Door Area Indicators

environments/factory/base/base_factory.py

@@ -68,6 +68,7 @@ class BaseFactory(gym.Env):
     @property
     def params(self) -> dict:
         d = {key: val for key, val in self.__dict__.items() if not key.startswith('_') and not key.startswith('__')}
+        d['class_name'] = self.__class__.__name__
         return d
 
     def __enter__(self):
@@ -83,7 +84,10 @@ class BaseFactory(gym.Env):
                  rewards_base: RewardsBase = RewardsBase(),
                  parse_doors=False, done_at_collision=False, inject_agents: Union[None, List] = None,
                  verbose=False, doors_have_area=True, env_seed=time.time_ns(), individual_rewards=False,
-                 **kwargs):
+                 class_name='', **kwargs):
+
+        if class_name:
+            print(f'You loaded parameters for {class_name}', f'this is: {self.__class__.__name__}')
 
         if isinstance(mv_prop, dict):
             mv_prop = MovementProperties(**mv_prop)
@@ -167,7 +171,7 @@ class BaseFactory(gym.Env):
             parsed_doors = np.pad(parsed_doors, self.obs_prop.pomdp_r, 'constant', constant_values=0)
             if np.any(parsed_doors):
                 door_tiles = [floor.by_pos(tuple(pos)) for pos in np.argwhere(parsed_doors == c.OCCUPIED_CELL)]
-                doors = Doors.from_tiles(door_tiles, self._level_shape,
+                doors = Doors.from_tiles(door_tiles, self._level_shape, have_area=self.doors_have_area,
                                          entity_kwargs=dict(context=floor)
                                          )
                 self._entities.register_additional_items({c.DOORS: doors})

environments/factory/base/objects.py

@@ -311,7 +311,7 @@ class Door(Entity):
     @property
     def encoding(self):
         # This is important as it shadow is checked by occupation value
-        return c.OCCUPIED_CELL if self.is_closed else 0.5
+        return c.CLOSED_DOOR_CELL if self.is_closed else c.OPEN_DOOR_CELL
 
     @property
     def str_state(self):

environments/factory/base/registers.py

@@ -460,7 +460,9 @@ class Agents(MovingEntityObjectRegister):
 
 class Doors(EntityRegister):
 
-    def __init__(self, *args, **kwargs):
+    def __init__(self, *args, have_area: bool = False, **kwargs):
+        self.have_area = have_area
+        self._area_marked = False
         super(Doors, self).__init__(*args, is_blocking_light=True, can_collide=True, **kwargs)
 
     _accepted_objects = Door
@@ -475,6 +477,18 @@ class Doors(EntityRegister):
         for door in self:
             door.tick()
 
+    def as_array(self):
+        if self.have_area and not self._area_marked:
+            for door in self:
+                for pos in door.access_area:
+                    if self._individual_slices:
+                        pass
+                    else:
+                        pos = (0, *pos)
+                    self._lazy_eval_transforms.append((pos, c.ACCESS_DOOR_CELL))
+            self._area_marked = True
+        return super(Doors, self).as_array()
+
 
 class Actions(ObjectRegister):
     _accepted_objects = Action

environments/factory/factory_battery.py

@@ -155,7 +155,7 @@ class BatteryFactory(BaseFactory):
         if isinstance(btry_prop, dict):
             btry_prop = BatteryProperties(**btry_prop)
         if isinstance(rewards_dest, dict):
-            rewards_dest = RewardsBtry(**rewards_dest)
+            rewards_dest = BatteryProperties(**rewards_dest)
         self.btry_prop = btry_prop
         self.rewards_dest = rewards_dest
         super().__init__(*args, **kwargs)

environments/factory/factory_dirt.py

@@ -1,4 +1,5 @@
 import time
+from pathlib import Path
 from typing import List, Union, NamedTuple, Dict
 import random
 
@@ -284,7 +285,8 @@ if __name__ == '__main__':
     )
 
     obs_props = ObservationProperties(render_agents=aro.COMBINED, omit_agent_self=True,
-                                      pomdp_r=2, additional_agent_placeholder=None, cast_shadows=True)
+                                      pomdp_r=2, additional_agent_placeholder=None, cast_shadows=True,
+                                      indicate_door_area=True)
 
     move_props = {'allow_square_movement': True,
                   'allow_diagonal_movement': False,
@@ -295,13 +297,15 @@ if __name__ == '__main__':
 
         factory = DirtFactory(n_agents=10, done_at_collision=False,
                               level_name='rooms', max_steps=1000,
-                              doors_have_area=False,
+                              doors_have_area=True,
                               obs_prop=obs_props, parse_doors=True,
                               verbose=True,
                               mv_prop=move_props, dirt_prop=dirt_props,
                               # inject_agents=[TSPDirtAgent],
                               )
 
+        factory.save_params(Path('rewards_param'))
+
         # noinspection DuplicatedCode
         n_actions = factory.action_space.n - 1
         _ = factory.observation_space

environments/helpers.py

@@ -31,11 +31,15 @@ class Constants:
     FREE_CELL           = 0
     OCCUPIED_CELL       = 1
     SHADOWED_CELL       = -1
+    ACCESS_DOOR_CELL    = 1/3
+    OPEN_DOOR_CELL      = 2/3
+    CLOSED_DOOR_CELL    = 3/3
     NO_POS              = (-9999, -9999)
 
     DOORS               = 'Doors'
     CLOSED_DOOR         = 'closed'
     OPEN_DOOR           = 'open'
+    ACCESS_DOOR         = 'access'
 
     ACTION              = 'action'
     COLLISION          = 'collision'
@@ -87,7 +91,6 @@ class RewardsBase(NamedTuple):
 
 m = EnvActions
 c = Constants
-r = RewardsBase
 
 ACTIONMAP = defaultdict(lambda: (0, 0),
                         {m.NORTH: (-1, 0), m.NORTHEAST: (-1, 1),

environments/utility_classes.py

@@ -23,6 +23,7 @@ class ObservationProperties(NamedTuple):
     cast_shadows: bool = True
     frames_to_stack: int = 0
     pomdp_r: int = 0
+    indicate_door_area: bool = True
     show_global_position_info: bool = False
 
 
@@ -34,4 +35,3 @@ class MarlFrameStack(gym.ObservationWrapper):
         if isinstance(self.env, FrameStack) and self.env.unwrapped.n_agents > 1:
             return observation[0:].swapaxes(0, 1)
         return observation
-