ULTRA Update existing maps

ultra/tests/test_analysis.py

@@ -54,6 +54,7 @@ def test_interface_analyze(self):
                 stopwatcher_route="south-west",
                 root_path="tests/scenarios",
                 save_dir=save_dir,
+                pool_dir="pool/analysis_pool",
             )
 
             if not os.path.exists(output):
@@ -98,6 +99,7 @@ def test_analyze_scenario(self):
             stopwatcher_route="south-west",
             root_path="tests/scenarios",
             save_dir=save_dir,
+            pool_dir="pool/analysis_pool",
         )
         scenarios = glob.glob(f"{save_dir}")
         try:

ultra/ultra/scenarios/generate_scenarios.py

@@ -686,6 +686,7 @@ def build_scenarios(
     stopwatcher_route,
     save_dir,
     root_path,
+    pool_dir=None,
     dynamic_pattern_func=None,
 ):
     print("Generating Scenario ...")
@@ -700,7 +701,11 @@ def build_scenarios(
     level_config = task_config["levels"][level_name]
     scenarios_dir = os.path.dirname(os.path.realpath(__file__))
     task_dir = f"{scenarios_dir}/{task}"
-    pool_dir = f"{scenarios_dir}/pool"
+
+    if pool_dir is None:
+        pool_path = os.path.join(scenarios_dir, "pool/experiment_pool")
+    else:
+        pool_path = os.path.join(scenarios_dir, pool_dir)
 
     train_total, test_total = (
         int(level_config["train"]["total"]),
@@ -751,7 +756,7 @@ def build_scenarios(
                 reverse=True,
             )
             seed_count = 0
-            map_dir = f"{pool_dir}/{intersection_type}"
+            map_dir = f"{pool_path}/{intersection_type}"
             with open(f"{map_dir}/info.json") as jsonfile:
                 map_metadata = json.load(jsonfile)
                 route_lanes = map_metadata["num_lanes"]

ultra/ultra/scenarios/interface.py

@@ -53,14 +53,20 @@
         "--task", help="type a task id [0, 1, 2, 3]", type=str
     )
     parser_generate_scenarios.add_argument(
-        "--save-dir", help="directory for saving maps", type=str, default=None
+        "--save-dir", help="directory for saving scenarios", type=str, default=None
     )
     parser_generate_scenarios.add_argument(
         "--root-dir",
-        help="directory for saving maps",
+        help="path to task directory",
         type=str,
         default="ultra/scenarios",
     )
+    parser_generate_scenarios.add_argument(
+        "--pool-dir",
+        help="directory for locating maps",
+        type=str,
+        default=None,
+    )
     parser_generate_scenarios.add_argument("--level", help="easy/medium/hard", type=str)
     parser_generate_scenarios.add_argument(
         "--stopwatcher",
@@ -133,6 +139,7 @@
             stopwatcher_route=stopwatcher_route,
             save_dir=args.save_dir,
             root_path=args.root_dir,
+            pool_dir=args.pool_dir,
         )
     else:
         ray.init()

ultra/ultra/scenarios/pool/experiment_pool/2lane_c/info.json

@@ -0,0 +1,4 @@
+{
+  "routes" : [["north-NS", "south-NS"],["north-NS", "east-WE"],["north-NS", "west-EW"], ["south-SN", "west-EW"], ["south-SN", "east-WE"], ["south-SN", "north-SN"], ["east-EW","west-EW"], ["east-EW","south-NS"], ["east-EW", "north-SN"], ["west-WE","east-WE"],["west-WE","north-SN"],["west-WE","south-NS"] ],
+  "num_lanes": {"north-NS":1, "south-NS":1, "east-WE":1, "west-EW":1, "south-NS":1, "south-SN":1, "north-SN":1, "east-EW":1, "west-WE":1}
+}

ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/100kmh/map.net.xml

@@ -0,0 +1,113 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2021-05-19 09:21:33 by Eclipse SUMO netedit Version 1.9.2
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="C:\Users\j84181432\Documents\pool\2lane_curvy_t\100kmh\map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="C:\Users\j84181432\Documents\pool\2lane_curvy_t\100kmh\map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.9" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="0.00,0.00" convBoundary="-108.86,-69.28,294.16,100.00" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>
+
+    <edge id=":junction-intersection_0" function="internal">
+        <lane id=":junction-intersection_0_0" index="0" speed="27.78" length="14.40" shape="107.20,101.60 92.80,101.59"/>
+    </edge>
+    <edge id=":junction-intersection_1" function="internal">
+        <lane id=":junction-intersection_1_0" index="0" speed="20.84" length="5.93" shape="107.20,101.60 103.35,101.05 101.60,100.00"/>
+    </edge>
+    <edge id=":junction-intersection_6" function="internal">
+        <lane id=":junction-intersection_6_0" index="0" speed="20.84" length="8.26" shape="101.60,100.00 100.60,99.40 98.95,96.65 98.40,92.80"/>
+    </edge>
+    <edge id=":junction-intersection_2" function="internal">
+        <lane id=":junction-intersection_2_0" index="0" speed="20.84" length="9.03" shape="101.60,92.80 101.95,95.25 103.00,97.00 104.75,98.05 107.20,98.40"/>
+    </edge>
+    <edge id=":junction-intersection_3" function="internal">
+        <lane id=":junction-intersection_3_0" index="0" speed="20.84" length="14.19" shape="101.60,92.80 101.05,96.65 99.40,99.40 96.65,101.05 92.80,101.59"/>
+    </edge>
+    <edge id=":junction-intersection_4" function="internal">
+        <lane id=":junction-intersection_4_0" index="0" speed="20.84" length="9.03" shape="92.80,98.39 95.25,98.05 97.00,97.00 98.05,95.25 98.40,92.80"/>
+    </edge>
+    <edge id=":junction-intersection_5" function="internal">
+        <lane id=":junction-intersection_5_0" index="0" speed="27.78" length="14.40" shape="92.80,98.39 107.20,98.40"/>
+    </edge>
+
+    <edge id="edge-east-EW" from="junction-east" to="junction-intersection" priority="1">
+        <lane id="edge-east-EW_0" index="0" speed="27.78" length="186.96" shape="294.16,101.60 107.20,101.60"/>
+    </edge>
+    <edge id="edge-east-WE" from="junction-intersection" to="junction-east" priority="1" spreadType="center" shape="99.99,98.40 294.16,98.40">
+        <lane id="edge-east-WE_0" index="0" speed="27.78" length="186.96" shape="107.20,98.40 294.16,98.40"/>
+    </edge>
+    <edge id="edge-south-NS" from="junction-intersection" to="junction-south" priority="-1" shape="100.00,100.00 100.02,61.46 94.01,41.24 95.40,16.15 111.02,-2.85 111.38,-25.09 89.88,-69.28">
+        <lane id="edge-south-NS_0" index="0" speed="13.89" length="172.80" shape="98.40,92.80 98.42,61.69 92.40,41.43 93.83,15.54 109.43,-3.43 109.77,-24.73 88.44,-68.58"/>
+    </edge>
+    <edge id="edge-south-SN" from="junction-south" to="junction-intersection" priority="-1" shape="89.88,-69.28 111.38,-25.09 111.02,-2.85 95.40,16.15 94.01,41.24 100.02,61.46 100.00,100.00">
+        <lane id="edge-south-SN_0" index="0" speed="13.89" length="174.29" shape="91.32,-69.98 112.99,-25.45 112.61,-2.27 96.97,16.76 95.62,41.05 101.62,61.23 101.60,92.80"/>
