reset, loading vehicles, equal spacing

cistar-dev/build-tester.py

@@ -1,63 +1,49 @@
 import logging
 
-from cistar.envs.velocity import SimpleVelocityEnvironment
 from cistar.core.exp import SumoExperiment
-from rllab.envs.base import Env
-
-from cistar.generators.loop import CircleGenerator
-
+from cistar.envs.velocity import SimpleVelocityEnvironment
+from cistar.scenarios.loop.gen import CircleGenerator
+from cistar.scenarios.loop.loop_scenario import LoopScenario
 logging.basicConfig(level=logging.WARNING)
 
-num_cars = 4
-
-num_rl = 4
+num_cars = 10
+num_rl = 5
 
 sumo_params = {"port": 8873}
 
+def constant_vel(**kwargs):
+    return 15
 sumo_binary = "sumo-gui"
 
-type_controllers = {"rl": None}
-
-type_counts = {"rl": num_rl}
+type_params = {"rl": (num_rl, None), "slow": (5, constant_vel)}
 
 env_params = {"target_velocity": 25}
 
-initial_config = {}
-
 net_params = {"length": 200, "lanes": 1, "speed_limit":35, "resolution": 40, "net_path":"debug/net/"}
 
-type_list=["rl"]
+cfg_params = {"type_list": ["rl"], "start_time": 0, "end_time":3000, "cfg_path":"debug/cfg/", "num_cars":num_cars, "type_counts":{"rl": 4}, "use_flows":True, "period":"1"}
+
+scenario = LoopScenario("test-exp", num_cars, type_params, cfg_params, net_params, generator_class=CircleGenerator)
 
 ##data path needs to be relative to cfg location
-cfg_params = {"type_list": ["rl"], "start_time": 0, "num_cars":num_cars, "end_time":3000, "cfg_path":"debug/cfg/", "type_counts":type_counts, "use_flows":True, "period":"1"}
 
-leah_sumo_params = {"port": 8873}#, "cfg":"/Users/kanaad/code/research/learning-traffic/sumo/learning-traffic/cistar-dev/debug/cfg/test-exp-200m1l.sumo.cfg"}
+leah_sumo_params = {"port": 8873}
 
-exp = SumoExperiment("test-exp", SimpleVelocityEnvironment, env_params, num_cars, num_rl, type_controllers, sumo_binary, leah_sumo_params, initial_config, CircleGenerator, net_params, cfg_params)
+exp = SumoExperiment(SimpleVelocityEnvironment, env_params, sumo_binary, sumo_params, scenario)
 
 logging.info("Experiment Set Up complete")
 
 for _ in range(50):
-    exp.env.step([25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25])
+    exp.env.step([25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25])
 exp.env.reset()
 for _ in range(20):
-    exp.env.step([15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15])
+    exp.env.step(
+        [25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25,
+         25, 25, 25, 25])
+exp.env.reset()
 for _ in range(10):
-    exp.env.step([25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25, 25])
-
-# print("resetting state")
-# exp.env.reset()
-# print("state reset")
-# for _ in range(20):
-#     exp.env.step([0,0,0,0])
-# print("resetting state")
-# exp.env.reset()
-# print("state reset")
-# for _ in range(10):
-#     exp.env.step([20,20,20,20])
-# for _ in range(30):
-#     exp.env.step([25, 25, 25, 25])
-# print("resetting state")
-# exp.env.reset()
+    exp.env.step(
+        [15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
+         15, 15, 15, 15])
 
 exp.env.terminate()

cistar-dev/cistar/core/base_env.py

@@ -24,16 +24,15 @@
 
 class SumoEnvironment(Env):
 
-    def __init__(self, num_vehicles, num_rl_vehicles, env_params,
-                 type_controllers, sumo_binary, sumo_params, initial_config):
+    def __init__(self,env_params, type_params, sumo_binary, sumo_params, scenario):
         """
         Initialize the Sumo Environment, by starting SUMO, setting up TraCI and initializing vehicles
         Input
         -----
         num_vehicles : total number of vehicles, RL and controller based
         env_params   : use this dictionary to pass in parameters relevant to the environment
                      (i.e. shape, size of simulatiomn; constants for step functions, etc. )
-        vehicle_controllers : dictionary of car -> controller assignments for non-RL cars
+        type_params : dictionary of car -> (count, controller) assignments
         sumo_binary : SUMO library to start
         sumo_params : port, config file, out, error etc.
 
