Merge branch 'main' into m-naumann/se-intro-slides

Author: annikajuliabaetz

notebooks/mdp_policy_gradient.ipynb

@@ -8,7 +8,7 @@
    "source": [
     "import os\n",
     "\n",
-    "from behavior_generation_lecture_python.mdp.policy import CategorialPolicy\n",
+    "from behavior_generation_lecture_python.mdp.policy import CategoricalPolicy\n",
     "from behavior_generation_lecture_python.utils.grid_plotting import (\n",
     "    make_plot_policy_step_function,\n",
     ")\n",
@@ -47,7 +47,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "policy = CategorialPolicy(\n",
+    "policy = CategoricalPolicy(\n",
     "    sizes=[len(grid_mdp.initial_state), 32, len(grid_mdp.actions)],\n",
     "    actions=list(grid_mdp.actions),\n",
     ")"
@@ -146,7 +146,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "policy = CategorialPolicy(\n",
+    "policy = CategoricalPolicy(\n",
     "    sizes=[len(highway_mdp.initial_state), 32, len(highway_mdp.actions)],\n",
     "    actions=list(highway_mdp.actions),\n",
     ")"

src/behavior_generation_lecture_python/finite_state_machine/traffic_light_state_machine_with_visu.py

@@ -1,15 +1,11 @@
-import time
 import warnings
-
 from statemachine import State, StateMachine
-
 from behavior_generation_lecture_python.finite_state_machine.traffic_light_visualization import (
     VisualizeTrafficLights,
 )
 
-
 class TrafficLightStateMachine(StateMachine):
-    """A traffic light machine"""
+    """A traffic light machine with non-blocking visualization"""
 
     veh_green = State("veh_green", initial=True)
     veh_yellow = State("veh_yellow")
@@ -33,40 +29,41 @@ def __init__(self, start_mainloop=True):
         if start_mainloop:
             self.visu.mainloop()
 
+    def _schedule(self, delay_sec, callback):
+        """Helper to schedule an event without blocking the UI"""
+        self.visu.windows.after(int(delay_sec * 1000), callback)
+
     def on_enter_veh_yellow(self):
         self.visu.pedestrian_press_red()
-        time.sleep(3)
+        # Wait 3s before turning yellow (simulating reaction/delay phase)
+        self._schedule(3.0, self._phase_turn_yellow)
+
+    def _phase_turn_yellow(self):
         self.visu.vehicle_prepare_to_stop()
-        time.sleep(3)
-        self.send("veh_stop")
+        # Wait 3s before stopping
+        self._schedule(3.0, lambda: self.send("veh_stop"))
 
     def on_enter_veh_red_ped_red_1(self):
         self.visu.vehicle_stop()
-        time.sleep(2)
-        self.send("ped_go")
+        self._schedule(2.0, lambda: self.send("ped_go"))
 
     def on_enter_veh_red_ped_green(self):
         self.visu.pedestrian_go()
-        time.sleep(5)
-        self.send("ped_stop")
+        self._schedule(5.0, lambda: self.send("ped_stop"))
 
     def on_enter_veh_red_ped_red_2(self):
         self.visu.pedestrian_stop()
-        time.sleep(5)
-        self.send("veh_prepare_to_go")
+        self._schedule(5.0, lambda: self.send("veh_prepare_to_go"))
 
     def on_enter_veh_red_yellow(self):
         self.visu.vehicle_prepare_to_go()
-        time.sleep(2)
-        self.send("veh_go")
+        self._schedule(2.0, lambda: self.send("veh_go"))
 
     def on_enter_veh_green(self):
         self.visu.vehicle_go()
 
     def button_press(self, event):
-        if self.state == "veh_green":
+        if self.current_state.id == "veh_green":
             self.send("veh_prepare_to_stop")
         else:
-            warnings.warn(
-                "The button only has effect if currently vehicles have green."
-            )
+            warnings.warn("The button only works when vehicles have green.")

src/behavior_generation_lecture_python/finite_state_machine/traffic_light_visualization.py

