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Multithreaded Operation

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Debugging
Doors, when no Doors are present
Smaller Bugfixes
This commit is contained in:
Steffen Illium
2021-08-31 17:27:19 +02:00
parent 2bf9aaed15
commit 4fb32c98c6
11 changed files with 228 additions and 149 deletions
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environments/factory/assets/agents/move.png Normal file
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130
environments/factory/base/base_factory.py
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@ -60,9 +60,12 @@ class BaseFactory(gym.Env):
omit_agent_in_obs=False, done_at_collision=False, cast_shadows=True,
verbose=False, doors_have_area=True, env_seed=time.time_ns(), **kwargs):
assert frames_to_stack != 1 and frames_to_stack >= 0, "'frames_to_stack' cannot be negative or 1."
if kwargs:
print(f'Following kwargs were passed, but ignored: {kwargs}')
# Attribute Assignment
self.env_seed = env_seed
self.seed(env_seed)
self._base_rng = np.random.default_rng(self.env_seed)
self.movement_properties = movement_properties
self.level_name = level_name
@ -85,11 +88,6 @@ class BaseFactory(gym.Env):
self.parse_doors = parse_doors
self.doors_have_area = doors_have_area
# Actions
self._actions = Actions(self.movement_properties, can_use_doors=self.parse_doors)
if additional_actions := self.additional_actions:
self._actions.register_additional_items(additional_actions)
# Reset
self.reset()
@ -123,11 +121,17 @@ class BaseFactory(gym.Env):
self.NO_POS_TILE = Tile(c.NO_POS.value)
# Doors
parsed_doors = h.one_hot_level(parsed_level, c.DOOR)
if np.any(parsed_doors):
door_tiles = [floor.by_pos(pos) for pos in np.argwhere(parsed_doors == c.OCCUPIED_CELL.value)]
doors = Doors.from_tiles(door_tiles, self._level_shape, context=floor, is_blocking_light=True)
entities.update({c.DOORS: doors})
if self.parse_doors:
parsed_doors = h.one_hot_level(parsed_level, c.DOOR)
if np.any(parsed_doors):
door_tiles = [floor.by_pos(pos) for pos in np.argwhere(parsed_doors == c.OCCUPIED_CELL.value)]
doors = Doors.from_tiles(door_tiles, self._level_shape, context=floor, is_blocking_light=True)
entities.update({c.DOORS: doors})
# Actions
self._actions = Actions(self.movement_properties, can_use_doors=self.parse_doors)
if additional_actions := self.additional_actions:
self._actions.register_additional_items(additional_actions)
# Agents
agents = Agents.from_tiles(floor.empty_tiles[:self.n_agents], self._level_shape)
@ -155,8 +159,8 @@ class BaseFactory(gym.Env):
# Optionally Pad this obs cube for pomdp cases
if r := self.pomdp_r:
x, y = self._level_shape
# was c.SHADOW
self._padded_obs_cube = np.full((obs_cube_z, x + r*2, y + r*2), c.SHADOWED_CELL.value, dtype=np.float32)
# self._padded_obs_cube[0] = c.OCCUPIED_CELL.value
self._padded_obs_cube[:, r:r+x, r:r+y] = self._obs_cube
def reset(self) -> (np.ndarray, int, bool, dict):
@ -170,7 +174,10 @@ class BaseFactory(gym.Env):
return obs
def step(self, actions):
actions = [actions] if isinstance(actions, int) or np.isscalar(actions) else actions
if self.n_agents == 1:
actions = [int(actions)]
assert isinstance(actions, Iterable), f'"actions" has to be in [{int, list}]'
self._steps += 1
done = False
@ -180,9 +187,10 @@ class BaseFactory(gym.Env):
