556 lines
20 KiB
Python
556 lines
20 KiB
Python
import numbers
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import random
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from abc import ABC
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from typing import List, Union, Dict, Tuple
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import numpy as np
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import six
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from environments.factory.base.objects import Entity, Floor, Agent, Door, Action, Wall, PlaceHolder, GlobalPosition, \
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Object, EnvObject
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from environments.utility_classes import MovementProperties
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from environments import helpers as h
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from environments.helpers import Constants as c
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##########################################################################
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# ################## Base Collections Definition ####################### #
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##########################################################################
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class ObjectCollection:
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_accepted_objects = Object
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@property
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def name(self):
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return f'{self.__class__.__name__}'
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def __init__(self, *args, **kwargs):
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self._collection = dict()
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def __len__(self):
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return len(self._collection)
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def __iter__(self):
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return iter(self.values())
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def add_item(self, other: _accepted_objects):
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assert isinstance(other, self._accepted_objects), f'All item names have to be of type ' \
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f'{self._accepted_objects}, ' \
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f'but were {other.__class__}.,'
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self._collection.update({other.name: other})
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return self
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def add_additional_items(self, others: List[_accepted_objects]):
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for other in others:
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self.add_item(other)
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return self
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def keys(self):
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return self._collection.keys()
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def values(self):
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return self._collection.values()
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def items(self):
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return self._collection.items()
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def _get_index(self, item):
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try:
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return next(i for i, v in enumerate(self._collection.values()) if v == item)
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except StopIteration:
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return None
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def __getitem__(self, item):
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if isinstance(item, (int, np.int64, np.int32)):
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if item < 0:
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item = len(self._collection) - abs(item)
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try:
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return next(v for i, v in enumerate(self._collection.values()) if i == item)
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except StopIteration:
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return None
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try:
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return self._collection[item]
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except KeyError:
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return None
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def __repr__(self):
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return f'{self.__class__.__name__}[{self._collection}]'
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class EnvObjectCollection(ObjectCollection):
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_accepted_objects = EnvObject
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@property
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def encodings(self):
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return [x.encoding for x in self]
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def __init__(self, obs_shape: (int, int), *args,
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individual_slices: bool = False,
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is_blocking_light: bool = False,
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can_collide: bool = False,
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can_be_shadowed: bool = True, **kwargs):
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super(EnvObjectCollection, self).__init__(*args, **kwargs)
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self._shape = obs_shape
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self._array = None
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self._individual_slices = individual_slices
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self._lazy_eval_transforms = []
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self.is_blocking_light = is_blocking_light
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self.can_be_shadowed = can_be_shadowed
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self.can_collide = can_collide
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def add_item(self, other: EnvObject):
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super(EnvObjectCollection, self).add_item(other)
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if self._array is None:
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self._array = np.zeros((1, *self._shape))
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else:
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if self._individual_slices:
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self._array = np.vstack((self._array, np.zeros((1, *self._shape))))
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self.notify_change_to_value(other)
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def as_array(self):
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if self._lazy_eval_transforms:
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idxs, values = zip(*self._lazy_eval_transforms)
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# nuumpy put repects the ordering so that
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np.put(self._array, idxs, values)
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self._lazy_eval_transforms = []
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return self._array
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def summarize_states(self, n_steps=None):
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return [val.summarize_state(n_steps=n_steps) for val in self.values()]
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def notify_change_to_free(self, env_object: EnvObject):
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self._array_change_notifyer(env_object, value=c.FREE_CELL)
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def notify_change_to_value(self, env_object: EnvObject):
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self._array_change_notifyer(env_object)
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def _array_change_notifyer(self, env_object: EnvObject, value=None):
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pos = self._get_index(env_object)
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value = value if value is not None else env_object.encoding
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self._lazy_eval_transforms.append((pos, value))
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if self._individual_slices:
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idx = (self._get_index(env_object) * np.prod(self._shape[1:]), value)
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self._lazy_eval_transforms.append((idx, value))
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else:
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self._lazy_eval_transforms.append((pos, value))
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def _refresh_arrays(self):
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poss, values = zip(*[(idx, x.encoding) for idx,x in enumerate(self.values())])
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for pos, value in zip(poss, values):
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self._lazy_eval_transforms.append((pos, value))
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def __delitem__(self, name):
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idx, obj = next((i, obj) for i, obj in enumerate(self) if obj.name == name)
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if self._individual_slices:
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self._array = np.delete(self._array, idx, axis=0)
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else:
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self.notify_change_to_free(self._collection[name])
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# Dirty Hack to check if not beeing subclassed. In that case we need to refresh the array since positions
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# in the observation array are result of enumeration. They can overide each other.
