Adjustments and Documentation, recording and new environments, refactoring

environments/factory/__init__.py

@@ -2,8 +2,11 @@ def make(env_name, pomdp_r=2, max_steps=400, stack_n_frames=3, n_agents=1, indiv
     import yaml
     from pathlib import Path
     from environments.factory.combined_factories import DirtItemFactory
-    from environments.factory.factory_item import ItemFactory, ItemProperties
-    from environments.factory.factory_dirt import DirtProperties, DirtFactory, RewardsDirt
+    from environments.factory.factory_item import ItemFactory
+    from environments.factory.additional.item.item_util import ItemProperties
+    from environments.factory.factory_dirt import DirtFactory
+    from environments.factory.dirt_util import DirtProperties
+    from environments.factory.dirt_util import RewardsDirt
     from environments.utility_classes import AgentRenderOptions
 
     with (Path(__file__).parent / 'levels' / 'parameters' / f'{env_name}.yaml').open('r') as stream:

environments/factory/additional/btry/btry_collections.py

@@ -0,0 +1,50 @@
+from environments.factory.additional.btry.btry_objects import Battery, ChargePod
+from environments.factory.base.registers import EnvObjectCollection, EntityCollection
+
+
+class BatteriesRegister(EnvObjectCollection):
+
+    _accepted_objects = Battery
+
+    def __init__(self, *args, **kwargs):
+        super(BatteriesRegister, self).__init__(*args, individual_slices=True,
+                                                is_blocking_light=False, can_be_shadowed=False, **kwargs)
+        self.is_observable = True
+
+    def spawn_batteries(self, agents, initial_charge_level):
+        batteries = [self._accepted_objects(initial_charge_level, agent, self) for _, agent in enumerate(agents)]
+        self.add_additional_items(batteries)
+
+    def summarize_states(self, n_steps=None):
+        # as dict with additional nesting
+        # return dict(items=super(Inventories, cls).summarize_states())
+        return super(BatteriesRegister, self).summarize_states(n_steps=n_steps)
+
+    # Todo Move this to Mixin!
+    def by_entity(self, entity):
+        try:
+            return next((x for x in self if x.belongs_to_entity(entity)))
+        except StopIteration:
+            return None
+
+    def idx_by_entity(self, entity):
+        try:
+            return next((idx for idx, x in enumerate(self) if x.belongs_to_entity(entity)))
+        except StopIteration:
+            return None
+
+    def as_array_by_entity(self, entity):
+        return self._array[self.idx_by_entity(entity)]
+
+
+class ChargePods(EntityCollection):
+
+    _accepted_objects = ChargePod
+
+    def __repr__(self):
+        super(ChargePods, self).__repr__()
+
+    def summarize_states(self, n_steps=None):
+        # as dict with additional nesting
+        # return dict(items=super(Inventories, cls).summarize_states())
+        return super(ChargePods, self).summarize_states(n_steps=n_steps)

environments/factory/additional/btry/btry_objects.py

@@ -0,0 +1,67 @@
+from environments import helpers as h
+from environments.factory.base.objects import BoundingMixin, EnvObject, Entity
+from environments.factory.additional.btry.btry_util import Constants as c
+
+
+class Battery(BoundingMixin, EnvObject):
+
+    @property
+    def is_discharged(self):
+        return self.charge_level == 0
+
+    def __init__(self, initial_charge_level: float, *args, **kwargs):
+        super(Battery, self).__init__(*args, **kwargs)
+        self.charge_level = initial_charge_level
+
+    def encoding(self):
+        return self.charge_level
+
+    def do_charge_action(self, amount):
+        if self.charge_level < 1:
+            # noinspection PyTypeChecker
+            self.charge_level = min(1, amount + self.charge_level)
+            return c.VALID
+        else:
+            return c.NOT_VALID
+
+    def decharge(self, amount) -> c:
+        if self.charge_level != 0:
+            # noinspection PyTypeChecker
+            self.charge_level = max(0, amount + self.charge_level)
+            self._collection.notify_change_to_value(self)
+            return c.VALID
+        else:
+            return c.NOT_VALID
+
+    def summarize_state(self, **_):
+        attr_dict = {key: str(val) for key, val in self.__dict__.items() if not key.startswith('_') and key != 'data'}
+        attr_dict.update(dict(name=self.name))
+        return attr_dict
+
+
+class ChargePod(Entity):
+
+    @property
+    def encoding(self):
+        return c.CHARGE_POD
+
+    def __init__(self, *args, charge_rate: float = 0.4,
+                 multi_charge: bool = False, **kwargs):
+        super(ChargePod, self).__init__(*args, **kwargs)
+        self.charge_rate = charge_rate
+        self.multi_charge = multi_charge
+
+    def charge_battery(self, battery: Battery):
+        if battery.charge_level == 1.0:
+            return c.NOT_VALID
+        if sum(guest for guest in self.tile.guests if 'agent' in guest.name.lower()) > 1:
+            return c.NOT_VALID
+        valid = battery.do_charge_action(self.charge_rate)
+        return valid
+
+    def summarize_state(self, n_steps=None) -> dict:
+        if n_steps == h.STEPS_START:
+            summary = super().summarize_state(n_steps=n_steps)
+            return summary
+        else:
+            {}

environments/factory/additional/btry/btry_util.py

@@ -0,0 +1,30 @@
+from typing import NamedTuple, Union
+
+from environments.helpers import Constants as BaseConstants, EnvActions as BaseActions
+
+
+class Constants(BaseConstants):
+    # Battery Env
+    CHARGE_PODS          = 'Charge_Pod'
+    BATTERIES            = 'BATTERIES'
+    BATTERY_DISCHARGED   = 'DISCHARGED'
+    CHARGE_POD           = 1
+
+
+class Actions(BaseActions):
+    CHARGE              = 'do_charge_action'
+
+
+class RewardsBtry(NamedTuple):
+    CHARGE_VALID: float        = 0.1
+    CHARGE_FAIL: float         = -0.1
+    BATTERY_DISCHARGED: float  = -1.0
+
+
+class BatteryProperties(NamedTuple):
+    initial_charge: float = 0.8             #
+    charge_rate: float = 0.4                #
+    charge_locations: int = 20               #
+    per_action_costs: Union[dict, float] = 0.02
+    done_when_discharged: bool = False
+    multi_charge: bool = False