@@ -1,115 +1,117 @@
 import tkinter as tk
 
-
 class VisualizeTrafficLights:
     def __init__(self):
         self.windows = tk.Tk()
         self.windows.title("Traffic Light FSM")
-        self.canvas = tk.Canvas(self.windows)
-
-        self.vehicle_red = self.__create_circle(55, 55, 50)
-        self.vehicle_yellow = self.__create_circle(55, 165, 50)
-        self.vehicle_green = self.__create_circle(55, 275, 50)
-        self.pedestrian_red = self.__create_circle(180, 55, 50)
-        self.pedestrian_green = self.__create_circle(180, 165, 50)
-        self.pedestrian_press_button = self.canvas.create_rectangle(140, 260, 220, 290)
-        self.pedestrian_press_label = self.canvas.create_text(180, 275, text="Press")
-        # self.pedestrian_press = tk.Button(text="Press", command=pedestrian_press_fun)
-        # self.canvas.create_window(180, 265, window=self.pedestrian_press)
-
-        self.__pedestrian_press_white()
-
-        self.canvas.config(width=400, height=400)
-        self.canvas.pack()
+        self.windows.configure(bg="#2c3e50")  # Dark background for window
+
+        # Canvas settings
+        self.width = 400
+        self.height = 400
+        self.canvas = tk.Canvas(
+            self.windows, 
+            width=self.width, 
+            height=self.height, 
+            bg="#2c3e50", 
+            highlightthickness=0
+        )
+        self.canvas.pack(padx=20, pady=20)
+
+        # Traffic Light Colors
+        self.colors = {
+            "off_red": "#4a0000", "on_red": "#ff3b30",
+            "off_yellow": "#4a4a00", "on_yellow": "#ffcc00",
+            "off_green": "#002a00", "on_green": "#4cd964",
+            "housing": "#1a1a1a",
+            "text": "#ecf0f1"
+        }
+
+        # Draw Housing (Background Boxes)
+        # Vehicle Light Housing
+        self._draw_housing(50, 20, 160, 360)
+        # Pedestrian Light Housing
+        self._draw_housing(240, 20, 350, 240)
+
+        # Labels
+        self.canvas.create_text(105, 375, text="Vehicle", fill=self.colors["text"], font=("Helvetica", 12, "bold"))
+        self.canvas.create_text(295, 255, text="Pedestrian", fill=self.colors["text"], font=("Helvetica", 12, "bold"))
+
+        # Create Lights
+        self.vehicle_red = self.__create_circle(105, 80, 40, fill=self.colors["off_red"])
+        self.vehicle_yellow = self.__create_circle(105, 190, 40, fill=self.colors["off_yellow"])
+        self.vehicle_green = self.__create_circle(105, 300, 40, fill=self.colors["off_green"])
+
+        self.pedestrian_red = self.__create_circle(295, 80, 40, fill=self.colors["off_red"])
+        self.pedestrian_green = self.__create_circle(295, 190, 40, fill=self.colors["off_green"])
+
+        # Pedestrian Button
+        self.pedestrian_press_button = self.canvas.create_rectangle(
+            240, 280, 350, 320, 
+            fill="#95a5a6", outline="", width=0
+        )
+        self.pedestrian_press_label = self.canvas.create_text(
+            295, 300, 
+            text="PRESS BUTTON", 
+            fill="#2c3e50", 
+            font=("Helvetica", 10, "bold")
+        )
 
         self.__update()
 
+    def _draw_housing(self, x1, y1, x2, y2):
+        r = 15 # radius for rounded corners effect
+        self.canvas.create_rectangle(x1, y1, x2, y2, fill=self.colors["housing"], outline="black", width=2)
+
     def __create_circle(self, x, y, r, fill=None):
-        x0 = x - r
-        y0 = y - r
-        x1 = x + r
-        y1 = y + r
-        return self.canvas.create_oval(x0, y0, x1, y1, fill=fill)
+        return self.canvas.create_oval(x - r, y - r, x + r, y + r, fill=fill, outline="black", width=2)
 
     def __update(self):
         self.canvas.update_idletasks()
         self.canvas.update()
-        self.windows.update_idletasks()
-        self.windows.update()
-
-    def vehicle_go(self):
-        self.canvas.itemconfig(self.vehicle_red, fill="black")
-        self.canvas.itemconfig(self.vehicle_yellow, fill="black")
-        self.canvas.itemconfig(self.vehicle_green, fill="green")
-        self.canvas.itemconfig(self.pedestrian_red, fill="red")
-        self.canvas.itemconfig(self.pedestrian_green, fill="black")
 
