Moved route caching to env level and removed print statements

marl_factory_grid/algorithms/static/TSP_base_agent.py

@@ -47,6 +47,46 @@ class TSPBaseAgent(ABC):
         """
         return 0
 
+    def calculate_tsp_route(self, target_identifier):
+        """
+        Calculate the TSP route to reach a target.
+
+        :param target_identifier: Identifier of the target entity
+        :type target_identifier: str
+
+        :return: TSP route
+        :rtype: List[int]
+        """
+        target_positions = [x for x in self._env.state[target_identifier].positions if x != c.VALUE_NO_POS]
+
+        # if there are cached routes, search for one matching the current and target position
+        if self._env.state.route_cache and (
+                route := self._env.state.get_cached_route(self.state.pos, target_positions)) is not None:
+            # print(f"Retrieved cached route: {route}")
+            return route
+        # if none are found, calculate tsp route and cache it
+        else:
+            start_time = time.time()
+            if self.local_optimization:
+                nodes = \
+                    [self.state.pos] + \
+                    [x for x in target_positions if max(abs(np.subtract(x, self.state.pos))) < 3]
+                try:
+                    while len(nodes) < 7:
+                        nodes += [next(x for x in target_positions if x not in nodes)]
+                except StopIteration:
+                    nodes = [self.state.pos] + target_positions
+
+            else:
+                nodes = [self.state.pos] + target_positions
+
+            route = tsp.traveling_salesman_problem(self._position_graph,
+                                                   nodes=nodes, cycle=True, method=tsp.greedy_tsp)
+            duration = time.time() - start_time
+            print("TSP calculation took {:.2f} seconds to execute".format(duration))
+            self._env.state.cache_route(route)
+            return route
+
     def _use_door_or_move(self, door, target):
         """
         Helper method to decide whether to use a door or move towards a target.
@@ -65,47 +105,6 @@ class TSPBaseAgent(ABC):
             action = self._predict_move(target)
         return action
 
-    def calculate_tsp_route(self, target_identifier):
-        """
-        Calculate the TSP route to reach a target.
-
-        :param target_identifier: Identifier of the target entity
-        :type target_identifier: str
-
-        :return: TSP route
-        :rtype: List[int]
-        """
-        start_time = time.time()
-
-        if self.cached_route is not None:
-            print(f" Used cached route: {self.cached_route}")
-            return copy.deepcopy(self.cached_route)
-
-        else:
-            positions = [x for x in self._env.state[target_identifier].positions if x != c.VALUE_NO_POS]
-            if self.local_optimization:
-                nodes = \
-                    [self.state.pos] + \
-                    [x for x in positions if max(abs(np.subtract(x, self.state.pos))) < 3]
-                try:
-                    while len(nodes) < 7:
-                        nodes += [next(x for x in positions if x not in nodes)]
-                except StopIteration:
-                    nodes = [self.state.pos] + positions
-
-            else:
-                nodes = [self.state.pos] + positions
-
-            route = tsp.traveling_salesman_problem(self._position_graph,
-                                                   nodes=nodes, cycle=True, method=tsp.greedy_tsp)
-            self.cached_route = copy.deepcopy(route)
-            print(f"Cached route: {self.cached_route}")
-
-        end_time = time.time()
-        duration = end_time - start_time
-        print("TSP calculation took {:.2f} seconds to execute".format(duration))
-        return route
-
     def _door_is_close(self, state):
         """
         Check if a door is close to the agent's position.

marl_factory_grid/utils/renderer.py

@@ -68,10 +68,10 @@ class Renderer:
         self.assets = {path.stem: self.load_asset(str(path), factor) for path in assets}
         self.fill_bg()
 
-        now = time.time()
+        # now = time.time()
         self.font = pygame.font.Font(None, 20)
         self.font.set_bold(True)
-        print('Loading System font with pygame.font.Font took', time.time() - now)
+        # print('Loading System font with pygame.font.Font took', time.time() - now)
 
     def fill_bg(self):
         """

marl_factory_grid/utils/states.py

@@ -1,3 +1,4 @@
+import copy
 from itertools import islice
 from typing import List, Tuple
 
@@ -116,6 +117,7 @@ class Gamestate(object):
         self.rng = np.random.default_rng(env_seed)
         self.rules = StepRules(*rules)
         self._floortile_graph = None
+        self.route_cache = []
         self.tests = StepTests(*tests)
 
     def reset(self):
@@ -316,6 +318,42 @@ class Gamestate(object):
     #         json_file.seek(0)
     #         json.dump(existing_content, json_file, indent=4)
 
+    def cache_route(self, route):
+        """
+        Save routes in env-level cache so agents can access it.
+
+        :param route: The route to be saved
+        """
+        self.route_cache.append(copy.deepcopy(route))
+        # print(f"Cached route: {route}")
+
+    def get_cached_route(self, current_pos, target_positions, route_cutting=False):
+        """
+        Use a cached route if it includes the current position and a target
+
+        :param current_pos: The agent's current position and thus the first position of possibly cached routes
+        :param target_positions: The positions of targets the agent wants to visit
+        :param route_cutting: if true, cuts found routes to end at target. False allows target agents to loop.
+
+        :returns: A cached route from the agent's position to the first target if it exists
+        """
+        if not self.route_cache:
+            return None
+
+        for route in self.route_cache:
+            if current_pos in route:
+                targets = [target for target in target_positions if target in route]
+                if targets:
+                    first_target = targets[0]
+                    index_start = route.index(current_pos)
+
+                    if route_cutting:
+                        index_end = route.index(first_target) + 1
+                        return copy.deepcopy(route[index_start:index_end])
+                    else:
+                        return copy.deepcopy(route[index_start:])
+        return None
+
 
 class StepTests:
     def __init__(self, *args):

test_run.py

@@ -12,7 +12,7 @@ if __name__ == '__main__':
     render = True
 
     # Path to config File
-    path = Path('marl_factory_grid/configs/simple_crossing.yaml')
+    path = Path('marl_factory_grid/configs/test_config.yaml')
 
     # Env Init
     factory = Factory(path)
@@ -23,8 +23,9 @@ if __name__ == '__main__':
         if render:
             factory.render()
         action_spaces = factory.action_space
-        # agents = [TSPDirtAgent(factory, 0), TSPItemAgent(factory, 1), TSPTargetAgent(factory, 2)]
-        agents = [TSPTargetAgent(factory, 0), TSPTargetAgent(factory, 1)]
+        agents = [TSPDirtAgent(factory, 0), TSPItemAgent(factory, 1), TSPTargetAgent(factory, 2)]
+        # agents = [TSPTargetAgent(factory, 0), TSPTargetAgent(factory, 1)]
+        # agents = [TSPTargetAgent(factory, 0)]
         while not done:
             a = [x.predict() for x in agents]
             obs_type, _, _, done, info = factory.step(a)