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# Todo: Find a better solution
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if not issubclass(self.__class__, EntityCollection) and issubclass(self.__class__, EnvObjectCollection):
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self._refresh_arrays()
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del self._collection[name]
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def delete_env_object(self, env_object: EnvObject):
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del self[env_object.name]
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def delete_env_object_by_name(self, name):
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del self[name]
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class EntityCollection(EnvObjectCollection, ABC):
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_accepted_objects = Entity
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@classmethod
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def from_tiles(cls, tiles, *args, entity_kwargs=None, **kwargs):
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# objects_name = cls._accepted_objects.__name__
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collection = cls(*args, **kwargs)
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entities = [cls._accepted_objects(tile, collection, str_ident=i,
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**entity_kwargs if entity_kwargs is not None else {})
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for i, tile in enumerate(tiles)]
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collection.add_additional_items(entities)
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return collection
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@classmethod
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def from_argwhere_coordinates(cls, positions: [(int, int)], tiles, *args, entity_kwargs=None, **kwargs, ):
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return cls.from_tiles([tiles.by_pos(position) for position in positions], *args, entity_kwargs=entity_kwargs,
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**kwargs)
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@property
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def positions(self):
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return [x.pos for x in self]
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@property
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def tiles(self):
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return [entity.tile for entity in self]
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def __init__(self, level_shape, *args, **kwargs):
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super(EntityCollection, self).__init__(level_shape, *args, **kwargs)
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self._lazy_eval_transforms = []
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def __delitem__(self, name):
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idx, obj = next((i, obj) for i, obj in enumerate(self) if obj.name == name)
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obj.tile.leave(obj)
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super(EntityCollection, self).__delitem__(name)
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def as_array(self):
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if self._lazy_eval_transforms:
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idxs, values = zip(*self._lazy_eval_transforms)
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# numpy put repects the ordering so that
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# Todo: Export the index building in a seperate function
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np.put(self._array, [np.ravel_multi_index(idx, self._array.shape) for idx in idxs], values)
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self._lazy_eval_transforms = []
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return self._array
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def _array_change_notifyer(self, entity, pos=None, value=None):
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# Todo: Export the contruction in a seperate function
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pos = pos if pos is not None else entity.pos
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value = value if value is not None else entity.encoding
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x, y = pos
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if self._individual_slices:
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idx = (self._get_index(entity), x, y)
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else:
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idx = (0, x, y)
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self._lazy_eval_transforms.append((idx, value))
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def by_pos(self, pos: Tuple[int, int]):
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try:
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return next(item for item in self if item.pos == tuple(pos))
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except StopIteration:
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return None
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class BoundEnvObjCollection(EnvObjectCollection, ABC):
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def __init__(self, entity_to_be_bound, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self._bound_entity = entity_to_be_bound
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def belongs_to_entity(self, entity):
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return self._bound_entity == entity
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def by_entity(self, entity):
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try:
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return next((x for x in self if x.belongs_to_entity(entity)))
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except StopIteration:
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return None
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def idx_by_entity(self, entity):
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try:
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return next((idx for idx, x in enumerate(self) if x.belongs_to_entity(entity)))
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except StopIteration:
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return None
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def as_array_by_entity(self, entity):
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return self._array[self.idx_by_entity(entity)]
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class MovingEntityObjectCollection(EntityCollection, ABC):
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def __init__(self, *args, **kwargs):
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super(MovingEntityObjectCollection, self).__init__(*args, **kwargs)
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def notify_change_to_value(self, entity):
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super(MovingEntityObjectCollection, self).notify_change_to_value(entity)
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if entity.last_pos != c.NO_POS:
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try:
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self._array_change_notifyer(entity, entity.last_pos, value=c.FREE_CELL)
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except AttributeError:
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pass
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##########################################################################
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# ################# Objects and Entity Collection ###################### #
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##########################################################################
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class GlobalPositions(EnvObjectCollection):
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_accepted_objects = GlobalPosition
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def __init__(self, *args, **kwargs):
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super(GlobalPositions, self).__init__(*args, is_per_agent=True, individual_slices=True, is_blocking_light = False,
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can_be_shadowed = False, can_collide = False, **kwargs)
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def as_array(self):
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# FIXME DEBUG!!! make this lazy?
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return np.stack([gp.as_array() for inv_idx, gp in enumerate(self)])
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def as_array_by_entity(self, entity):
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# FIXME DEBUG!!! make this lazy?