+    # Helper to set lights easily
+    def _set_lights(self, v_red, v_yel, v_grn, p_red, p_grn):
+        self.canvas.itemconfig(self.vehicle_red, fill=self.colors["on_red"] if v_red else self.colors["off_red"])
+        self.canvas.itemconfig(self.vehicle_yellow, fill=self.colors["on_yellow"] if v_yel else self.colors["off_yellow"])
+        self.canvas.itemconfig(self.vehicle_green, fill=self.colors["on_green"] if v_grn else self.colors["off_green"])
+        
+        self.canvas.itemconfig(self.pedestrian_red, fill=self.colors["on_red"] if p_red else self.colors["off_red"])
+        self.canvas.itemconfig(self.pedestrian_green, fill=self.colors["on_green"] if p_grn else self.colors["off_green"])
         self.__update()
 
-    def vehicle_prepare_to_stop(self):
-        self.canvas.itemconfig(self.vehicle_red, fill="black")
-        self.canvas.itemconfig(self.vehicle_yellow, fill="yellow")
-        self.canvas.itemconfig(self.vehicle_green, fill="black")
-        self.canvas.itemconfig(self.pedestrian_red, fill="red")
-        self.canvas.itemconfig(self.pedestrian_green, fill="black")
+    def vehicle_go(self):
+        self._set_lights(False, False, True, True, False)
 
-        self.__update()
+    def vehicle_prepare_to_stop(self):
+        self._set_lights(False, True, False, True, False)
 
     def vehicle_stop(self):
-        self.canvas.itemconfig(self.vehicle_red, fill="red")
-        self.canvas.itemconfig(self.vehicle_yellow, fill="black")
-        self.canvas.itemconfig(self.vehicle_green, fill="black")
-        self.canvas.itemconfig(self.pedestrian_red, fill="red")
-        self.canvas.itemconfig(self.pedestrian_green, fill="black")
-
-        self.__update()
+        self._set_lights(True, False, False, True, False)
 
     def pedestrian_go(self):
-        self.__pedestrian_press_white()
-
-        self.canvas.itemconfig(self.vehicle_red, fill="red")
-        self.canvas.itemconfig(self.vehicle_yellow, fill="black")
-        self.canvas.itemconfig(self.vehicle_green, fill="black")
-        self.canvas.itemconfig(self.pedestrian_red, fill="black")
-        self.canvas.itemconfig(self.pedestrian_green, fill="green")
-
-        self.__update()
+        self.__pedestrian_press_reset()
+        self._set_lights(True, False, False, False, True)
 
     def pedestrian_stop(self):
-        self.canvas.itemconfig(self.vehicle_red, fill="red")
-        self.canvas.itemconfig(self.vehicle_yellow, fill="black")
-        self.canvas.itemconfig(self.vehicle_green, fill="black")
-        self.canvas.itemconfig(self.pedestrian_red, fill="red")
-        self.canvas.itemconfig(self.pedestrian_green, fill="black")
-
-        self.__update()
+        self._set_lights(True, False, False, True, False)
 
     def vehicle_prepare_to_go(self):
-        self.canvas.itemconfig(self.vehicle_red, fill="red")
-        self.canvas.itemconfig(self.vehicle_yellow, fill="yellow")
-        self.canvas.itemconfig(self.vehicle_green, fill="black")
-        self.canvas.itemconfig(self.pedestrian_red, fill="red")
-        self.canvas.itemconfig(self.pedestrian_green, fill="black")
-
-        self.__update()
+        self._set_lights(True, True, False, True, False)
 
     def pedestrian_press_red(self):
-        self.canvas.itemconfig(self.pedestrian_press_button, fill="red")
-
+        self.canvas.itemconfig(self.pedestrian_press_button, fill="#e74c3c") # Red button
+        self.canvas.itemconfig(self.pedestrian_press_label, fill="white")
         self.__update()
 
-    def __pedestrian_press_white(self):
-        self.canvas.itemconfig(self.pedestrian_press_button, fill="white")
-
+    def __pedestrian_press_reset(self):
+        self.canvas.itemconfig(self.pedestrian_press_button, fill="#95a5a6") # Grey button
+        self.canvas.itemconfig(self.pedestrian_press_label, fill="#2c3e50")
         self.__update()
 
     def mainloop(self):
         self.windows.mainloop()
 
     def register_button_event(self, button_press_function):
-        self.canvas.tag_bind(
-            self.pedestrian_press_button, "<Button-1>", button_press_function
-        )
-        self.canvas.tag_bind(
-            self.pedestrian_press_label, "<Button-1>", button_press_function
-        )
+        self.canvas.tag_bind(self.pedestrian_press_button, "<Button-1>", button_press_function)
+        self.canvas.tag_bind(self.pedestrian_press_label, "<Button-1>", button_press_function)