environments/factory/additional/btry/factory_battery.py

@@ -0,0 +1,139 @@
+from typing import Dict, List
+
+import numpy as np
+
+from environments.factory.additional.btry.btry_collections import BatteriesRegister, ChargePods
+from environments.factory.additional.btry.btry_util import Constants, Actions, RewardsBtry, BatteryProperties
+from environments.factory.base.base_factory import BaseFactory
+from environments.factory.base.objects import Agent, Action
+from environments.factory.base.renderer import RenderEntity
+
+c = Constants
+a = Actions
+
+
+class BatteryFactory(BaseFactory):
+
+    def __init__(self, *args, btry_prop=BatteryProperties(), rewards_btry: RewardsBtry = RewardsBtry(),
+                 **kwargs):
+        if isinstance(btry_prop, dict):
+            btry_prop = BatteryProperties(**btry_prop)
+        if isinstance(rewards_btry, dict):
+            rewards_btry = RewardsBtry(**rewards_btry)
+        self.btry_prop = btry_prop
+        self.rewards_dest = rewards_btry
+        super().__init__(*args, **kwargs)
+
+    def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:
+        additional_raw_observations = super().per_agent_raw_observations_hook(agent)
+        additional_raw_observations.update({c.BATTERIES: self[c.BATTERIES].as_array_by_entity(agent)})
+        return additional_raw_observations
+
+    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
+        additional_observations = super().observations_hook()
+        additional_observations.update({c.CHARGE_PODS: self[c.CHARGE_PODS].as_array()})
+        return additional_observations
+
+    @property
+    def entities_hook(self):
+        super_entities = super().entities_hook
+
+        empty_tiles = self[c.FLOOR].empty_tiles[:self.btry_prop.charge_locations]
+        charge_pods = ChargePods.from_tiles(
+            empty_tiles, self._level_shape,
+            entity_kwargs=dict(charge_rate=self.btry_prop.charge_rate,
+                               multi_charge=self.btry_prop.multi_charge)
+        )
+
+        batteries = BatteriesRegister(self._level_shape if not self._pomdp_r else ((self.pomdp_diameter,) * 2),
+                                      )
+        batteries.spawn_batteries(self[c.AGENT], self.btry_prop.initial_charge)
+        super_entities.update({c.BATTERIES: batteries, c.CHARGE_PODS: charge_pods})
+        return super_entities
+
+    def step_hook(self) -> (List[dict], dict):
+        super_reward_info = super(BatteryFactory, self).step_hook()
+
+        # Decharge
+        batteries = self[c.BATTERIES]
+
+        for agent in self[c.AGENT]:
+            if isinstance(self.btry_prop.per_action_costs, dict):
+                energy_consumption = self.btry_prop.per_action_costs[agent.temp_action]
+            else:
+                energy_consumption = self.btry_prop.per_action_costs
+
+            batteries.by_entity(agent).decharge(energy_consumption)
+
+        return super_reward_info
+
+    def do_charge_action(self, agent) -> (dict, dict):
+        if charge_pod := self[c.CHARGE_PODS].by_pos(agent.pos):
+            valid = charge_pod.charge_battery(self[c.BATTERIES].by_entity(agent))
+            if valid:
+                info_dict = {f'{agent.name}_{a.CHARGE}_VALID': 1}
+                self.print(f'{agent.name} just charged batteries at {charge_pod.name}.')
+            else:
+                info_dict = {f'{agent.name}_{a.CHARGE}_FAIL': 1}
+                self.print(f'{agent.name} failed to charged batteries at {charge_pod.name}.')
+        else:
+            valid = c.NOT_VALID
+            info_dict = {f'{agent.name}_{a.CHARGE}_FAIL': 1}
+            # info_dict = {f'{agent.name}_no_charger': 1}
+            self.print(f'{agent.name} failed to charged batteries at {agent.pos}.')
+        reward = dict(value=self.rewards_dest.CHARGE_VALID if valid else self.rewards_dest.CHARGE_FAIL,
+                      reason=a.CHARGE, info=info_dict)
+        return valid, reward
+
+    def do_additional_actions(self, agent: Agent, action: Action) -> (bool, dict):
+        action_result = super().do_additional_actions(agent, action)
+        if action_result is None:
+            if action == a.CHARGE:
+                action_result = self.do_charge_action(agent)
+                return action_result
+            else:
+                return None
+        else:
+            return action_result
+        pass
+
+    def reset_hook(self) -> (List[dict], dict):
+        super_reward_info = super(BatteryFactory, self).reset_hook()
+        # There is Nothing to reset.
+        return super_reward_info
+
+    def check_additional_done(self) -> (bool, dict):
+        super_done, super_dict = super(BatteryFactory, self).check_additional_done()
+        if super_done:
+            return super_done, super_dict
+        else:
+            if self.btry_prop.done_when_discharged:
+                if btry_done := any(battery.is_discharged for battery in self[c.BATTERIES]):
+                    super_dict.update(DISCHARGE_DONE=1)
+                    return btry_done, super_dict
+                else:
+                    pass
+            else:
+                pass
+        return super_done, super_dict
+
+    def per_agent_reward_hook(self, agent: Agent) -> List[dict]:
+        reward_event_list = super(BatteryFactory, self).per_agent_reward_hook(agent)
+        if self[c.BATTERIES].by_entity(agent).is_discharged:
+            self.print(f'{agent.name} Battery is discharged!')
+            info_dict = {f'{agent.name}_{c.BATTERY_DISCHARGED}': 1}
+            reward_event_list.append({'value': self.rewards_dest.BATTERY_DISCHARGED,
+                                      'reason': c.BATTERY_DISCHARGED,
+                                      'info': info_dict}
+                                     )
+        else:
+            # All Fine
+            pass
+        return reward_event_list
+
+    def render_assets_hook(self):
+        # noinspection PyUnresolvedReferences
+        additional_assets = super().render_assets_hook()
+        charge_pods = [RenderEntity(c.CHARGE_PODS, charge_pod.tile.pos) for charge_pod in self[c.CHARGE_PODS]]
+        additional_assets.extend(charge_pods)
+        return additional_assets

environments/factory/additional/combined_factories.py

@@ -1,12 +1,15 @@
 import random
 
-from environments.factory.factory_battery import BatteryFactory, BatteryProperties
-from environments.factory.factory_dest import DestFactory
-from environments.factory.factory_dirt import DirtFactory, DirtProperties
-from environments.factory.factory_item import ItemFactory
-
 
 # noinspection PyAbstractClass
+from environments.factory.additional.btry.btry_util import BatteryProperties
+from environments.factory.additional.btry.factory_battery import BatteryFactory
+from environments.factory.additional.dest.factory_dest import DestFactory
+from environments.factory.additional.dirt.dirt_util import DirtProperties
+from environments.factory.additional.dirt.factory_dirt import DirtFactory
+from environments.factory.additional.item.factory_item import ItemFactory
+
+
 class DirtItemFactory(ItemFactory, DirtFactory):
     def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
@@ -24,6 +27,12 @@ class DirtDestItemFactory(ItemFactory, DirtFactory, DestFactory):
         super().__init__(*args, **kwargs)
 
 
+# noinspection PyAbstractClass
+class DestBatteryFactory(BatteryFactory, DestFactory):
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+
 if __name__ == '__main__':
     from environments.utility_classes import AgentRenderOptions as ARO, ObservationProperties
 

environments/factory/additional/dest/dest_collections.py

@@ -0,0 +1,44 @@
+from environments.factory.base.registers import EntityCollection
+from environments.factory.additional.dest.dest_util import Constants as c
+from environments.factory.additional.dest.dest_enitites import Destination
+
+
+class Destinations(EntityCollection):
+
+    _accepted_objects = Destination
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.is_blocking_light = False
+        self.can_be_shadowed = False
+
+    def as_array(self):
+        self._array[:] = c.FREE_CELL
+        # ToDo: Switch to new Style Array Put
+        # indices = list(zip(range(len(cls)), *zip(*[x.pos for x in cls])))
+        # np.put(cls._array, [np.ravel_multi_index(x, cls._array.shape) for x in indices], cls.encodings)
+        for item in self:
+            if item.pos != c.NO_POS:
+                self._array[0, item.x, item.y] = item.encoding
+        return self._array
+
+    def __repr__(self):
+        return super(Destinations, self).__repr__()
+
+    def summarize_states(self, n_steps=None):
+        return {}
+
+
+class ReachedDestinations(Destinations):
+    _accepted_objects = Destination
+
+    def __init__(self, *args, **kwargs):
+        super(ReachedDestinations, self).__init__(*args, **kwargs)
+        self.can_be_shadowed = False
+        self.is_blocking_light = False
+
+    def summarize_states(self, n_steps=None):
+        return {}
+
+    def __repr__(self):
+        return super(ReachedDestinations, self).__repr__()

environments/factory/additional/dest/dest_enitites.py

@@ -0,0 +1,44 @@
+from collections import defaultdict
+
+from environments.factory.base.objects import Entity, Agent
+from environments.factory.additional.dest.dest_util import Constants as c
+
+
+class Destination(Entity):
+
+    @property
+    def any_agent_has_dwelled(self):
+        return bool(len(self._per_agent_times))
+
+    @property
+    def currently_dwelling_names(self):
+        return self._per_agent_times.keys()
+
+    @property
+    def encoding(self):
+        return c.DESTINATION
+
+    def __init__(self, *args, dwell_time: int = 0, **kwargs):
+        super(Destination, self).__init__(*args, **kwargs)
+        self.dwell_time = dwell_time
+        self._per_agent_times = defaultdict(lambda: dwell_time)
+
+    def do_wait_action(self, agent: Agent):
+        self._per_agent_times[agent.name] -= 1
+        return c.VALID
+
+    def leave(self, agent: Agent):
+        del self._per_agent_times[agent.name]
+
+    @property
+    def is_considered_reached(self):
+        agent_at_position = any(c.AGENT.lower() in x.name.lower() for x in self.tile.guests_that_can_collide)
+        return (agent_at_position and not self.dwell_time) or any(x == 0 for x in self._per_agent_times.values())
+
+    def agent_is_dwelling(self, agent: Agent):
+        return self._per_agent_times[agent.name] < self.dwell_time
+
+    def summarize_state(self, n_steps=None) -> dict:
+        state_summary = super().summarize_state(n_steps=n_steps)
+        state_summary.update(per_agent_times=self._per_agent_times)
+        return state_summary