@@ -47,20 +46,19 @@ def __init__(self, num_vehicles, num_rl_vehicles, env_params,
         info : a dictionary containing other diagnostic information from the previous action
         """
 
-        self.num_vehicles = num_vehicles
-        self.num_rl_vehicles = num_rl_vehicles
+        self.num_vehicles = scenario.num_vehicles
+        self.num_rl_vehicles = scenario.num_rl_vehicles
         self.env_params = env_params
-        self.type_controllers = type_controllers
+        self.type_params = type_params
         self.sumo_binary = sumo_binary
-        self.initial_config = initial_config
+        self.initial_state = {}
 
         if "port" not in sumo_params:
-            raise logging.error("SUMO port not defined")
+            raise ValueError("SUMO port not defined")
         else:
             self.port = sumo_params["port"]
 
-        self.cfg = sumo_params['cfg']
-
+        self.cfg = scenario.cfg
 
         # (could cause error, port occupied, should catch for exception)
         # TODO: Catch sumo/traci errors
@@ -71,24 +69,24 @@ def __init__(self, num_vehicles, num_rl_vehicles, env_params,
         subprocess.Popen([self.sumo_binary, "-c", self.cfg, "--remote-port",
                                         str(self.port), "--step-length", str(0.1)], stdout=sys.stdout, stderr=sys.stderr)
 
-        logging.info(" Initializing TraCI on port " + str(self.port) + "!")
+        logging.debug(" Initializing TraCI on port " + str(self.port) + "!")
         traci.init(self.port)
 
-        # may have to manually add cars here
         self.initialize_simulation()
 
         self.ids = traci.vehicle.getIDList()
         self.controlled_ids = [i for i in self.ids if not traci.vehicle.getTypeID(i) == "rl"]
         self.rl_ids = [i for i in self.ids if traci.vehicle.getTypeID(i) == "rl"]
 
-        for index, car_id in enumerate(self.rl_ids):
-            logging.info("Car with id " + car_id + " is on route " + str(traci.vehicle.getRouteID(car_id)))
-            logging.info("Car with id " + car_id + " is on edge " + str(traci.vehicle.getLaneID(car_id)))
-            logging.info("Car with id " + car_id + " has valid route: " + str(traci.vehicle.isRouteValid(car_id)))
-            logging.info("Car with id " + car_id + " has speed: " + str(traci.vehicle.getSpeed(car_id)))
-            logging.info("Car with id " + car_id + " has pos: " + str(traci.vehicle.getPosition(car_id)))
-            logging.info("Car with id " + car_id + " has route: " + str(traci.vehicle.getRoute(car_id)))
-            logging.info("Car with id " + car_id + " is at index: " + str(traci.vehicle.getRouteIndex(car_id)))
+        for index, car_id in enumerate(self.ids):
+            traci.vehicle.setSpeedMode(car_id, 0)
+            logging.debug("Car with id " + car_id + " is on route " + str(traci.vehicle.getRouteID(car_id)))
+            logging.debug("Car with id " + car_id + " is on edge " + str(traci.vehicle.getLaneID(car_id)))
+            logging.debug("Car with id " + car_id + " has valid route: " + str(traci.vehicle.isRouteValid(car_id)))
+            logging.debug("Car with id " + car_id + " has speed: " + str(traci.vehicle.getSpeed(car_id)))
+            logging.debug("Car with id " + car_id + " has pos: " + str(traci.vehicle.getPosition(car_id)))
+            logging.debug("Car with id " + car_id + " has route: " + str(traci.vehicle.getRoute(car_id)))
+            logging.debug("Car with id " + car_id + " is at index: " + str(traci.vehicle.getRouteIndex(car_id)))
 
         # could possibly be handled in sumo experiment
         self.store_initial_state()
@@ -98,7 +96,7 @@ def initialize_simulation(self):
         Needs to generate, and place cars in the correct places,
         If cars are placed on routes in CFG, or generated in flows, step until all cars are on the board
 
-        (this method can be overridden, so init never needs to be)
+        (this method can and should be overridden for different initializations )
         """
         print("there are " +  str(traci.vehicle.getIDCount()) + " cars loaded")
         while traci.vehicle.getIDCount() < self.num_vehicles:
@@ -114,16 +112,16 @@ def store_initial_state(self):
         """
         Store initial state so that simulation can be reset at the end
         """
-        if not self.initial_config:
-            # Get initial state of each vehicle, and store in initial config object
-            for veh_id in self.ids:
-                type_id = traci.vehicle.getTypeID(veh_id)
-                route_id = traci.vehicle.getRouteID(veh_id)
-                lane_index = traci.vehicle.getLaneIndex(veh_id)
-                lane_pos = traci.vehicle.getLanePosition(veh_id)
-                speed = traci.vehicle.getSpeed(veh_id)
-                pos = traci.vehicle.getPosition(veh_id)
-                self.initial_config[veh_id] = (type_id, route_id, lane_index, lane_pos, speed, pos)
+
+        # Get initial state of each vehicle, and store in initial config object
+        for veh_id in self.ids:
+            type_id = traci.vehicle.getTypeID(veh_id)
+            route_id = traci.vehicle.getRouteID(veh_id)
+            lane_index = traci.vehicle.getLaneIndex(veh_id)
+            lane_pos = traci.vehicle.getLanePosition(veh_id)
+            speed = traci.vehicle.getSpeed(veh_id)
+            pos = traci.vehicle.getPosition(veh_id)
+            self.initial_state[veh_id] = (type_id, route_id, lane_index, lane_pos, speed, pos)
 
