def _check_for_episode_termination(self, reset_rules_status,
agents_info_map):
'''Check for whether a episode should be terminated
Args:
reset_rules_status: dictionary of reset rules status with key as reset rule names and value as
reset rule bool status
agents_info_map: dictionary of agents info map with key as agent name and value as agent info
Returns:
tuple (string, bool, bool): episode status, pause flag, and done flag
'''
episode_status = EpisodeStatus.get_episode_status(reset_rules_status)
pause = False
done = False
# Note: check EPISODE_COMPLETE as the first item because agent might crash
# at the finish line.
if EpisodeStatus.EPISODE_COMPLETE.value in reset_rules_status and \
reset_rules_status[EpisodeStatus.EPISODE_COMPLETE.value]:
done = True
episode_status = EpisodeStatus.EPISODE_COMPLETE.value
elif EpisodeStatus.CRASHED.value in reset_rules_status and \
reset_rules_status[EpisodeStatus.CRASHED.value]:
# only check for crash when at RUN phase
if self._ctrl_status[
AgentCtrlStatus.AGENT_PHASE.value] == AgentPhase.RUN.value:
self._curr_crashed_object_name = agents_info_map[
self._agent_name_][AgentInfo.CRASHED_OBJECT_NAME.value]
# check crash with all other objects besides static obstacle
if 'obstacle' not in self._curr_crashed_object_name:
current_progress = agents_info_map[self._agent_name_][
AgentInfo.CURRENT_PROGRESS.value]
crashed_obj_info = agents_info_map[
self._curr_crashed_object_name]
crashed_obj_progress = crashed_obj_info[
AgentInfo.CURRENT_PROGRESS.value]
crashed_obj_start_ndist = crashed_obj_info[
AgentInfo.START_NDIST.value]
crashed_object_progress = get_normalized_progress(
crashed_obj_progress,
start_ndist=crashed_obj_start_ndist)
current_progress = get_normalized_progress(
current_progress,
start_ndist=self._data_dict_['start_ndist'])
if current_progress < crashed_object_progress:
done, pause = self._check_for_phase_change()
else:
episode_status = EpisodeStatus.IN_PROGRESS.value
else:
done, pause = self._check_for_phase_change()
else:
pause = True
elif any(reset_rules_status.values()):
done, pause = self._check_for_phase_change()
return episode_status, pause, done
def judge_action(self, agents_info_map):
"""Judge action to see whether reset is needed
Args:
agents_info_map: Dictionary contains all agents info with agent name as the key
and info as the value
Returns:
tuple: None, None, None
Raises:
GenericRolloutException: bot car phase is not defined
"""
if self.bot_car_phase == AgentPhase.RUN.value:
self.pause_duration = 0.0
for agent_name, agent_info in agents_info_map.items():
if not self.track_data.is_object_collidable(agent_name):
continue
# check racecar crash with a bot_car
crashed_object_name = (
agent_info[AgentInfo.CRASHED_OBJECT_NAME.value] if
AgentInfo.CRASHED_OBJECT_NAME.value in agent_info else "")
# only trainable racecar agent has 'bot_car' as possible crashed object
if "bot_car" in crashed_object_name:
racecar_progress = get_normalized_progress(
agent_info[AgentInfo.CURRENT_PROGRESS.value],
start_ndist=agent_info[AgentInfo.START_NDIST.value],
)
bot_car_info = agents_info_map[crashed_object_name]
bot_car_progress = get_normalized_progress(
bot_car_info[AgentInfo.CURRENT_PROGRESS.value],
start_ndist=bot_car_info[AgentInfo.START_NDIST.value],
)
# transition to AgentPhase.PAUSE.value
if racecar_progress > bot_car_progress:
self.bot_cars_lane_change_end_times = [
t + self.penalty_seconds
for t in self.bot_cars_lane_change_end_times
]
self.bot_car_crash_count += 1
self.pause_duration += self.penalty_seconds
self.bot_car_phase = AgentPhase.PAUSE.value
break
elif self.bot_car_phase == AgentPhase.PAUSE.value:
# transition to AgentPhase.RUN.value
if self.pause_duration <= 0.0:
self.bot_car_phase = AgentPhase.RUN.value
else:
raise GenericRolloutException(
"bot car phase {} is not defined".format(self.bot_car_phase))
return None, None, None