environments/factory/additional/dest/dest_util.py

@@ -0,0 +1,41 @@
+from typing import NamedTuple
+
+from environments.helpers import Constants as BaseConstants, EnvActions as BaseActions
+
+
+class Constants(BaseConstants):
+    # Destination Env
+    DEST                    = 'Destination'
+    DESTINATION             = 1
+    DESTINATION_DONE        = 0.5
+    DEST_REACHED            = 'ReachedDestination'
+
+
+class Actions(BaseActions):
+    WAIT_ON_DEST    = 'WAIT'
+
+
+class RewardsDest(NamedTuple):
+
+    WAIT_VALID: float      = 0.1
+    WAIT_FAIL: float       = -0.1
+    DEST_REACHED: float    = 5.0
+
+
+class DestModeOptions(object):
+    DONE        = 'DONE'
+    GROUPED     = 'GROUPED'
+    PER_DEST    = 'PER_DEST'
+
+
+class DestProperties(NamedTuple):
+    n_dests:                                     int = 1     # How many destinations are there
+    dwell_time:                                  int = 0     # How long does the agent need to "wait" on a destination
+    spawn_frequency:                             int = 0
+    spawn_in_other_zone:                        bool = True  #
+    spawn_mode:                                  str = DestModeOptions.DONE
+
+    assert dwell_time >= 0, 'dwell_time cannot be < 0!'
+    assert spawn_frequency >= 0, 'spawn_frequency cannot be < 0!'
+    assert n_dests >= 0, 'n_destinations cannot be < 0!'
+    assert (spawn_mode == DestModeOptions.DONE) != bool(spawn_frequency)

environments/factory/additional/dest/factory_dest.py

@@ -1,132 +1,19 @@
 import time
-from collections import defaultdict
 from enum import Enum
-from typing import List, Union, NamedTuple, Dict
+from typing import List, Union, Dict
 import numpy as np
 import random
 
+from environments.factory.additional.dest.dest_collections import Destinations, ReachedDestinations
+from environments.factory.additional.dest.dest_enitites import Destination
+from environments.factory.additional.dest.dest_util import Constants, Actions, RewardsDest, DestModeOptions, \
+    DestProperties
 from environments.factory.base.base_factory import BaseFactory
-from environments.helpers import Constants as BaseConstants
-from environments.helpers import EnvActions as BaseActions
-from environments.factory.base.objects import Agent, Entity, Action
-from environments.factory.base.registers import Entities, EntityCollection
+from environments.factory.base.objects import Agent, Action
+from environments.factory.base.registers import Entities
 
 from environments.factory.base.renderer import RenderEntity
 
-
-class Constants(BaseConstants):
-    # Destination Env
-    DEST                    = 'Destination'
-    DESTINATION             = 1
-    DESTINATION_DONE        = 0.5
-    DEST_REACHED            = 'ReachedDestination'
-
-
-class Actions(BaseActions):
-    WAIT_ON_DEST    = 'WAIT'
-
-
-class RewardsDest(NamedTuple):
-
-    WAIT_VALID: float      = 0.1
-    WAIT_FAIL: float       = -0.1
-    DEST_REACHED: float    = 5.0
-
-
-class Destination(Entity):
-
-    @property
-    def any_agent_has_dwelled(self):
-        return bool(len(self._per_agent_times))
-
-    @property
-    def currently_dwelling_names(self):
-        return self._per_agent_times.keys()
-
-    @property
-    def encoding(self):
-        return c.DESTINATION
-
-    def __init__(self, *args, dwell_time: int = 0, **kwargs):
-        super(Destination, self).__init__(*args, **kwargs)
-        self.dwell_time = dwell_time
-        self._per_agent_times = defaultdict(lambda: dwell_time)
-
-    def do_wait_action(self, agent: Agent):
-        self._per_agent_times[agent.name] -= 1
-        return c.VALID
-
-    def leave(self, agent: Agent):
-        del self._per_agent_times[agent.name]
-
-    @property
-    def is_considered_reached(self):
-        agent_at_position = any(c.AGENT.lower() in x.name.lower() for x in self.tile.guests_that_can_collide)
-        return (agent_at_position and not self.dwell_time) or any(x == 0 for x in self._per_agent_times.values())
-
-    def agent_is_dwelling(self, agent: Agent):
-        return self._per_agent_times[agent.name] < self.dwell_time
-
-    def summarize_state(self, n_steps=None) -> dict:
-        state_summary = super().summarize_state(n_steps=n_steps)
-        state_summary.update(per_agent_times=self._per_agent_times)
-        return state_summary
-
-
-class Destinations(EntityCollection):
-
-    _accepted_objects = Destination
-
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
-        self.is_blocking_light = False
-        self.can_be_shadowed = False
-
-    def as_array(self):
-        self._array[:] = c.FREE_CELL
-        # ToDo: Switch to new Style Array Put
-        # indices = list(zip(range(len(cls)), *zip(*[x.pos for x in cls])))
-        # np.put(cls._array, [np.ravel_multi_index(x, cls._array.shape) for x in indices], cls.encodings)
-        for item in self:
-            if item.pos != c.NO_POS:
-                self._array[0, item.x, item.y] = item.encoding
-        return self._array
-
-    def __repr__(self):
-        super(Destinations, self).__repr__()
-
-
-class ReachedDestinations(Destinations):
-    _accepted_objects = Destination
-
-    def __init__(self, *args, **kwargs):
-        super(ReachedDestinations, self).__init__(*args, **kwargs)
-        self.can_be_shadowed = False
-        self.is_blocking_light = False
-
-    def summarize_states(self, n_steps=None):
-        return {}
-
-
-class DestModeOptions(object):
-    DONE        = 'DONE'
-    GROUPED     = 'GROUPED'
-    PER_DEST    = 'PER_DEST'
-
-
-class DestProperties(NamedTuple):
-    n_dests:                                     int = 1     # How many destinations are there
-    dwell_time:                                  int = 0     # How long does the agent need to "wait" on a destination
-    spawn_frequency:                             int = 0
-    spawn_in_other_zone:                        bool = True  #
-    spawn_mode:                                  str = DestModeOptions.DONE
-
-    assert dwell_time >= 0, 'dwell_time cannot be < 0!'
-    assert spawn_frequency >= 0, 'spawn_frequency cannot be < 0!'
-    assert n_dests >= 0, 'n_destinations cannot be < 0!'
-    assert (spawn_mode == DestModeOptions.DONE) != bool(spawn_frequency)
-
-
 c = Constants
 a = Actions
 
@@ -135,7 +22,7 @@ a = Actions
 class DestFactory(BaseFactory):
     # noinspection PyMissingConstructor
 