     def apply_action(self, car_id, action):
         """
@@ -147,28 +145,27 @@ def step(self, rl_actions):
         done : a boolean, indicating whether the episode has ended
         info : a dictionary containing other diagnostic information from the previous action
         """
-        logging.info("================= performing step =================")
+        logging.debug("================= performing step =================")
         for car_id in self.controlled_ids:
-            action = self.type_controllers[traci.vehicle.getTypeID(car_id)].get_action()
+            car_type = traci.vehicle.getTypeID(car_id)
+            action = self.type_params[car_type][1]()
             self.apply_action(car_id, action=action)
-            logging.info("Car with id " + car_id + " is on route " + str(traci.vehicle.getRouteID(car_id)))
+            logging.debug("Car with id " + car_id + " is on route " + str(traci.vehicle.getRouteID(car_id)))
 
         for index, car_id in enumerate(self.rl_ids):
             action = rl_actions[index]
             self.apply_action(car_id, action=action)
 
         traci.simulationStep()
 
-        # for index, car_id in enumerate(self.rl_ids):
-        car_id = self.rl_ids[0]
-
-        logging.info("Car with id " + car_id + " is on route " + str(traci.vehicle.getRouteID(car_id)))
-        logging.info("Car with id " + car_id + " is on edge " + str(traci.vehicle.getLaneID(car_id)))
-        logging.info("Car with id " + car_id + " has valid route: " + str(traci.vehicle.isRouteValid(car_id)))
-        logging.info("Car with id " + car_id + " has speed: " + str(traci.vehicle.getSpeed(car_id)))
-        logging.info("Car with id " + car_id + " has pos: " + str(traci.vehicle.getPosition(car_id)))
-        logging.info("Car with id " + car_id + " has route: " + str(traci.vehicle.getRoute(car_id)))
-        logging.info("Car with id " + car_id + " is at index: " + str(traci.vehicle.getRouteIndex(car_id)))
+        for index, car_id in enumerate(self.rl_ids):
+            logging.debug("Car with id " + car_id + " is on route " + str(traci.vehicle.getRouteID(car_id)))
+            logging.debug("Car with id " + car_id + " is on edge " + str(traci.vehicle.getLaneID(car_id)))
+            logging.debug("Car with id " + car_id + " has valid route: " + str(traci.vehicle.isRouteValid(car_id)))
+            logging.debug("Car with id " + car_id + " has speed: " + str(traci.vehicle.getSpeed(car_id)))
+            logging.debug("Car with id " + car_id + " has pos: " + str(traci.vehicle.getPosition(car_id)))
+            logging.debug("Car with id " + car_id + " has route: " + str(traci.vehicle.getRoute(car_id)))
+            logging.debug("Car with id " + car_id + " is at index: " + str(traci.vehicle.getRouteIndex(car_id)))
 
         self._state = np.array([traci.vehicle.getSpeed(vID) for vID in self.controlled_ids])
         reward = self.compute_reward(self._state)
@@ -184,17 +181,15 @@ def reset(self):
         """
 
         for car_id in self.ids:
-            type_id, route_id, lane_index, lane_pos, speed, pos = self.initial_config[car_id]
+            type_id, route_id, lane_index, lane_pos, speed, pos = self.initial_state[car_id]
 
-            print("Moving car " + car_id + " from " + str(traci.vehicle.getPosition(car_id)) + " to " + str(pos))
+            logging.debug("Moving car " + car_id + " from " + str(traci.vehicle.getPosition(car_id)) + " to " + str(pos))
             traci.vehicle.remove(car_id)
             traci.vehicle.addFull(car_id, route_id, typeID=str(type_id), departLane=str(lane_index),
                                   departPos=str(lane_pos), departSpeed=str(speed))
             traci.vehicle.setSpeedMode(car_id, 0)
 
         traci.simulationStep()
-        for car_id in self.ids:
-            print("Car " + car_id + " from " + str(traci.vehicle.getPosition(car_id)) + " to " + str(pos))
 
     @property
     def action_space(self):
@@ -219,4 +214,3 @@ def terminate(self):
         traci.close()
 