# Move this in a seperate function?
for action, agent in zip(actions, self[c.AGENT]):
agent.clear_temp_sate()
agent.clear_temp_state()
action_obj = self._actions[int(action)]
if self._actions.is_moving_action(action_obj):
self.print(f'Action #{action} has been resolved to: {action_obj}')
if h.MovingAction.is_member(action_obj):
valid = self._move_or_colide(agent, action_obj)
elif h.EnvActions.NOOP == agent.temp_action:
valid = c.VALID
@ -210,7 +218,8 @@ class BaseFactory(gym.Env):
# Step the door close intervall
if self.parse_doors:
self[c.DOORS].tick_doors()
if doors := self[c.DOORS]:
doors.tick_doors()
# Finalize
reward, reward_info = self.calculate_reward()
@ -229,15 +238,18 @@ class BaseFactory(gym.Env):
return obs, reward, done, info
def _handle_door_interaction(self, agent) -> c:
# Check if agent really is standing on a door:
if self.doors_have_area:
door = self[c.DOORS].get_near_position(agent.pos)
else:
door = self[c.DOORS].by_pos(agent.pos)
if door is not None:
door.use()
return c.VALID
# When he doesn't...
if doors := self[c.DOORS]:
# Check if agent really is standing on a door:
if self.doors_have_area:
door = doors.get_near_position(agent.pos)
else:
door = doors.by_pos(agent.pos)
if door is not None:
door.use()
return c.VALID
# When he doesn't...
else:
return c.NOT_VALID
else:
return c.NOT_VALID
@ -284,8 +296,9 @@ class BaseFactory(gym.Env):
state_array_dict[c.AGENT][0, agent.x, agent.y] += agent.encoding
if r := self.pomdp_r:
self._padded_obs_cube[:] = c.SHADOWED_CELL.value # Was c.SHADOW
# self._padded_obs_cube[0] = c.OCCUPIED_CELL.value
x, y = self._level_shape
self._padded_obs_cube[:] = c.SHADOWED_CELL.value
self._padded_obs_cube[:, r:r + x, r:r + y] = self._obs_cube
global_x, global_y = map(sum, zip(agent.pos, (r, r)))
x0, x1 = max(0, global_x - self.pomdp_r), global_x + self.pomdp_r + 1
@ -297,20 +310,22 @@ class BaseFactory(gym.Env):
if self.cast_shadows:
obs_block_light = [obs[idx] != c.OCCUPIED_CELL.value for idx in shadowing_idxs]
door_shadowing = False
if door := self[c.DOORS].by_pos(agent.pos):
if door.is_closed:
for group in door.connectivity_subgroups:
if agent.last_pos not in group:
door_shadowing = True
if self.pomdp_r:
blocking = [tuple(np.subtract(x, agent.pos) + (self.pomdp_r, self.pomdp_r))
for x in group]
xs, ys = zip(*blocking)
else:
xs, ys = zip(*group)
if self.parse_doors:
if doors := self[c.DOORS]:
if door := doors.by_pos(agent.pos):
if door.is_closed:
for group in door.connectivity_subgroups:
if agent.last_pos not in group:
door_shadowing = True
if self.pomdp_r:
blocking = [tuple(np.subtract(x, agent.pos) + (self.pomdp_r, self.pomdp_r))
for x in group]
xs, ys = zip(*blocking)
else:
xs, ys = zip(*group)
# noinspection PyUnresolvedReferences
obs_block_light[0][xs, ys] = False
# noinspection PyUnresolvedReferences
obs_block_light[0][xs, ys] = False
light_block_map = Map((np.prod(obs_block_light, axis=0) != True).astype(int))
if self.pomdp_r:
@ -361,22 +376,24 @@ class BaseFactory(gym.Env):
return tile, valid
if self.parse_doors and agent.last_pos != c.NO_POS:
if door := self[c.DOORS].by_pos(new_tile.pos):
if door.can_collide:
return agent.tile, c.NOT_VALID
else: # door.is_closed:
pass
if doors := self[c.DOORS]:
if self.doors_have_area:
if door := doors.by_pos(new_tile.pos):
if door.can_collide:
return agent.tile, c.NOT_VALID
else: # door.is_closed:
pass
if door := self[c.DOORS].by_pos(agent.pos):
if door.is_open:
pass
else: # door.is_closed:
if door.is_linked(agent.last_pos, new_tile.pos):
if door := doors.by_pos(agent.pos):
if door.is_open:
pass
else:
return agent.tile, c.NOT_VALID
else:
pass
else: # door.is_closed:
if door.is_linked(agent.last_pos, new_tile.pos):
pass
else:
return agent.tile, c.NOT_VALID
else:
pass
else:
pass
@ -391,7 +408,9 @@ class BaseFactory(gym.Env):
if self._actions.is_moving_action(agent.temp_action):
if agent.temp_valid:
# info_dict.update(movement=1)
reward -= 0.00
# info_dict.update({f'{agent.name}_failed_action': 1})
# reward += 0.00
pass
else:
# self.print('collision')
reward -= 0.01
@ -400,16 +419,17 @@ class BaseFactory(gym.Env):
elif h.EnvActions.USE_DOOR == agent.temp_action:
if agent.temp_valid:
# reward += 0.00
self.print(f'{agent.name} did just use the door at {agent.pos}.')