-    def __init__(self, *args, dest_prop: DestProperties  = DestProperties(), rewards_dest: RewardsDest = RewardsDest(),
+    def __init__(self, *args, dest_prop: DestProperties = DestProperties(), rewards_dest: RewardsDest = RewardsDest(),
                  env_seed=time.time_ns(), **kwargs):
         if isinstance(dest_prop, dict):
             dest_prop = DestProperties(**dest_prop)
@@ -151,6 +38,7 @@ class DestFactory(BaseFactory):
     def actions_hook(self) -> Union[Action, List[Action]]:
         # noinspection PyUnresolvedReferences
         super_actions = super().actions_hook
+        # If targets are considers reached after some time, agents need an action for that.
         if self.dest_prop.dwell_time:
             super_actions.append(Action(enum_ident=a.WAIT_ON_DEST))
         return super_actions
@@ -207,7 +95,7 @@ class DestFactory(BaseFactory):
         if destinations_to_spawn:
             n_dest_to_spawn = len(destinations_to_spawn)
             if self.dest_prop.spawn_mode != DestModeOptions.GROUPED:
-                destinations = [Destination(tile, c.DEST) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
+                destinations = [Destination(tile, self[c.DEST]) for tile in self[c.FLOOR].empty_tiles[:n_dest_to_spawn]]
                 self[c.DEST].add_additional_items(destinations)
                 for dest in destinations_to_spawn:
                     del self._dest_spawn_timer[dest]
@@ -229,9 +117,10 @@ class DestFactory(BaseFactory):
         super_reward_info = super().step_hook()
         for key, val in self._dest_spawn_timer.items():
             self._dest_spawn_timer[key] = min(self.dest_prop.spawn_frequency, self._dest_spawn_timer[key] + 1)
+
         for dest in list(self[c.DEST].values()):
             if dest.is_considered_reached:
-                dest.change_parent_collection(self[c.DEST])
+                dest.change_parent_collection(self[c.DEST_REACHED])
                 self._dest_spawn_timer[dest.name] = 0
                 self.print(f'{dest.name} is reached now, removing...')
             else:
@@ -251,18 +140,19 @@ class DestFactory(BaseFactory):
         additional_observations.update({c.DEST: self[c.DEST].as_array()})
         return additional_observations
 
-    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
+    def per_agent_reward_hook(self, agent: Agent) -> List[dict]:
         # noinspection PyUnresolvedReferences
-        reward_event_dict = super().per_agent_reward_hook(agent)
+        reward_event_list = super().per_agent_reward_hook(agent)
         if len(self[c.DEST_REACHED]):
             for reached_dest in list(self[c.DEST_REACHED]):
                 if agent.pos == reached_dest.pos:
                     self.print(f'{agent.name} just reached destination at {agent.pos}')
                     self[c.DEST_REACHED].delete_env_object(reached_dest)
                     info_dict = {f'{agent.name}_{c.DEST_REACHED}': 1}
-                    reward_event_dict.update({c.DEST_REACHED: {'reward': self.rewards_dest.DEST_REACHED,
-                                                               'info': info_dict}})
-        return reward_event_dict
+                    reward_event_list.append({'value': self.rewards_dest.DEST_REACHED,
+                                              'reason': c.DEST_REACHED,
+                                              'info': info_dict})
+        return reward_event_list
 
     def render_assets_hook(self, mode='human'):
         # noinspection PyUnresolvedReferences

environments/factory/additional/dirt/dirt_collections.py

@@ -0,0 +1,42 @@
+from environments.factory.additional.dirt.dirt_entity import Dirt
+from environments.factory.additional.dirt.dirt_util import DirtProperties
+from environments.factory.base.objects import Floor
+from environments.factory.base.registers import EntityCollection
+from environments.factory.additional.dirt.dirt_util import Constants as c
+
+
+class DirtRegister(EntityCollection):
+
+    _accepted_objects = Dirt
+
+    @property
+    def amount(self):
+        return sum([dirt.amount for dirt in self])
+
+    @property
+    def dirt_properties(self):
+        return self._dirt_properties
+
+    def __init__(self, dirt_properties, *args):
+        super(DirtRegister, self).__init__(*args)
+        self._dirt_properties: DirtProperties = dirt_properties
+
+    def spawn_dirt(self, then_dirty_tiles) -> bool:
+        if isinstance(then_dirty_tiles, Floor):
+            then_dirty_tiles = [then_dirty_tiles]
+        for tile in then_dirty_tiles:
+            if not self.amount > self.dirt_properties.max_global_amount:
+                dirt = self.by_pos(tile.pos)
+                if dirt is None:
+                    dirt = Dirt(tile, self, amount=self.dirt_properties.max_spawn_amount)
+                    self.add_item(dirt)
+                else:
+                    new_value = dirt.amount + self.dirt_properties.max_spawn_amount
+                    dirt.set_new_amount(min(new_value, self.dirt_properties.max_local_amount))
+            else:
+                return c.NOT_VALID
+        return c.VALID
+
+    def __repr__(self):
+        s = super(DirtRegister, self).__repr__()
+        return f'{s[:-1]}, {self.amount})'

environments/factory/additional/dirt/dirt_entity.py

@@ -0,0 +1,26 @@
+from environments.factory.base.objects import Entity
+
+
+class Dirt(Entity):
+
+    @property
+    def amount(self):
+        return self._amount
+
+    @property
+    def encoding(self):
+        # Edit this if you want items to be drawn in the ops differntly
+        return self._amount
+
+    def __init__(self, *args, amount=None, **kwargs):
+        super(Dirt, self).__init__(*args, **kwargs)
+        self._amount = amount
+
+    def set_new_amount(self, amount):
+        self._amount = amount
+        self._collection.notify_change_to_value(self)
+
+    def summarize_state(self, **kwargs):
+        state_dict = super().summarize_state(**kwargs)
+        state_dict.update(amount=float(self.amount))
+        return state_dict

environments/factory/additional/dirt/dirt_util.py

@@ -0,0 +1,30 @@
+from typing import NamedTuple
+
+from environments.helpers import Constants as BaseConstants, EnvActions as BaseActions
+
+
+class Constants(BaseConstants):
+    DIRT = 'Dirt'
+
+
+class Actions(BaseActions):
+    CLEAN_UP = 'do_cleanup_action'
+
+
+class RewardsDirt(NamedTuple):
+    CLEAN_UP_VALID: float          = 0.5
+    CLEAN_UP_FAIL: float           = -0.1
+    CLEAN_UP_LAST_PIECE: float     = 4.5
+
+
+class DirtProperties(NamedTuple):
+    initial_dirt_ratio: float = 0.3         # On INIT, on max how many tiles does the dirt spawn in percent.
+    initial_dirt_spawn_r_var: float = 0.05  # How much does the dirt spawn amount vary?
+    clean_amount: float = 1                 # How much does the robot clean with one actions.
+    max_spawn_ratio: float = 0.20           # On max how many tiles does the dirt spawn in percent.
+    max_spawn_amount: float = 0.3           # How much dirt does spawn per tile at max.
+    spawn_frequency: int = 0                # Spawn Frequency in Steps.
+    max_local_amount: int = 2               # Max dirt amount per tile.
+    max_global_amount: int = 20             # Max dirt amount in the whole environment.
+    dirt_smear_amount: float = 0.2          # Agents smear dirt, when not cleaning up in place.
+    done_when_clean: bool = True

environments/factory/additional/dirt/factory_dirt.py

@@ -1,111 +1,22 @@
 import time
 from pathlib import Path
-from typing import List, Union, NamedTuple, Dict
+from typing import List, Union, Dict
 import random
 
 import numpy as np
 
-from algorithms.TSP_dirt_agent import TSPDirtAgent
-from environments.helpers import Constants as BaseConstants
-from environments.helpers import EnvActions as BaseActions
+from environments.factory.additional.dirt.dirt_collections import DirtRegister
+from environments.factory.additional.dirt.dirt_entity import Dirt
+from environments.factory.additional.dirt.dirt_util import Constants, Actions, RewardsDirt, DirtProperties
 
 from environments.factory.base.base_factory import BaseFactory
-from environments.factory.base.objects import Agent, Action, Entity, Floor
-from environments.factory.base.registers import Entities, EntityCollection
+from environments.factory.base.objects import Agent, Action
+from environments.factory.base.registers import Entities
 
 from environments.factory.base.renderer import RenderEntity
 from environments.utility_classes import ObservationProperties
 
