Shadow casting, now debugged

environments/factory/base/base_factory.py

@@ -306,10 +306,12 @@ class BaseFactory(gym.Env):
             obs = self._obs_cube
 
         if self.cast_shadows:
-            slices = [l_slice.slice != c.OCCUPIED_CELL.value for l_slice in self._slices if l_slice.is_blocking_light]
-            light_block_map = Map((np.prod(slices, axis=0) != True).astype(int))
-            light_block_map = light_block_map.do_fov(*agent.pos, max(self._level_shape))
-            obs = ((obs * light_block_map)).astype(int)
+            obs_block_light = [obs[idx] != c.OCCUPIED_CELL.value for idx, slice
+                               in enumerate(self._slices) if slice.is_blocking_light]
+            light_block_map = Map((np.prod(obs_block_light, axis=0) != True).astype(int))
+            light_block_map = light_block_map.do_fov(self.pomdp_radius, self.pomdp_radius, max(self._level_shape))
+            agent.temp_light_map = light_block_map
+            obs = (obs * light_block_map) - ((1 - light_block_map) * obs[self._slices.get_idx_by_name(c.LEVEL.name)])
 
         if self.combin_agent_slices_in_obs and self.n_agents > 1:
             agent_obs = np.sum(obs[[key for key, l_slice in self._slices.items() if c.AGENT.name in l_slice.name and

environments/factory/base/objects.py

@@ -263,6 +263,9 @@ class Agent(MoveableEntity):
 
     # noinspection PyAttributeOutsideInit
     def clear_temp_sate(self):
+        # for attr in self.__dict__:
+        #   if attr.startswith('temp'):
         self.temp_collisions = []
         self.temp_valid = None
-        self.temp_action = -1
+        self.temp_action = -1
+        self.temp_light_map = None

environments/factory/base/shadow_casting.py

@@ -17,13 +17,13 @@ class Map(object):
     def __init__(self, map_array: np.ndarray):
         self.data = map_array
         self.width, self.height = map_array.shape
-        self.light = np.zeros_like(self.data)
-        self.flag = 0
+        self.light = np.full_like(self.data, c.FREE_CELL.value)
+        self.flag = c.FREE_CELL.value
 
     def blocked(self, x, y):
         return (x < 0 or y < 0
                 or x >= self.width or y >= self.height
-                or self.data[x, y] == c.OCCUPIED_CELL)
+                or self.data[x, y] == c.OCCUPIED_CELL.value)
 
     def lit(self, x, y):
         return self.light[x, y] == self.flag
@@ -82,4 +82,5 @@ class Map(object):
             self._cast_light(x, y, 1, 1.0, 0.0, radius,
                              mult_array[0, oct], mult_array[1, oct],
                              mult_array[2, oct], mult_array[3, oct], 0)
+        self.light[x, y] = self.flag
         return self.light

main.py

@@ -106,7 +106,7 @@ if __name__ == '__main__':
     for modeL_type in [A2C, PPO, RegDQN, DQN]:  # , QRDQN]:
         for seed in range(3):
 
-            with SimpleFactory(n_agents=1, dirt_properties=dirt_props, pomdp_radius=4, max_steps=400, parse_doors=False,
+            with SimpleFactory(n_agents=1, dirt_properties=dirt_props, pomdp_radius=2, max_steps=400, parse_doors=True,
                                movement_properties=move_props, level_name='rooms', frames_to_stack=0,
                                omit_agent_slice_in_obs=True, combin_agent_slices_in_obs=True, record_episodes=False,
                                cast_shadows=True,

reload_agent.py

@@ -14,7 +14,7 @@ warnings.filterwarnings('ignore', category=UserWarning)
 
 if __name__ == '__main__':
 
-    model_name = 'PPO_1626384768'
+    model_name = 'A2C_1627392692'
     run_id = 0
     out_path = Path(__file__).parent / 'debug_out'
     model_path = out_path / model_name
@@ -33,5 +33,5 @@ if __name__ == '__main__':
         this_model = model_files[0]
 
         model = PPO.load(this_model)
-        evaluation_result = evaluate_policy(model, env, n_eval_episodes=100, deterministic=True, render=True)
+        evaluation_result = evaluate_policy(model, env, n_eval_episodes=100, deterministic=False, render=True)
         print(evaluation_result)