+    </edge>
+    <edge id="edge-west-EW" from="junction-intersection" to="junction-west" priority="1">
+        <lane id="edge-west-EW_0" index="0" speed="27.78" length="201.66" shape="92.80,101.59 -108.86,101.44"/>
+    </edge>
+    <edge id="edge-west-WE" from="junction-west" to="junction-intersection" priority="1">
+        <lane id="edge-west-WE_0" index="0" speed="27.78" length="201.66" shape="-108.86,98.24 92.80,98.39"/>
+    </edge>
+
+    <junction id="junction-east" type="dead_end" x="294.16" y="100.00" incLanes="edge-east-WE_0" intLanes="" shape="294.16,100.00 294.16,96.80 294.16,100.00"/>
+    <junction id="junction-intersection" type="priority" x="100.00" y="100.00" incLanes="edge-east-EW_0 edge-south-SN_0 edge-west-WE_0" intLanes=":junction-intersection_0_0 :junction-intersection_6_0 :junction-intersection_2_0 :junction-intersection_3_0 :junction-intersection_4_0 :junction-intersection_5_0" shape="107.20,103.20 107.20,96.80 104.98,96.36 104.20,95.80 103.65,95.02 103.31,94.02 103.20,92.80 96.80,92.80 96.36,95.02 95.80,95.80 95.02,96.35 94.02,96.68 92.80,96.79 92.80,103.19" rightOfWay="edgePriority">
+        <request index="0" response="000000" foes="001000" cont="0"/>
+        <request index="1" response="110000" foes="111000" cont="1"/>
+        <request index="2" response="100000" foes="100000" cont="0"/>
+        <request index="3" response="100011" foes="100011" cont="0"/>
+        <request index="4" response="000000" foes="000010" cont="0"/>
+        <request index="5" response="000000" foes="001110" cont="0"/>
+    </junction>
+    <junction id="junction-south" type="dead_end" x="89.88" y="-69.28" incLanes="edge-south-NS_0" intLanes="" shape="89.88,-69.28 87.00,-67.88 89.88,-69.28"/>
+    <junction id="junction-west" type="dead_end" x="-108.86" y="99.84" incLanes="edge-west-EW_0" intLanes="" shape="-108.86,99.84 -108.86,103.04 -108.86,99.84"/>
+
+    <junction id=":junction-intersection_6_0" type="internal" x="101.60" y="100.00" incLanes=":junction-intersection_1_0 edge-west-WE_0" intLanes=":junction-intersection_3_0 :junction-intersection_4_0 :junction-intersection_5_0"/>
+
+    <connection from="edge-east-EW" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_0_0" dir="s" state="M"/>
+    <connection from="edge-east-EW" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_1_0" dir="l" state="m"/>
+    <connection from="edge-south-SN" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_2_0" dir="r" state="m"/>
+    <connection from="edge-south-SN" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_3_0" dir="l" state="m"/>
+    <connection from="edge-west-WE" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_4_0" dir="r" state="M"/>
+    <connection from="edge-west-WE" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_5_0" dir="s" state="M"/>
+
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_1" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_6_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_6" to="edge-south-NS" fromLane="0" toLane="0" dir="l" state="M"/>
+    <connection from=":junction-intersection_2" to="edge-east-WE" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_3" to="edge-west-EW" fromLane="0" toLane="0" dir="l" state="M"/>
+    <connection from=":junction-intersection_4" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_5" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+
+</net>

