misc uncomitted changes

src/python/src/env.py

@@ -27,12 +27,13 @@ class EnvOpts:
     render: bool
 
 
-VARIANT = 1
-AGENT_COUNT = 3
+VARIANT = 3
+AGENT_COUNT = 5
 PASSENGER_COUNT = 30
-SPAWN_MORE_PASSENGERS = False
-VERBOSE_AND_RENDER = False
-DETERMINISTIC = True
+SPAWN_MORE_PASSENGERS = True
+TOPLEFT2BOTRIGHT = None
+VERBOSE_AND_RENDER = True
+DETERMINISTIC = False
 
 
 # None = random
@@ -47,6 +48,11 @@ def generate_grid_opts(
         spawn_more_passengers = SPAWN_MORE_PASSENGERS
         if spawn_more_passengers is None:
             spawn_more_passengers = random.random() > 0.7
+
+    if TOPLEFT2BOTRIGHT is not None:
+        topleft_2_botright = TOPLEFT2BOTRIGHT
+    else:
+        topleft_2_botright = random.random() > 0.7
 
     if spawn_more_passengers:
         passenger_spawn_rate = 0.005
@@ -55,39 +61,42 @@ def generate_grid_opts(
 
     charging_stations_pos = [
         rust.CarPosition(
-            direction=rust.Direction.Up,
-            road_index=1,
-            section_index=1,
-            position_in_section=3,
+            direction=rust.Direction.Right,
+            road_index=4,
+            section_index=5,
+            position_in_section=2,
         ),
         rust.CarPosition(
-            direction=rust.Direction.Down,
+            direction=rust.Direction.Right,
             road_index=5,
-            section_index=3,
-            position_in_section=3,
+            section_index=7,
+            position_in_section=2,
         ),
         rust.CarPosition(
-            direction=rust.Direction.Left,
-            road_index=7,
-            section_index=5,
-            position_in_section=3,
+            direction=rust.Direction.Down,
+            road_index=8,
+            section_index=6,
+            position_in_section=2,
         ),
         rust.CarPosition(
             direction=rust.Direction.Right,
-            road_index=9,
-            section_index=7,
-            position_in_section=3,
+            road_index=2,
+            section_index=9,
+            position_in_section=2,
         ),
     ]
 
-    passenger_events = [
-        rust.PassengerEvent(
-            start_area=(0, 0, 2, 2),
-            destination_area=(-2, -2, -0.0, -0.0),
-            spawn_rate=0.5,
-            between_ticks=(None, None),
-        )
-    ]
+    if topleft_2_botright == True:
+        passenger_events = [
+            rust.PassengerEvent(
+                start_area=(0, 0, 4, 4),
+                destination_area=(-4, -4, -0.0, -0.0),
+                spawn_rate=0.0,
+                between_ticks=(None, None),
+            )
+        ]
+    elif topleft_2_botright == False:
+        passenger_events = []
 
     grid_opts_args = {}
     match variant:
@@ -106,15 +115,14 @@ def generate_grid_opts(
         passenger_spawn_rate=passenger_spawn_rate,
         max_passengers=30,
         agent_car_count=AGENT_COUNT,
-        npc_car_count=0,
+        npc_car_count=200,
         # passengers_per_car=1,
         charging_stations=charging_stations_pos,
         charging_station_capacity=1,
         # discharge_rate=0.002,
         car_radius=3,
         passenger_radius=5,
-        # passenger_events=passenger_events,
-        passenger_events=[],
+        passenger_events=passenger_events,
         deterministic_mode=DETERMINISTIC,
         verbose=VERBOSE_AND_RENDER,
         **grid_opts_args,
@@ -140,7 +148,8 @@ def __init__(
 
         self.car_passenger_slots = 4
         self.num_envs = self.grid_opts.agent_car_count
-        self.width, self.height = rust.grid_dimensions()
+        # self.width, self.height = rust.grid_dimensions()
+        self.width, self.height = (15, 10)
 
         self.TICKS_PER_EPISODE = 10000
         self.MAX_DISTANCE = 100
@@ -177,14 +186,17 @@ def car_radius(self) -> int:
     @property
     def passengers_per_car(self) -> int:
         return self.grid_opts.passengers_per_car
+        # return 4
 
     @property
     def charging_station_count(self) -> int:
-        return len(self.grid_opts.charging_stations)
+        # return len(self.grid_opts.charging_stations)
+        return 4
 
     @property
     def charging_station_capacity(self) -> int:
-        return self.grid_opts.charging_station_capacity
+        # return self.grid_opts.charging_station_capacity
+        return 1
 
     def register_worker(self, worker: "GridEnvWorker"):
         assert len(self.workers) < self.num_envs
@@ -602,7 +614,10 @@ def _parse_cars(self, cars) -> list[int | float]:
 
     def _parse_charging_station(self, charging_station, pov_car) -> list[int | float]:
         slots = [0, 0] * self.charging_station_capacity
-        for i, car in enumerate(charging_station.cars):
+        # for i, car in enumerate(charging_station.cars):
+        if len(charging_station.cars) == 4:
+            i = 0
+            car = charging_station.cars[0]
             i = i * 2
             slots[i] = 1
             slots[i + 1] = max(car.battery, 0)
@@ -615,10 +630,13 @@ def _parse_charging_station(self, charging_station, pov_car) -> list[int | float
     def _parse_charging_stations(self, state) -> list[int | float]:
         # return [*self._parse_charging_station(cs, state.pov_car) for cs in state.charging_stations]
         charging_stations = []
-        for cs in state.charging_stations:
+        for i, cs in enumerate(state.charging_stations):
             parsed_cs = self._parse_charging_station(cs, state.pov_car)
             charging_stations.extend(parsed_cs)
 
+            if i + 1 == self.charging_station_count:
+                break
+
         return charging_stations
 
     def parse_observation(self, state: GridState) -> np.ndarray:
@@ -726,16 +744,16 @@ def action_mask(self, state: GridState) -> np.ndarray:
         offset += 4
 
         if is_in_charging_station:
-            if current_battery_level < 1.0:
+            if current_battery_level < 0.98:
                 # force charge till completion
                 valid_actions[:] = False
                 valid_actions[charging_station_offset] = True
         else:
-            if current_battery_level < 1.0:
+            if current_battery_level < 0.98:
                 # can go to charging station if it wants
                 valid_actions[charging_station_offset] = True
 
-        if current_battery_level < 1.0:
+        if current_battery_level < 0.98:
             valid_actions[charging_station_offset] = True
 
         assert offset == self.action_count

src/python/src/rl.py

@@ -25,11 +25,8 @@
 from env import GridVecEnv
 from util import LogStep
 
-# note: "on" = overnight, 25 = date 25/04
-# LOAD_POLICY = "rainbow_on_25"
-# LOAD_POLICY = "rainbow_on_26"
-LOAD_POLICY = "rainbow_on_27/checkpoint_139.pth"
-# LOAD_POLICY = None
+
+LOAD_POLICY = None
 ZERO_EPSILON = True