info_dict.update(door_used=1)
else:
reward -= 0.00
# reward -= 0.00
self.print(f'{agent.name} just tried to use a door at {agent.pos}, but failed.')
info_dict.update({f'{agent.name}_failed_action': 1})
info_dict.update({f'{agent.name}_failed_door_open': 1})
elif h.EnvActions.NOOP == agent.temp_action:
info_dict.update(no_op=1)
reward -= 0.00
# reward -= 0.00
additional_reward, additional_info_dict = self.calculate_additional_reward(agent)
reward += additional_reward

30
environments/factory/base/objects.py
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@ -24,15 +24,27 @@ class Object:
@property
def identifier(self):
return self._enum_ident
def __init__(self, enum_ident: Union[Enum, None] = None, is_blocking_light=False, **kwargs):
self._enum_ident = enum_ident
if self._enum_ident is not None:
self._name = f'{self.__class__.__name__}[{self._enum_ident.name}]'
return self._enum_ident
elif self._str_ident is not None:
return self._str_ident
else:
return self._name
def __init__(self, str_ident: Union[str, None] = None, enum_ident: Union[Enum, None] = None, is_blocking_light=False, **kwargs):
self._str_ident = str_ident
self._enum_ident = enum_ident
if self._enum_ident is not None and self._str_ident is None:
self._name = f'{self.__class__.__name__}[{self._enum_ident.name}]'
elif self._str_ident is not None and self._enum_ident is None:
self._name = f'{self.__class__.__name__}[{self._str_ident}]'
elif self._str_ident is None and self._enum_ident is None:
self._name = f'{self.__class__.__name__}#{self._u_idx}'
Object._u_idx += 1
Object._u_idx += 1
else:
raise ValueError('Please use either of the idents.')
self._is_blocking_light = is_blocking_light
if kwargs:
print(f'Following kwargs were passed, but ignored: {kwargs}')
@ -166,7 +178,7 @@ class Door(Entity):
@property
def encoding(self):
return 1 if self.is_closed else -1
return 1 if self.is_closed else 0.5
@property
def access_area(self):
@ -274,10 +286,10 @@ class Agent(MoveableEntity):
def __init__(self, *args, **kwargs):
super(Agent, self).__init__(*args, **kwargs)
self.clear_temp_sate()
self.clear_temp_state()
# noinspection PyAttributeOutsideInit
def clear_temp_sate(self):
def clear_temp_state(self):
# for attr in self.__dict__:
# if attr.startswith('temp'):
self.temp_collisions = []

13
environments/factory/base/registers.py
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@ -53,7 +53,10 @@ class Register:
return next(v for i, v in enumerate(self._register.values()) if i == item)
except StopIteration:
return None
return self._register[item]
try:
return self._register[item]
except KeyError:
return None
def __repr__(self):
return f'{self.__class__.__name__}({self._register})'
@ -84,8 +87,8 @@ class EntityObjectRegister(ObjectRegister, ABC):
@classmethod
def from_tiles(cls, tiles, *args, **kwargs):
# objects_name = cls._accepted_objects.__name__
entities = [cls._accepted_objects(tile, **kwargs)
for tile in tiles]
entities = [cls._accepted_objects(tile, str_ident=i, **kwargs)
for i, tile in enumerate(tiles)]
register_obj = cls(*args)
register_obj.register_additional_items(entities)
return register_obj
@ -294,10 +297,10 @@ class Actions(Register):
if self.allow_square_movement:
self.register_additional_items([self._accepted_objects(enum_ident=direction)
