transition(rail_trans, rail_array, (5, 6), (5, 5), (5, 6), (10, 10)) is True)
+ assert (grid_map.validate_new_transition(rail_trans, (5, 6), (5, 5), (5, 6), (10, 10)) is True)
# adding invalid turn
- rail_array[(5, 5)] = rail_trans.transitions[2]
- assert (validate_new_transition(rail_trans, rail_array, (4, 5), (5, 5), (5, 6), (10, 10)) is False)
+ grid_map.grid[(5, 5)] = rail_trans.transitions[2]
+ assert (grid_map.validate_new_transition(rail_trans, (4, 5), (5, 5), (5, 6), (10, 10)) is False)
# should create #4 -> valid
- rail_array[(5, 5)] = rail_trans.transitions[3]
- assert (validate_new_transition(rail_trans, rail_array, (4, 5), (5, 5), (5, 6), (10, 10)) is True)
+ grid_map.grid[(5, 5)] = rail_trans.transitions[3]
+ assert (grid_map.validate_new_transition(rail_trans, (4, 5), (5, 5), (5, 6), (10, 10)) is True)
# adding invalid turn
- rail_array[(5, 5)] = rail_trans.transitions[7]
- assert (validate_new_transition(rail_trans, rail_array, (4, 5), (5, 5), (5, 6), (10, 10)) is False)
+ grid_map.grid[(5, 5)] = rail_trans.transitions[7]
+ assert (grid_map.validate_new_transition(rail_trans, (4, 5), (5, 5), (5, 6), (10, 10)) is False)
# test path start condition
- rail_array[(5, 5)] = rail_trans.transitions[0]
- assert (validate_new_transition(rail_trans, rail_array, None, (5, 5), (5, 6), (10, 10)) is True)
+ grid_map.grid[(5, 5)] = rail_trans.transitions[0]
+ assert (grid_map.validate_new_transition(rail_trans, None, (5, 5), (5, 6), (10, 10)) is True)
# test path end condition
- rail_array[(5, 5)] = rail_trans.transitions[0]
- assert (validate_new_transition(rail_trans, rail_array, (5, 4), (5, 5), (6, 5), (6, 5)) is True)
+ grid_map.grid[(5, 5)] = rail_trans.transitions[0]
+ assert (grid_map.validate_new_transition(rail_trans, (5, 4), (5, 5), (6, 5), (6, 5)) is True)
def test_valid_railenv_transitions():
--
GitLab