 
-

cistar-dev/cistar/core/exp.py

@@ -1,8 +1,7 @@
 import logging
 import datetime
 
-import os
-import errno
+from cistar.core.generator import Generator
 
 """
 Primary sumo++ file, imports API from supporting files and manages in teractions
@@ -15,59 +14,23 @@
 Interfaces with sumo on the other side
 
 """
-
-
-def ensure_dir(path):
-    try:
-        os.makedirs(path)
-    except OSError as exception:
-        if exception.errno != errno.EEXIST:
-            raise
-    return path
-
-
-class Generator:
-
-    CFG_PATH = "./"
-    NET_PATH = "./"
-    DATA_PREFIX = "data/"
-
-    def __init__(self, net_path, cfg_path, data_prefix, base):
-        self.net_path = net_path
-        self.cfg_path = cfg_path
-        self.data_prefix = data_prefix
-        self.base = base
-        self.name = base
-        self.netfn = ""
-
-        ensure_dir("%s" % self.net_path)
-        ensure_dir("%s" % self.cfg_path)
-        ensure_dir("%s" % self.cfg_path + self.data_prefix)
-
-    def generate_net(self, params):
-        raise NotImplementedError
-
-    def generate_cfg(self, params):
-        raise NotImplementedError
-
-
 class SumoExperiment():
 
-    def __init__(self, name, env_class, env_params, num_vehicles, num_rl_vehicles, type_controllers, sumo_binary, sumo_params, initial_config, file_generator=None, net_params=None,
-                 cfg_params=None):
+    def __init__(self, env_class, env_params, sumo_binary, sumo_params, scenario):
         """
         name : tag to associate experiment with
         env_class : Environment to be initialized
         num_vehicles : number of total vehicles in the simulation
         num_rl_vehicles :  these vehicles do not have a controller assigned to them
         vehicle_params : vehicle type string -> controller (method that takes in state, returns action)
             example:
-             num_rl_vehicles=8
+             num_rl_vehicles=4
+             num_vehicles=10
              vehicle params:
-               'acc' -> acc_controller_fn
-               'human-0.5-delay' -> human-delay
-               'human-1.0-delay' -> human-delay
-               'rl' -> 8
+               'acc' -> (2, acc_controller_fn)
+               'human-0.5-delay' -> (2, human-delay)
+               'human-1.0-delay' -> (2,human-delay)
+               'rl' -> (4, None)
 
         sumo_binary : path to sumo executable
         sumo_params : parameters to pass to sumo, e.g. step-length (can also be in sumo-cfg)
@@ -77,43 +40,17 @@ def __init__(self, name, env_class, env_params, num_vehicles, num_rl_vehicles, t
         cfg_params : params to be passed to the environement class upon initialization
         cfg : specify a configuration, rather than create a new one
         """
-        self.name = name
-        self.num_vehicles = num_vehicles
-        self.num_rl_vehicles = num_rl_vehicles
+        self.name = scenario.name
+        self.num_vehicles = scenario.num_vehicles
         self.env_params = env_params
-        self.initial_config = initial_config
-        self.type_controllers = type_controllers
-
-        logging.info(" Starting experiment" + str(name) + " at " + str(datetime.datetime.utcnow()))
-
-        if "cfg" not in sumo_params:
-            logging.info(" Config file not defined, generating using generator")
-            if file_generator is None:
-                logging.error("Invalid file generator!")
-            elif net_params is None:
-                logging.error("No network params specifed!")
-            elif cfg_params is None:
-                logging.error("No config params specified")
-            else:
-                net_path = Generator.NET_PATH
-                cfg_path = Generator.CFG_PATH
-                data_prefix = Generator.DATA_PREFIX
-
-                if "net_path" in net_params:
-                    net_path = net_params["net_path"]
-                if "cfg_path" in cfg_params:
-                    cfg_path = cfg_params["cfg_path"]
-                if "data_prefix" in cfg_params:
-                    data_prefix = cfg_params["data_prefix"]
+        self.type_params = scenario.type_params
+        self.cfg = scenario.cfg
 
-                generator = file_generator(net_path, cfg_path, data_prefix, self.name)
-                generator.generate_net(net_params)
-                self.cfg, self.outs = generator.generate_cfg(cfg_params)
-                sumo_params['cfg'] = generator.cfg_path + self.cfg
+        logging.info(" Starting experiment" + str(self.name) + " at " + str(datetime.datetime.utcnow()))
 
-        logging.info("initializing enviornment.")
+        logging.info("initializing environment.")
 
-        self.env = env_class(self.num_vehicles, self.num_rl_vehicles, self.env_params, self.type_controllers, sumo_binary, sumo_params, initial_config)
+        self.env = env_class(self.env_params, self.type_params, sumo_binary, sumo_params, scenario)
 
     def getCfg(self):
         return self.cfg