 
-class Constants(BaseConstants):
-    DIRT = 'Dirt'
-
-
-class Actions(BaseActions):
-    CLEAN_UP = 'do_cleanup_action'
-
-
-class RewardsDirt(NamedTuple):
-    CLEAN_UP_VALID: float          = 0.5
-    CLEAN_UP_FAIL: float           = -0.1
-    CLEAN_UP_LAST_PIECE: float     = 4.5
-
-
-class DirtProperties(NamedTuple):
-    initial_dirt_ratio: float = 0.3         # On INIT, on max how many tiles does the dirt spawn in percent.
-    initial_dirt_spawn_r_var: float = 0.05  # How much does the dirt spawn amount vary?
-    clean_amount: float = 1                 # How much does the robot clean with one actions.
-    max_spawn_ratio: float = 0.20           # On max how many tiles does the dirt spawn in percent.
-    max_spawn_amount: float = 0.3           # How much dirt does spawn per tile at max.
-    spawn_frequency: int = 0                # Spawn Frequency in Steps.
-    max_local_amount: int = 2               # Max dirt amount per tile.
-    max_global_amount: int = 20             # Max dirt amount in the whole environment.
-    dirt_smear_amount: float = 0.2          # Agents smear dirt, when not cleaning up in place.
-    done_when_clean: bool = True
-
-
-class Dirt(Entity):
-
-    @property
-    def amount(self):
-        return self._amount
-
-    @property
-    def encoding(self):
-        # Edit this if you want items to be drawn in the ops differntly
-        return self._amount
-
-    def __init__(self, *args, amount=None, **kwargs):
-        super(Dirt, self).__init__(*args, **kwargs)
-        self._amount = amount
-
-    def set_new_amount(self, amount):
-        self._amount = amount
-        self._collection.notify_change_to_value(self)
-
-    def summarize_state(self, **kwargs):
-        state_dict = super().summarize_state(**kwargs)
-        state_dict.update(amount=float(self.amount))
-        return state_dict
-
-
-class DirtRegister(EntityCollection):
-
-    _accepted_objects = Dirt
-
-    @property
-    def amount(self):
-        return sum([dirt.amount for dirt in self])
-
-    @property
-    def dirt_properties(self):
-        return self._dirt_properties
-
-    def __init__(self, dirt_properties, *args):
-        super(DirtRegister, self).__init__(*args)
-        self._dirt_properties: DirtProperties = dirt_properties
-
-    def spawn_dirt(self, then_dirty_tiles) -> bool:
-        if isinstance(then_dirty_tiles, Floor):
-            then_dirty_tiles = [then_dirty_tiles]
-        for tile in then_dirty_tiles:
-            if not self.amount > self.dirt_properties.max_global_amount:
-                dirt = self.by_pos(tile.pos)
-                if dirt is None:
-                    dirt = Dirt(tile, self, amount=self.dirt_properties.max_spawn_amount)
-                    self.add_item(dirt)
-                else:
-                    new_value = dirt.amount + self.dirt_properties.max_spawn_amount
-                    dirt.set_new_amount(min(new_value, self.dirt_properties.max_local_amount))
-            else:
-                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."""
     e_x = np.exp(x - np.max(x))
@@ -200,8 +111,8 @@ class DirtFactory(BaseFactory):
         super_reward_info = super().step_hook()
         if smear_amount := self.dirt_prop.dirt_smear_amount:
             for agent in self[c.AGENT]:
-                if agent.temp_valid and agent.last_pos != c.NO_POS:
-                    if self._actions.is_moving_action(agent.temp_action):
+                if agent.step_result['action_valid'] and agent.last_pos != c.NO_POS:
+                    if self._actions.is_moving_action(agent.step_result['action_name']):
                         if old_pos_dirt := self[c.DIRT].by_pos(agent.last_pos):
                             if smeared_dirt := round(old_pos_dirt.amount * smear_amount, 2):
                                 old_pos_dirt.set_new_amount(max(0, old_pos_dirt.amount-smeared_dirt))
@@ -248,8 +159,8 @@ class DirtFactory(BaseFactory):
         additional_observations.update({c.DIRT: self[c.DIRT].as_array()})
         return additional_observations
 
-    def gather_additional_info(self, agent: Agent) -> dict:
-        event_reward_dict = super().per_agent_reward_hook(agent)
+    def post_step_hook(self) -> List[Dict[str, int]]:
+        super_post_step = super(DirtFactory, self).post_step_hook()
         info_dict = dict()
 
         dirt = [dirt.amount for dirt in self[c.DIRT]]
@@ -264,8 +175,8 @@ class DirtFactory(BaseFactory):
         info_dict.update(dirt_amount=current_dirt_amount)
         info_dict.update(dirty_tile_count=dirty_tile_count)
 
-        event_reward_dict.update({'info': info_dict})
-        return event_reward_dict
+        super_post_step.append(info_dict)
+        return super_post_step
 
 
 if __name__ == '__main__':
@@ -304,7 +215,6 @@ if __name__ == '__main__':
                               # inject_agents=[TSPDirtAgent],
                               )
 
-        factory.save_params(Path('rewards_param'))
 
         # noinspection DuplicatedCode
         n_actions = factory.action_space.n - 1

environments/factory/additional/item/factory_item.py

@@ -1,179 +1,16 @@
 import time
-from collections import deque
-from typing import List, Union, NamedTuple, Dict
+from typing import List, Union, Dict
 import numpy as np
 import random
 
+from environments.factory.additional.item.item_collections import ItemRegister, Inventories, DropOffLocations
+from environments.factory.additional.item.item_util import Constants, Actions, RewardsItem, ItemProperties
 from environments.factory.base.base_factory import BaseFactory
-from environments.helpers import Constants as BaseConstants
-from environments.helpers import EnvActions as BaseActions
-from environments import helpers as h
-from environments.factory.base.objects import Agent, Entity, Action, Floor
-from environments.factory.base.registers import Entities, EntityCollection, BoundEnvObjCollection, ObjectCollection
+from environments.factory.base.objects import Agent, Action
+from environments.factory.base.registers import Entities
 