ultra/ultra/scenarios/pool/experiment_pool/2lane_curvy_t/50kmh/map.net.xml

@@ -0,0 +1,113 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- generated on 2021-05-19 09:20:30 by Eclipse SUMO netedit Version 1.9.2
+<configuration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/netconvertConfiguration.xsd">
+
+    <input>
+        <sumo-net-file value="C:\Users\j84181432\Documents\pool\2lane_curvy_t\50kmh\map.net.xml"/>
+    </input>
+
+    <output>
+        <output-file value="C:\Users\j84181432\Documents\pool\2lane_curvy_t\50kmh\map.net.xml"/>
+    </output>
+
+    <processing>
+        <geometry.min-radius.fix.railways value="false"/>
+        <geometry.max-grade.fix value="false"/>
+        <offset.disable-normalization value="true"/>
+        <lefthand value="false"/>
+    </processing>
+
+    <junctions>
+        <no-turnarounds value="true"/>
+        <junctions.corner-detail value="5"/>
+        <junctions.limit-turn-speed value="-1"/>
+        <rectangular-lane-cut value="false"/>
+    </junctions>
+
+    <pedestrian>
+        <walkingareas value="false"/>
+    </pedestrian>
+
+    <report>
+        <aggregate-warnings value="5"/>
+    </report>
+
+</configuration>
+-->
+
+<net version="1.9" junctionCornerDetail="5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/net_file.xsd">
+
+    <location netOffset="0.00,0.00" convBoundary="-106.25,-44.69,296.31,144.48" origBoundary="-10000000000.00,-10000000000.00,10000000000.00,10000000000.00" projParameter="!"/>
+
+    <edge id=":junction-intersection_0" function="internal">
+        <lane id=":junction-intersection_0_0" index="0" speed="13.89" length="14.39" shape="109.06,145.92 94.67,145.92"/>
+    </edge>
+    <edge id=":junction-intersection_1" function="internal">
+        <lane id=":junction-intersection_1_0" index="0" speed="13.89" length="5.92" shape="109.06,145.92 105.22,145.36 103.47,144.32"/>
+    </edge>
+    <edge id=":junction-intersection_6" function="internal">
+        <lane id=":junction-intersection_6_0" index="0" speed="13.89" length="8.27" shape="103.47,144.32 102.47,143.71 100.81,140.96 100.26,137.11"/>
+    </edge>
+    <edge id=":junction-intersection_2" function="internal">
+        <lane id=":junction-intersection_2_0" index="0" speed="13.89" length="9.04" shape="103.46,137.11 103.81,139.56 104.86,141.31 106.61,142.36 109.06,142.72"/>
+    </edge>
+    <edge id=":junction-intersection_3" function="internal">
+        <lane id=":junction-intersection_3_0" index="0" speed="13.89" length="14.20" shape="103.46,137.11 102.91,140.96 101.27,143.71 98.52,145.36 94.67,145.92"/>
+    </edge>
+    <edge id=":junction-intersection_4" function="internal">
+        <lane id=":junction-intersection_4_0" index="0" speed="13.89" length="9.03" shape="94.67,142.72 97.12,142.36 98.87,141.31 99.91,139.56 100.26,137.11"/>
+    </edge>
+    <edge id=":junction-intersection_5" function="internal">
+        <lane id=":junction-intersection_5_0" index="0" speed="13.89" length="14.40" shape="94.67,142.72 109.06,142.72"/>
+    </edge>
+
+    <edge id="edge-east-EW" from="junction-east" to="junction-intersection" priority="1">
+        <lane id="edge-east-EW_0" index="0" speed="13.89" length="187.25" shape="296.31,146.08 109.06,145.92"/>
+    </edge>
+    <edge id="edge-east-WE" from="junction-intersection" to="junction-east" priority="1" spreadType="center" shape="101.86,142.71 296.31,142.88">
+        <lane id="edge-east-WE_0" index="0" speed="13.89" length="187.25" shape="109.06,142.72 296.31,142.88"/>
+    </edge>
+    <edge id="edge-south-NS" from="junction-intersection" to="junction-south" priority="-1" shape="101.87,144.31 101.82,111.53 97.60,81.96 86.53,64.53 72.48,46.39 60.93,26.10 58.50,3.17 61.52,-16.61 75.37,-31.92 94.16,-44.69">
+        <lane id="edge-south-NS_0" index="0" speed="13.89" length="210.41" shape="100.26,137.11 100.22,111.64 96.06,82.53 85.22,65.45 71.15,47.28 59.37,26.60 56.89,3.13 60.01,-17.33 74.31,-33.14 93.26,-46.01"/>
+    </edge>