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return np.stack([gp.as_array() for inv_idx, gp in enumerate(self)])
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def spawn_global_position_objects(self, agents):
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# Todo, change to 'from xy'-form
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global_positions = [self._accepted_objects(self._shape, agent, self)
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for _, agent in enumerate(agents)]
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# noinspection PyTypeChecker
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self.add_additional_items(global_positions)
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def summarize_states(self, n_steps=None):
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return {}
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def idx_by_entity(self, entity):
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try:
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return next((idx for idx, inv in enumerate(self) if inv.belongs_to_entity(entity)))
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except StopIteration:
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return None
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def by_entity(self, entity):
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try:
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return next((inv for inv in self if inv.belongs_to_entity(entity)))
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except StopIteration:
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return None
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class PlaceHolders(EnvObjectCollection):
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_accepted_objects = PlaceHolder
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def __init__(self, *args, **kwargs):
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assert 'individual_slices' not in kwargs, 'Keyword - "individual_slices": "True" and must not be altered'
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kwargs.update(individual_slices=False)
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super().__init__(*args, **kwargs)
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@classmethod
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def from_values(cls, values: Union[str, numbers.Number, List[Union[str, numbers.Number]]],
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*args, object_kwargs=None, **kwargs):
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# objects_name = cls._accepted_objects.__name__
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if isinstance(values, (str, numbers.Number)):
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values = [values]
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collection = cls(*args, **kwargs)
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objects = [cls._accepted_objects(collection, str_ident=i, fill_value=value,
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**object_kwargs if object_kwargs is not None else {})
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for i, value in enumerate(values)]
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collection.add_additional_items(objects)
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return collection
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# noinspection DuplicatedCode
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def as_array(self):
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for idx, placeholder in enumerate(self):
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if isinstance(placeholder.encoding, numbers.Number):
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self._array[idx][:] = placeholder.fill_value
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elif isinstance(placeholder.fill_value, str):
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if placeholder.fill_value.lower() in ['normal', 'n']:
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self._array[:] = np.random.normal(size=self._array.shape)
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else:
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raise ValueError('Choose one of: ["normal", "N"]')
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else:
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raise TypeError('Objects of type "str" or "number" is required here.')
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return self._array
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class Entities(ObjectCollection):
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_accepted_objects = EntityCollection
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@property
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def arrays(self):
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return {key: val.as_array() for key, val in self.items()}
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@property
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def names(self):
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return list(self._collection.keys())
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def __init__(self):
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super(Entities, self).__init__()
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def iter_individual_entitites(self):
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return iter((x for sublist in self.values() for x in sublist))
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def add_item(self, other: dict):
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assert not any([key for key in other.keys() if key in self.keys()]), \
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"This group of entities has already been added!"
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self._collection.update(other)
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return self
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def add_additional_items(self, others: Dict):
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return self.add_item(others)
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def by_pos(self, pos: (int, int)):
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found_entities = [y for y in (x.by_pos(pos) for x in self.values() if hasattr(x, 'by_pos')) if y is not None]
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return found_entities
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class Walls(EntityCollection):
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_accepted_objects = Wall
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def as_array(self):
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if not np.any(self._array):
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# Which is Faster?