 from environments.factory.base.renderer import RenderEntity
 
-
-class Constants(BaseConstants):
-    NO_ITEM = 0
-    ITEM_DROP_OFF = 1
-    # Item Env
-    ITEM                = 'Item'
-    INVENTORY           = 'Inventory'
-    DROP_OFF            = 'Drop_Off'
-
-
-class Actions(BaseActions):
-    ITEM_ACTION     = 'ITEMACTION'
-
-
-class RewardsItem(NamedTuple):
-    DROP_OFF_VALID: float = 0.1
-    DROP_OFF_FAIL: float = -0.1
-    PICK_UP_FAIL: float  = -0.1
-    PICK_UP_VALID: float  = 0.1
-
-
-class Item(Entity):
-
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
-        self._auto_despawn = -1
-
-    @property
-    def auto_despawn(self):
-        return self._auto_despawn
-
-    @property
-    def encoding(self):
-        # Edit this if you want items to be drawn in the ops differently
-        return 1
-
-    def set_auto_despawn(self, auto_despawn):
-        self._auto_despawn = auto_despawn
-
-    def set_tile_to(self, no_pos_tile):
-        assert self._collection.__class__.__name__ != ItemRegister.__class__
-        self._tile = no_pos_tile
-
-
-class ItemRegister(EntityCollection):
-
-    _accepted_objects = Item
-
-    def spawn_items(self, tiles: List[Floor]):
-        items = [Item(tile, self) for tile in tiles]
-        self.add_additional_items(items)
-
-    def despawn_items(self, items: List[Item]):
-        items = [items] if isinstance(items, Item) else items
-        for item in items:
-            del self[item]
-
-
-class Inventory(BoundEnvObjCollection):
-
-    @property
-    def name(self):
-        return f'{self.__class__.__name__}({self._bound_entity.name})'
-
-    def __init__(self, agent: Agent, capacity: int, *args, **kwargs):
-        super(Inventory, self).__init__(agent, *args,  is_blocking_light=False, can_be_shadowed=False,  **kwargs)
-        self.capacity = capacity
-
-    def as_array(self):
-        if self._array is None:
-            self._array = np.zeros((1, *self._shape))
-        return super(Inventory, self).as_array()
-
-    def summarize_states(self, **kwargs):
-        attr_dict = {key: str(val) for key, val in self.__dict__.items() if not key.startswith('_') and key != 'data'}
-        attr_dict.update(dict(items={key: val.summarize_state(**kwargs) for key, val in self.items()}))
-        attr_dict.update(dict(name=self.name))
-        return attr_dict
-
-    def pop(self):
-        item_to_pop = self[0]
-        self.delete_env_object(item_to_pop)
-        return item_to_pop
-
-
-class Inventories(ObjectCollection):
-
-    _accepted_objects = Inventory
-    is_blocking_light = False
-    can_be_shadowed = False
-
-    def __init__(self, obs_shape, *args, **kwargs):
-        super(Inventories, self).__init__(*args, is_per_agent=True, individual_slices=True, **kwargs)
-        self._obs_shape = obs_shape
-
-    def as_array(self):
-        return np.stack([inventory.as_array() for inv_idx, inventory in enumerate(self)])
-
-    def spawn_inventories(self, agents, capacity):
-        inventories = [self._accepted_objects(agent, capacity, self._obs_shape)
-                       for _, agent in enumerate(agents)]
-        self.add_additional_items(inventories)
-
-    def idx_by_entity(self, entity):
-        try:
-            return next((idx for idx, inv in enumerate(self) if inv.belongs_to_entity(entity)))
-        except StopIteration:
-            return None
-
-    def by_entity(self, entity):
-        try:
-            return next((inv for inv in self if inv.belongs_to_entity(entity)))
-        except StopIteration:
-            return None
-
-    def summarize_states(self, **kwargs):
-        return {key: val.summarize_states(**kwargs) for key, val in self.items()}
-
-
-class DropOffLocation(Entity):
-
-    @property
-    def encoding(self):
-        return Constants.ITEM_DROP_OFF
-
-    def __init__(self, *args, storage_size_until_full: int = 5, auto_item_despawn_interval: int = 5, **kwargs):
-        super(DropOffLocation, self).__init__(*args, **kwargs)
-        self.auto_item_despawn_interval = auto_item_despawn_interval
-        self.storage = deque(maxlen=storage_size_until_full or None)
-
-    def place_item(self, item: Item):
-        if self.is_full:
-            raise RuntimeWarning("There is currently no way to clear the storage or make it unfull.")
-            return c.NOT_VALID
-        else:
-            self.storage.append(item)
-            item.set_auto_despawn(self.auto_item_despawn_interval)
-            return c.VALID
-
-    @property
-    def is_full(self):
-        return False if not self.storage.maxlen else self.storage.maxlen == len(self.storage)
-
-    def summarize_state(self, n_steps=None) -> dict:
-        if n_steps == h.STEPS_START:
-            return super().summarize_state(n_steps=n_steps)
-
-
-class DropOffLocations(EntityCollection):
-
-    _accepted_objects = DropOffLocation
-
-
-class ItemProperties(NamedTuple):
-    n_items:                         int  = 5     # How many items are there at the same time
-    spawn_frequency:                 int  = 10     # Spawn Frequency in Steps
-    n_drop_off_locations:            int  = 5     # How many DropOff locations are there at the same time
-    max_dropoff_storage_size:        int  = 0     # How many items are needed until the dropoff is full
-    max_agent_inventory_capacity:    int  = 5     # How many items are needed until the agent inventory is full
-
-
 c = Constants
 a = Actions
 

environments/factory/additional/item/item_collections.py

@@ -0,0 +1,87 @@
+from typing import List
+
+import numpy as np
+
+from environments.factory.base.objects import Floor, Agent
+from environments.factory.base.registers import EntityCollection, BoundEnvObjCollection, ObjectCollection
+from environments.factory.additional.item.item_entities import Item, DropOffLocation
+
+
+class ItemRegister(EntityCollection):
+
+    _accepted_objects = Item
+
+    def spawn_items(self, tiles: List[Floor]):
+        items = [Item(tile, self) for tile in tiles]
+        self.add_additional_items(items)
+
+    def despawn_items(self, items: List[Item]):
+        items = [items] if isinstance(items, Item) else items
+        for item in items:
+            del self[item]
+
+
+class Inventory(BoundEnvObjCollection):
+
+    @property
+    def name(self):
+        return f'{self.__class__.__name__}({self._bound_entity.name})'
+
+    def __init__(self, agent: Agent, capacity: int, *args, **kwargs):
+        super(Inventory, self).__init__(agent, *args,  is_blocking_light=False, can_be_shadowed=False,  **kwargs)
+        self.capacity = capacity
+
+    def as_array(self):
+        if self._array is None:
+            self._array = np.zeros((1, *self._shape))
+        return super(Inventory, self).as_array()
+
+    def summarize_states(self, **kwargs):
+        attr_dict = {key: str(val) for key, val in self.__dict__.items() if not key.startswith('_') and key != 'data'}
+        attr_dict.update(dict(items={key: val.summarize_state(**kwargs) for key, val in self.items()}))
+        attr_dict.update(dict(name=self.name))
+        return attr_dict
+
+    def pop(self):
+        item_to_pop = self[0]
+        self.delete_env_object(item_to_pop)
+        return item_to_pop
+
+
+class Inventories(ObjectCollection):
+
+    _accepted_objects = Inventory
+    is_blocking_light = False
+    can_be_shadowed = False
+
+    def __init__(self, obs_shape, *args, **kwargs):
+        super(Inventories, self).__init__(*args, is_per_agent=True, individual_slices=True, **kwargs)
+        self._obs_shape = obs_shape
+
+    def as_array(self):
+        return np.stack([inventory.as_array() for inv_idx, inventory in enumerate(self)])
+
+    def spawn_inventories(self, agents, capacity):
+        inventories = [self._accepted_objects(agent, capacity, self._obs_shape)
+                       for _, agent in enumerate(agents)]
+        self.add_additional_items(inventories)
+
+    def idx_by_entity(self, entity):
+        try:
+            return next((idx for idx, inv in enumerate(self) if inv.belongs_to_entity(entity)))
+        except StopIteration:
+            return None
+
+    def by_entity(self, entity):
+        try:
+            return next((inv for inv in self if inv.belongs_to_entity(entity)))
+        except StopIteration:
+            return None
+
+    def summarize_states(self, **kwargs):
+        return {key: val.summarize_states(**kwargs) for key, val in self.items()}
+
+
+class DropOffLocations(EntityCollection):
+
+    _accepted_objects = DropOffLocation

environments/factory/additional/item/item_entities.py

@@ -0,0 +1,61 @@
+from collections import deque
+
+from environments import helpers as h
+from environments.factory.additional.item.item_util import Constants
+from environments.factory.base.objects import Entity
+
+
+class Item(Entity):
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self._auto_despawn = -1
+
+    @property
+    def auto_despawn(self):
+        return self._auto_despawn
+
+    @property
+    def encoding(self):
+        # Edit this if you want items to be drawn in the ops differently
+        return 1
+
+    def set_auto_despawn(self, auto_despawn):
+        self._auto_despawn = auto_despawn
+
+    def set_tile_to(self, no_pos_tile):
+        self._tile = no_pos_tile
+
+    def summarize_state(self, **_) -> dict:
+        super_summarization = super(Item, self).summarize_state()
+        super_summarization.update(dict(auto_despawn=self.auto_despawn))
+        return super_summarization
+
+
+class DropOffLocation(Entity):
+
+    @property
+    def encoding(self):
+        return Constants.ITEM_DROP_OFF
+
+    def __init__(self, *args, storage_size_until_full: int = 5, auto_item_despawn_interval: int = 5, **kwargs):
+        super(DropOffLocation, self).__init__(*args, **kwargs)
+        self.auto_item_despawn_interval = auto_item_despawn_interval
+        self.storage = deque(maxlen=storage_size_until_full or None)
+
+    def place_item(self, item: Item):
+        if self.is_full:
+            raise RuntimeWarning("There is currently no way to clear the storage or make it unfull.")
+            return c.NOT_VALID
+        else:
+            self.storage.append(item)
+            item.set_auto_despawn(self.auto_item_despawn_interval)
+            return Constants.VALID
+
+    @property
+    def is_full(self):
+        return False if not self.storage.maxlen else self.storage.maxlen == len(self.storage)
+
+    def summarize_state(self, n_steps=None) -> dict:
+        if n_steps == h.STEPS_START:
+            return super().summarize_state(n_steps=n_steps)