+    <edge id="edge-south-SN" from="junction-south" to="junction-intersection" priority="-1" shape="94.16,-44.69 75.37,-31.92 61.52,-16.61 58.50,3.17 60.93,26.10 72.48,46.39 86.53,64.53 97.60,81.96 101.82,111.53 101.87,144.31">
+        <lane id="edge-south-SN_0" index="0" speed="13.89" length="207.23" shape="95.06,-43.37 76.43,-30.70 63.03,-15.89 60.11,3.21 62.49,25.60 73.81,45.50 87.84,63.61 99.14,81.39 103.42,111.42 103.46,137.11"/>
+    </edge>
+    <edge id="edge-west-EW" from="junction-intersection" to="junction-west" priority="1">
+        <lane id="edge-west-EW_0" index="0" speed="13.89" length="200.92" shape="94.67,145.92 -106.25,146.07"/>
+    </edge>
+    <edge id="edge-west-WE" from="junction-west" to="junction-intersection" priority="1">
+        <lane id="edge-west-WE_0" index="0" speed="13.89" length="200.92" shape="-106.25,142.87 94.67,142.72"/>
+    </edge>
+
+    <junction id="junction-east" type="dead_end" x="296.31" y="144.48" incLanes="edge-east-WE_0" intLanes="" shape="296.31,144.48 296.31,141.28 296.31,144.48"/>
+    <junction id="junction-intersection" type="priority" x="101.87" y="144.31" incLanes="edge-east-EW_0 edge-south-SN_0 edge-west-WE_0" intLanes=":junction-intersection_0_0 :junction-intersection_6_0 :junction-intersection_2_0 :junction-intersection_3_0 :junction-intersection_4_0 :junction-intersection_5_0" shape="109.06,147.52 109.07,141.12 106.84,140.67 106.06,140.11 105.51,139.33 105.17,138.33 105.06,137.10 98.66,137.11 98.22,139.34 97.66,140.11 96.89,140.67 95.89,141.00 94.67,141.12 94.67,147.52" rightOfWay="edgePriority">
+        <request index="0" response="000000" foes="001000" cont="0"/>
+        <request index="1" response="110000" foes="111000" cont="1"/>
+        <request index="2" response="100000" foes="100000" cont="0"/>
+        <request index="3" response="100011" foes="100011" cont="0"/>
+        <request index="4" response="000000" foes="000010" cont="0"/>
+        <request index="5" response="000000" foes="001110" cont="0"/>
+    </junction>
+    <junction id="junction-south" type="dead_end" x="94.16" y="-44.69" incLanes="edge-south-NS_0" intLanes="" shape="94.16,-44.69 92.36,-47.34 94.16,-44.69"/>
+    <junction id="junction-west" type="dead_end" x="-106.25" y="144.47" incLanes="edge-west-EW_0" intLanes="" shape="-106.25,144.47 -106.25,147.67 -106.25,144.47"/>
+
+    <junction id=":junction-intersection_6_0" type="internal" x="103.47" y="144.32" incLanes=":junction-intersection_1_0 edge-west-WE_0" intLanes=":junction-intersection_3_0 :junction-intersection_4_0 :junction-intersection_5_0"/>
+
+    <connection from="edge-east-EW" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_0_0" dir="s" state="M"/>
+    <connection from="edge-east-EW" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_1_0" dir="l" state="m"/>
+    <connection from="edge-south-SN" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_2_0" dir="r" state="m"/>
+    <connection from="edge-south-SN" to="edge-west-EW" fromLane="0" toLane="0" via=":junction-intersection_3_0" dir="l" state="m"/>
+    <connection from="edge-west-WE" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_4_0" dir="r" state="M"/>
+    <connection from="edge-west-WE" to="edge-east-WE" fromLane="0" toLane="0" via=":junction-intersection_5_0" dir="s" state="M"/>
+
+    <connection from=":junction-intersection_0" to="edge-west-EW" fromLane="0" toLane="0" dir="s" state="M"/>
+    <connection from=":junction-intersection_1" to="edge-south-NS" fromLane="0" toLane="0" via=":junction-intersection_6_0" dir="l" state="m"/>
+    <connection from=":junction-intersection_6" to="edge-south-NS" fromLane="0" toLane="0" dir="l" state="M"/>
+    <connection from=":junction-intersection_2" to="edge-east-WE" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_3" to="edge-west-EW" fromLane="0" toLane="0" dir="l" state="M"/>
+    <connection from=":junction-intersection_4" to="edge-south-NS" fromLane="0" toLane="0" dir="r" state="M"/>
+    <connection from=":junction-intersection_5" to="edge-east-WE" fromLane="0" toLane="0" dir="s" state="M"/>
+
+</net>