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# indices = [x.pos for x in cls]
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# np.put(cls._array, [np.ravel_multi_index((0, *x), cls._array.shape) for x in indices], cls.encodings)
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x, y = zip(*[x.pos for x in self])
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self._array[0, x, y] = self._value
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return self._array
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def __init__(self, *args, is_blocking_light=True, **kwargs):
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super(Walls, self).__init__(*args, individual_slices=False,
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can_collide=True,
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is_blocking_light=is_blocking_light, **kwargs)
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self._value = c.OCCUPIED_CELL
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@classmethod
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def from_argwhere_coordinates(cls, argwhere_coordinates, *args, **kwargs):
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tiles = cls(*args, **kwargs)
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# noinspection PyTypeChecker
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tiles.add_additional_items(
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[cls._accepted_objects(pos, tiles)
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for pos in argwhere_coordinates]
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)
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return tiles
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@classmethod
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def from_tiles(cls, tiles, *args, **kwargs):
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raise RuntimeError()
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def summarize_states(self, n_steps=None):
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if n_steps == h.STEPS_START:
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return super(Walls, self).summarize_states(n_steps=n_steps)
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else:
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return {}
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class Floors(Walls):
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_accepted_objects = Floor
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def __init__(self, *args, is_blocking_light=False, **kwargs):
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super(Floors, self).__init__(*args, is_blocking_light=is_blocking_light, **kwargs)
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self._value = c.FREE_CELL
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@property
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def occupied_tiles(self):
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tiles = [tile for tile in self if tile.is_occupied()]
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random.shuffle(tiles)
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return tiles
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@property
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def empty_tiles(self) -> List[Floor]:
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tiles = [tile for tile in self if tile.is_empty()]
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random.shuffle(tiles)
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return tiles
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@classmethod
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def from_tiles(cls, tiles, *args, **kwargs):
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raise RuntimeError()
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def summarize_states(self, n_steps=None):
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# Do not summarize
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return {}
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class Agents(MovingEntityObjectCollection):
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_accepted_objects = Agent
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def __init__(self, *args, **kwargs):
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super().__init__(*args, can_collide=True, **kwargs)
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@property
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def positions(self):
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return [agent.pos for agent in self]
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def replace_agent(self, key, agent):
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old_agent = self[key]
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self[key].tile.leave(self[key])
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agent._name = old_agent.name
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self._collection[agent.name] = agent
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class Doors(EntityCollection):
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def __init__(self, *args, have_area: bool = False, **kwargs):
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self.have_area = have_area
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self._area_marked = False
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super(Doors, self).__init__(*args, is_blocking_light=True, can_collide=True, **kwargs)
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_accepted_objects = Door
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def get_near_position(self, position: (int, int)) -> Union[None, Door]:
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try:
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return next(door for door in self if position in door.access_area)
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except StopIteration:
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return None
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def tick_doors(self):
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for door in self:
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door.tick()
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def as_array(self):
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if self.have_area and not self._area_marked:
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for door in self:
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for pos in door.access_area:
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if self._individual_slices:
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pass
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else:
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pos = (0, *pos)
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self._lazy_eval_transforms.append((pos, c.ACCESS_DOOR_CELL))
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self._area_marked = True
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return super(Doors, self).as_array()
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class Actions(ObjectCollection):
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_accepted_objects = Action
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@property
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def movement_actions(self):
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return self._movement_actions
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# noinspection PyTypeChecker
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def __init__(self, movement_properties: MovementProperties, can_use_doors=False):
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self.allow_no_op = movement_properties.allow_no_op
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self.allow_diagonal_movement = movement_properties.allow_diagonal_movement
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self.allow_square_movement = movement_properties.allow_square_movement
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self.can_use_doors = can_use_doors
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super(Actions, self).__init__()
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# Move this to Baseclass, Env init?
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if self.allow_square_movement:
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self.add_additional_items([self._accepted_objects(str_ident=direction)
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for direction in h.EnvActions.square_move()])
|
|
if self.allow_diagonal_movement:
|
|
self.add_additional_items([self._accepted_objects(str_ident=direction)
|
|
for direction in h.EnvActions.diagonal_move()])
|
|
self._movement_actions = self._collection.copy()
|
|
if self.can_use_doors:
|
|
self.add_additional_items([self._accepted_objects(str_ident=h.EnvActions.USE_DOOR)])
|
|
if self.allow_no_op:
|
|
self.add_additional_items([self._accepted_objects(str_ident=h.EnvActions.NOOP)])
|
|
|
|
def is_moving_action(self, action: Union[int]):
|
|
return action in self.movement_actions.values()
|
|
|
|
|
|
class Zones(ObjectCollection):
|
|
|
|
@property
|
|
def accounting_zones(self):
|
|
return [self[idx] for idx, name in self.items() if name != c.DANGER_ZONE]
|
|
|
|
def __init__(self, parsed_level):
|
|
raise NotImplementedError('This needs a Rework')
|
|
super(Zones, self).__init__()
|
|
slices = list()
|
|
self._accounting_zones = list()
|
|
self._danger_zones = list()
|
|
for symbol in np.unique(parsed_level):
|
|
if symbol == c.WALL:
|
|
continue
|
|
elif symbol == c.DANGER_ZONE:
|
|
self + symbol
|
|
slices.append(h.one_hot_level(parsed_level, symbol))
|
|
self._danger_zones.append(symbol)
|
|
else:
|
|
self + symbol
|
|
slices.append(h.one_hot_level(parsed_level, symbol))
|
|
self._accounting_zones.append(symbol)
|
|
|
|
self._zone_slices = np.stack(slices)
|
|
|
|
def __getitem__(self, item):
|
|
return self._zone_slices[item]
|
|
|
|
def add_additional_items(self, other: Union[str, List[str]]):
|
|
raise AttributeError('You are not allowed to add additional Zones in runtime.')
|