environments/factory/additional/item/item_util.py

@@ -0,0 +1,31 @@
+from typing import NamedTuple
+
+from environments.helpers import Constants as BaseConstants, EnvActions as BaseActions
+
+
+class Constants(BaseConstants):
+    NO_ITEM = 0
+    ITEM_DROP_OFF = 1
+    # Item Env
+    ITEM                = 'Item'
+    INVENTORY           = 'Inventory'
+    DROP_OFF            = 'Drop_Off'
+
+
+class Actions(BaseActions):
+    ITEM_ACTION     = 'ITEMACTION'
+
+
+class RewardsItem(NamedTuple):
+    DROP_OFF_VALID: float = 0.1
+    DROP_OFF_FAIL: float = -0.1
+    PICK_UP_FAIL: float  = -0.1
+    PICK_UP_VALID: float  = 0.1
+
+
+class ItemProperties(NamedTuple):
+    n_items:                         int  = 5     # How many items are there at the same time
+    spawn_frequency:                 int  = 10     # Spawn Frequency in Steps
+    n_drop_off_locations:            int  = 5     # How many DropOff locations are there at the same time
+    max_dropoff_storage_size:        int  = 0     # How many items are needed until the dropoff is full
+    max_agent_inventory_capacity:    int  = 5     # How many items are needed until the agent inventory is full

environments/factory/base/base_factory.py

@@ -180,6 +180,7 @@ class BaseFactory(gym.Env):
                 self._entities.add_additional_items({c.DOORS: doors})
 
         # Actions
+        # TODO: Move this to Agent init, so that agents can have individual action sets.
         self._actions = Actions(self.mv_prop, can_use_doors=self.parse_doors)
         if additional_actions := self.actions_hook:
             self._actions.add_additional_items(additional_actions)
@@ -308,7 +309,8 @@ class BaseFactory(gym.Env):
             info.update(self._summarize_state())
 
         # Post step Hook for later use
-        info.update(self.post_step_hook())
+        for post_step_info in self.post_step_hook():
+            info.update(post_step_info)
 
         obs, _ = self._build_observations()
 
@@ -367,14 +369,16 @@ class BaseFactory(gym.Env):
                         agent_obs = global_agent_obs.copy()
                         agent_obs[(0, *agent.pos)] -= agent.encoding
                 else:
-                    agent_obs = global_agent_obs
+                    agent_obs = global_agent_obs.copy()
             else:
+                # agent_obs == None!!!!!
                 agent_obs = global_agent_obs
 
             # Build Level Observations
             if self.obs_prop.render_agents == a_obs.LEVEL:
+                assert agent_obs is not None
                 lvl_obs = lvl_obs.copy()
-                lvl_obs += global_agent_obs
+                lvl_obs += agent_obs
 
             obs_dict[c.WALLS] = lvl_obs
             if self.obs_prop.render_agents in [a_obs.SEPERATE, a_obs.COMBINED] and agent_obs is not None:
@@ -600,7 +604,9 @@ class BaseFactory(gym.Env):
             for reward in agent.step_result['rewards']:
                 combined_info_dict.update(reward['info'])
 
+        # Combine Info dicts into a global one
         combined_info_dict = dict(combined_info_dict)
+
         combined_info_dict.update(info)
 
         global_reward_sum = sum(global_env_rewards)
@@ -616,9 +622,11 @@ class BaseFactory(gym.Env):
 
     def start_recording(self):
         self._record_episodes = True
+        return self._record_episodes
 
     def stop_recording(self):
         self._record_episodes = False
+        return not self._record_episodes
 
     # noinspection PyGlobalUndefined
     def render(self, mode='human'):
@@ -719,12 +727,12 @@ class BaseFactory(gym.Env):
         return {}
 
     @abc.abstractmethod
-    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
-        return {}
+    def per_agent_reward_hook(self, agent: Agent) -> List[dict]:
+        return []
 
     @abc.abstractmethod
-    def post_step_hook(self) -> dict:
-        return {}
+    def post_step_hook(self) -> List[dict]:
+        return []
 
     @abc.abstractmethod
     def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:

environments/factory/base/objects.py

@@ -119,7 +119,6 @@ class Entity(EnvObject):
 
     def __repr__(self):
         return super(Entity, self).__repr__() + f'(@{self.pos})'
-# With Position in Env
 
 
 # TODO: Missing Documentation

environments/factory/base/registers.py

@@ -117,7 +117,7 @@ class EnvObjectCollection(ObjectCollection):
         return self._array
 
     def summarize_states(self, n_steps=None):
-        return [val.summarize_state(n_steps=n_steps) for val in self.values()]
+        return [entity.summarize_state(n_steps=n_steps) for entity in self.values()]
 
     def notify_change_to_free(self, env_object: EnvObject):
         self._array_change_notifyer(env_object, value=c.FREE_CELL)

