# Copyright (c) 2020 fortiss GmbH
#
# Authors: Patrick Hart, Julian Bernhard, Klemens Esterle, and
# Tobias Kessler
#
# This software is released under the MIT License.
# https://opensource.org/licenses/MIT
import gym
from gym.envs.registration import register
from bark.runtime.commons.parameters import ParameterServer
from bark_ml.environments.blueprints.highway.highway import \
ContinuousHighwayBlueprint, DiscreteHighwayBlueprint
from bark_ml.environments.blueprints.merging.merging import \
ContinuousMergingBlueprint, DiscreteMergingBlueprint
from bark_ml.environments.blueprints.intersection.intersection import \
ContinuousIntersectionBlueprint, DiscreteIntersectionBlueprint
from bark_ml.environments.single_agent_runtime import SingleAgentRuntime
# highway
class ContinuousHighwayGym(SingleAgentRuntime, gym.Env):
def __init__(self):
params = ParameterServer()
cont_highway_bp = ContinuousHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_highway_bp, render=True)
class DiscreteHighwayGym(SingleAgentRuntime, gym.Env):
def __init__(self):
params = ParameterServer()
discrete_highway_bp = DiscreteHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_highway_bp, render=True)
# merging
class ContinuousMergingGym(SingleAgentRuntime, gym.Env):
def __init__(self):
params = ParameterServer()
cont_merging_bp = ContinuousMergingBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_merging_bp, render=True)
class DiscreteMergingGym(SingleAgentRuntime, gym.Env):
def __init__(self):
params = ParameterServer()
discrete_merging_bp = DiscreteMergingBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_merging_bp, render=True)
# intersection
class ContinuousIntersectionGym(SingleAgentRuntime, gym.Env):
def __init__(self):
params = ParameterServer()
cont_merging_bp = ContinuousIntersectionBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_merging_bp, render=True)
class DiscreteIntersectionGym(SingleAgentRuntime, gym.Env):
def __init__(self):
params = ParameterServer()
discrete_merging_bp = DiscreteIntersectionBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_merging_bp, render=True)
# register gym envs
register(
id='highway-v0',
entry_point='bark_ml.environments.gym:ContinuousHighwayGym'
)
register(
id='highway-v1',
entry_point='bark_ml.environments.gym:DiscreteHighwayGym'
)
register(
id='merging-v0',
entry_point='bark_ml.environments.gym:ContinuousMergingGym'
)
register(
id='merging-v1',
entry_point='bark_ml.environments.gym:DiscreteMergingGym'
)
register(
id='intersection-v0',
entry_point='bark_ml.environments.gym:ContinuousIntersectionGym'
)
register(
id='intersection-v1',
entry_point='bark_ml.environments.gym:DiscreteIntersectionGym'
)