for direction in h.ManhattanMoves])
for direction in h.MovingAction.square()])
if self.allow_diagonal_movement:
self.register_additional_items([self._accepted_objects(enum_ident=direction)
for direction in h.DiagonalMoves])
for direction in h.MovingAction.diagonal()])
self._movement_actions = self._register.copy()
if self.can_use_doors:
self.register_additional_items([self._accepted_objects(enum_ident=h.EnvActions.USE_DOOR)])

17
environments/factory/renderer.py
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@ -79,14 +79,15 @@ class Renderer:
rects = []
for i, j in product(range(-self.view_radius, self.view_radius+1),
range(-self.view_radius, self.view_radius+1)):
if bool(view[self.view_radius+j, self.view_radius+i]):
visibility_rect = bp['dest'].copy()
visibility_rect.centerx += i*self.cell_size
visibility_rect.centery += j*self.cell_size
shape_surf = pygame.Surface(visibility_rect.size, pygame.SRCALPHA)
pygame.draw.rect(shape_surf, self.AGENT_VIEW_COLOR, shape_surf.get_rect())
shape_surf.set_alpha(64)
rects.append(dict(source=shape_surf, dest=visibility_rect))
if view is not None:
if bool(view[self.view_radius+j, self.view_radius+i]):
visibility_rect = bp['dest'].copy()
visibility_rect.centerx += i*self.cell_size
visibility_rect.centery += j*self.cell_size
shape_surf = pygame.Surface(visibility_rect.size, pygame.SRCALPHA)
pygame.draw.rect(shape_surf, self.AGENT_VIEW_COLOR, shape_surf.get_rect())
shape_surf.set_alpha(64)
rects.append(dict(source=shape_surf, dest=visibility_rect))
return rects
def render(self, entities):

15
environments/factory/simple_factory.py
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@ -94,6 +94,10 @@ class DirtRegister(MovingEntityObjectRegister):
return c.NOT_VALID
return c.VALID
def __repr__(self):
s = super(DirtRegister, self).__repr__()
return f'{s[:-1]}, {self.amount})'
def softmax(x):
"""Compute softmax values for each sets of scores in x."""
@ -149,7 +153,10 @@ class SimpleFactory(BaseFactory):
return c.NOT_VALID
def trigger_dirt_spawn(self):
free_for_dirt = self[c.FLOOR].empty_tiles
free_for_dirt = [x for x in self[c.FLOOR]
if len(x.guests) == 0 or (len(x.guests) == 1 and isinstance(next(y for y in x.guests), Dirt))
]
self._dirt_rng.shuffle(free_for_dirt)
new_spawn = self._dirt_rng.uniform(0, self.dirt_properties.max_spawn_ratio)
n_dirt_tiles = max(0, int(new_spawn * len(free_for_dirt)))
self[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles])
@ -216,7 +223,7 @@ class SimpleFactory(BaseFactory):
self.print(f'{agent.name} did just clean up some dirt at {agent.pos}.')
info_dict.update(dirt_cleaned=1)
else:
reward -= 0.00
reward -= 0.01
self.print(f'{agent.name} just tried to clean up some dirt at {agent.pos}, but failed.')
info_dict.update({f'{agent.name}_failed_action': 1})
info_dict.update({f'{agent.name}_failed_action': 1})
@ -235,8 +242,8 @@ if __name__ == '__main__':
factory = SimpleFactory(n_agents=1, done_at_collision=False, frames_to_stack=0,
level_name='rooms', max_steps=400, combin_agent_obs=True,
omit_agent_in_obs=True, parse_doors=True, pomdp_r=2,
record_episodes=False, verbose=True
omit_agent_in_obs=True, parse_doors=False, pomdp_r=2,
record_episodes=False, verbose=True, cast_shadows=False
)
# noinspection DuplicatedCode