environments/factory/factory_battery.py

@@ -1,273 +0,0 @@
-from typing import Union, NamedTuple, Dict, List
-
-import numpy as np
-
-from environments.factory.base.base_factory import BaseFactory
-from environments.factory.base.objects import Agent, Action, Entity, EnvObject, BoundingMixin
-from environments.factory.base.registers import EntityCollection, EnvObjectCollection
-from environments.factory.base.renderer import RenderEntity
-from environments.helpers import Constants as BaseConstants
-from environments.helpers import EnvActions as BaseActions
-
-from environments import helpers as h
-
-
-class Constants(BaseConstants):
-    # Battery Env
-    CHARGE_PODS          = 'Charge_Pod'
-    BATTERIES            = 'BATTERIES'
-    BATTERY_DISCHARGED   = 'DISCHARGED'
-    CHARGE_POD           = 1
-
-
-class Actions(BaseActions):
-    CHARGE              = 'do_charge_action'
-
-
-class RewardsBtry(NamedTuple):
-    CHARGE_VALID: float        = 0.1
-    CHARGE_FAIL: float         = -0.1
-    BATTERY_DISCHARGED: float  = -1.0
-
-
-class BatteryProperties(NamedTuple):
-    initial_charge: float = 0.8             #
-    charge_rate: float = 0.4                #
-    charge_locations: int = 20               #
-    per_action_costs: Union[dict, float] = 0.02
-    done_when_discharged = False
-    multi_charge: bool = False
-
-
-c = Constants
-a = Actions
-
-
-class Battery(BoundingMixin, EnvObject):
-
-    @property
-    def is_discharged(self):
-        return self.charge_level == 0
-
-    def __init__(self, initial_charge_level: float, *args, **kwargs):
-        super(Battery, self).__init__(*args, **kwargs)
-        self.charge_level = initial_charge_level
-
-    def encoding(self):
-        return self.charge_level
-
-    def do_charge_action(self, amount):
-        if self.charge_level < 1:
-            # noinspection PyTypeChecker
-            self.charge_level = min(1, amount + self.charge_level)
-            return c.VALID
-        else:
-            return c.NOT_VALID
-
-    def decharge(self, amount) -> c:
-        if self.charge_level != 0:
-            # noinspection PyTypeChecker
-            self.charge_level = max(0, amount + self.charge_level)
-            self._collection.notify_change_to_value(self)
-            return c.VALID
-        else:
-            return c.NOT_VALID
-
-    def summarize_state(self, **_):
-        attr_dict = {key: str(val) for key, val in self.__dict__.items() if not key.startswith('_') and key != 'data'}
-        attr_dict.update(dict(name=self.name))
-        return attr_dict
-
-
-class BatteriesRegister(EnvObjectCollection):
-
-    _accepted_objects = Battery
-
-    def __init__(self, *args, **kwargs):
-        super(BatteriesRegister, self).__init__(*args, individual_slices=True,
-                                                is_blocking_light=False, can_be_shadowed=False, **kwargs)
-        self.is_observable = True
-
-    def spawn_batteries(self, agents, initial_charge_level):
-        batteries = [self._accepted_objects(initial_charge_level, agent, self) for _, agent in enumerate(agents)]
-        self.add_additional_items(batteries)
-
-    def summarize_states(self, n_steps=None):
-        # as dict with additional nesting
-        # return dict(items=super(Inventories, cls).summarize_states())
-        return super(BatteriesRegister, self).summarize_states(n_steps=n_steps)
-
-    # Todo Move this to Mixin!
-    def by_entity(self, entity):
-        try:
-            return next((x for x in self if x.belongs_to_entity(entity)))
-        except StopIteration:
-            return None
-
-    def idx_by_entity(self, entity):
-        try:
-            return next((idx for idx, x in enumerate(self) if x.belongs_to_entity(entity)))
-        except StopIteration:
-            return None
-
-    def as_array_by_entity(self, entity):
-        return self._array[self.idx_by_entity(entity)]
-
-
-class ChargePod(Entity):
-
-    @property
-    def encoding(self):
-        return c.CHARGE_POD
-
-    def __init__(self, *args, charge_rate: float = 0.4,
-                 multi_charge: bool = False, **kwargs):
-        super(ChargePod, self).__init__(*args, **kwargs)
-        self.charge_rate = charge_rate
-        self.multi_charge = multi_charge
-
-    def charge_battery(self, battery: Battery):
-        if battery.charge_level == 1.0:
-            return c.NOT_VALID
-        if sum(guest for guest in self.tile.guests if 'agent' in guest.name.lower()) > 1:
-            return c.NOT_VALID
-        valid = battery.do_charge_action(self.charge_rate)
-        return valid
-
-    def summarize_state(self, n_steps=None) -> dict:
-        if n_steps == h.STEPS_START:
-            summary = super().summarize_state(n_steps=n_steps)
-            return summary
-
-
-class ChargePods(EntityCollection):
-
-    _accepted_objects = ChargePod
-
-    def __repr__(self):
-        super(ChargePods, self).__repr__()
-
-
-class BatteryFactory(BaseFactory):
-
-    def __init__(self, *args, btry_prop=BatteryProperties(), rewards_dest: RewardsBtry = RewardsBtry(),
-                 **kwargs):
-        if isinstance(btry_prop, dict):
-            btry_prop = BatteryProperties(**btry_prop)
-        if isinstance(rewards_dest, dict):
-            rewards_dest = BatteryProperties(**rewards_dest)
-        self.btry_prop = btry_prop
-        self.rewards_dest = rewards_dest
-        super().__init__(*args, **kwargs)
-
-    def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:
-        additional_raw_observations = super().per_agent_raw_observations_hook(agent)
-        additional_raw_observations.update({c.BATTERIES: self[c.BATTERIES].as_array_by_entity(agent)})
-        return additional_raw_observations
-
-    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
-        additional_observations = super().observations_hook()
-        additional_observations.update({c.CHARGE_PODS: self[c.CHARGE_PODS].as_array()})
-        return additional_observations
-
-    @property
-    def entities_hook(self):
-        super_entities = super().entities_hook
-
-        empty_tiles = self[c.FLOOR].empty_tiles[:self.btry_prop.charge_locations]
-        charge_pods = ChargePods.from_tiles(
-            empty_tiles, self._level_shape,
-            entity_kwargs=dict(charge_rate=self.btry_prop.charge_rate,
-                               multi_charge=self.btry_prop.multi_charge)
-        )
-
-        batteries = BatteriesRegister(self._level_shape if not self._pomdp_r else ((self.pomdp_diameter,) * 2),
-                                      )
-        batteries.spawn_batteries(self[c.AGENT], self.btry_prop.initial_charge)
-        super_entities.update({c.BATTERIES: batteries, c.CHARGE_PODS: charge_pods})
-        return super_entities
-
-    def step_hook(self) -> (List[dict], dict):
-        super_reward_info = super(BatteryFactory, self).step_hook()
-
-        # Decharge
-        batteries = self[c.BATTERIES]
-
-        for agent in self[c.AGENT]:
-            if isinstance(self.btry_prop.per_action_costs, dict):
-                energy_consumption = self.btry_prop.per_action_costs[agent.temp_action]
-            else:
-                energy_consumption = self.btry_prop.per_action_costs
-
-            batteries.by_entity(agent).decharge(energy_consumption)
-
-        return super_reward_info
-
-    def do_charge_action(self, agent) -> (dict, dict):
-        if charge_pod := self[c.CHARGE_PODS].by_pos(agent.pos):
-            valid = charge_pod.charge_battery(self[c.BATTERIES].by_entity(agent))
-            if valid:
-                info_dict = {f'{agent.name}_{a.CHARGE}_VALID': 1}
-                self.print(f'{agent.name} just charged batteries at {charge_pod.name}.')
-            else:
-                info_dict = {f'{agent.name}_{a.CHARGE}_FAIL': 1}
-                self.print(f'{agent.name} failed to charged batteries at {charge_pod.name}.')
-        else:
-            valid = c.NOT_VALID
-            info_dict = {f'{agent.name}_{a.CHARGE}_FAIL': 1}
-            # info_dict = {f'{agent.name}_no_charger': 1}
-            self.print(f'{agent.name} failed to charged batteries at {agent.pos}.')
-        reward = dict(value=self.rewards_dest.CHARGE_VALID if valid else self.rewards_dest.CHARGE_FAIL,
-                      reason=a.CHARGE, info=info_dict)
-        return valid, reward
-
-    def do_additional_actions(self, agent: Agent, action: Action) -> (bool, dict):
-        action_result = super().do_additional_actions(agent, action)
-        if action_result is None:
-            if action == a.CHARGE:
-                action_result = self.do_charge_action(agent)
-                return action_result
-            else:
-                return None
-        else:
-            return action_result
-        pass
-
-    def reset_hook(self) -> None:
-        # There is Nothing to reset.
-        pass
-
-    def check_additional_done(self) -> (bool, dict):
-        super_done, super_dict = super(BatteryFactory, self).check_additional_done()
-        if super_done:
-            return super_done, super_dict
-        else:
-            if self.btry_prop.done_when_discharged:
-                if btry_done := any(battery.is_discharged for battery in self[c.BATTERIES]):
-                    super_dict.update(DISCHARGE_DONE=1)
-                    return btry_done, super_dict
-                else:
-                    pass
-            else:
-                pass
-        pass
-
-    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
-        reward_event_dict = super(BatteryFactory, self).per_agent_reward_hook(agent)
-        if self[c.BATTERIES].by_entity(agent).is_discharged:
-            self.print(f'{agent.name} Battery is discharged!')
-            info_dict = {f'{agent.name}_{c.BATTERY_DISCHARGED}': 1}
-            reward_event_dict.update({c.BATTERY_DISCHARGED: {'reward': self.rewards_dest.BATTERY_DISCHARGED,
-                                                             'info': info_dict}}
-                                     )
-        else:
-            # All Fine
-            pass
-        return reward_event_dict
-
-    def render_assets_hook(self):
-        # noinspection PyUnresolvedReferences
-        additional_assets = super().render_assets_hook()
-        charge_pods = [RenderEntity(c.CHARGE_PODS, charge_pod.tile.pos) for charge_pod in self[c.CHARGE_PODS]]
-        additional_assets.extend(charge_pods)
-        return additional_assets

environments/factory/factory_dirt_stationary_machines.py

@@ -3,7 +3,9 @@ from typing import Dict, List, Union
 import numpy as np
 
 from environments.factory.base.objects import Agent, Entity, Action
-from environments.factory.factory_dirt import Dirt, DirtRegister, DirtFactory
+from environments.factory.factory_dirt import DirtFactory
+from environments.factory.additional.dirt.dirt_collections import DirtRegister
+from environments.factory.additional.dirt.dirt_entity import Dirt
 from environments.factory.base.objects import Floor
 from environments.factory.base.registers import Floors, Entities, EntityCollection
 
@@ -28,7 +30,6 @@ class StationaryMachinesDirtFactory(DirtFactory):
 
     def entities_hook(self) -> Dict[(str, Entities)]:
         super_entities = super().entities_hook()
-
         return super_entities
 
     def reset_hook(self) -> None:
@@ -48,8 +49,8 @@ class StationaryMachinesDirtFactory(DirtFactory):
         super_per_agent_raw_observations = super().per_agent_raw_observations_hook(agent)
         return super_per_agent_raw_observations
 
-    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
-        pass
+    def per_agent_reward_hook(self, agent: Agent) -> List[dict]:
+        return super(StationaryMachinesDirtFactory, self).per_agent_reward_hook(agent)
 
     def pre_step_hook(self) -> None:
         pass