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no more tiles no more floor

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Steffen Illium
2023-10-20 14:36:23 +02:00
parent 8709b093b8
commit 7a1d3f84f1
41 changed files with 265 additions and 217 deletions
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marl_factory_grid/utils/observation_builder.py
+48 -30
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@@ -9,6 +9,7 @@ from numba import njit
from marl_factory_grid.environment import constants as c
from marl_factory_grid.environment.groups.utils import Combined
from marl_factory_grid.utils.states import Gamestate
from marl_factory_grid.utils.utility_classes import Floor
class OBSBuilder(object):
@@ -39,6 +40,7 @@ class OBSBuilder(object):
self.reset_struc_obs_block(state)
self.curr_lightmaps = dict()
self._floortiles = defaultdict(list, {pos: [Floor(*pos)] for pos in state.entities.floorlist})
def reset_struc_obs_block(self, state):
self._curr_env_step = state.curr_step
@@ -82,19 +84,23 @@ class OBSBuilder(object):
self._sort_and_name_observation_conf(agent)
agent_want_obs = self.obs_layers[agent.name]
# Handle in-grid observations aka visible observations
visible_entitites = self.ray_caster[agent.name].visible_entities(state.entities)
pre_sort_obs = defaultdict(lambda: np.zeros((self.pomdp_d, self.pomdp_d)))
for e in set(visible_entitites):
x, y = (e.x - agent.x) + self.pomdp_r, (e.y - agent.y) + self.pomdp_r
try:
pre_sort_obs[e.obs_tag][x, y] += e.encoding
except IndexError:
# Seemded to be visible but is out or range
pass
# Handle in-grid observations aka visible observations (Things on the map, with pos)
visible_entitites = self.ray_caster[agent.name].visible_entities(state.entities.pos_dict)
pre_sort_obs = defaultdict(lambda: np.zeros(self.obs_shape))
if self.pomdp_r:
for e in set(visible_entitites):
x, y = (e.x - agent.x) + self.pomdp_r, (e.y - agent.y) + self.pomdp_r
try:
pre_sort_obs[e.obs_tag][x, y] += e.encoding
except IndexError:
# Seemded to be visible but is out or range
pass
else:
for e in set(visible_entitites):
pre_sort_obs[e.obs_tag][e.x, e.y] += e.encoding
pre_sort_obs = dict(pre_sort_obs)
obs = np.zeros((len(agent_want_obs), self.pomdp_d, self.pomdp_d))
obs = np.zeros((len(agent_want_obs), self.obs_shape[0], self.obs_shape[1]))
for idx, l_name in enumerate(agent_want_obs):
try:
@@ -144,13 +150,26 @@ class OBSBuilder(object):
raise ValueError(f'Max(obs.size) for {e.name}: {obs[idx].size}, but was: {len(v)}.')
try:
self.curr_lightmaps[agent.name] = pre_sort_obs[c.FLOORS].astype(bool)
light_map = np.zeros(self.obs_shape)
visible_floor = set(self.ray_caster[agent.name].visible_entities(self._floortiles, reset_cache=False))
if self.pomdp_r:
coords = [((f.x - agent.x) + self.pomdp_r, (f.y - agent.y) + self.pomdp_r) for f in visible_floor]
else:
coords = [x.pos for x in visible_floor]
np.put(light_map, np.ravel_multi_index(np.asarray(coords).T, light_map.shape), 1)
self.curr_lightmaps[agent.name] = light_map
except KeyError:
print()
return obs, self.obs_layers[agent.name]
def _sort_and_name_observation_conf(self, agent):
self.ray_caster[agent.name] = RayCaster(agent, self.pomdp_r)
'''
Builds the useable observation scheme per agent from conf.yaml.
:param agent:
:return:
'''
# Fixme: no asymetric shapes possible.
self.ray_caster[agent.name] = RayCaster(agent, min(self.obs_shape))
obs_layers = []
for obs_str in agent.observations:
@@ -173,7 +192,7 @@ class OBSBuilder(object):
names.extend([x.name for x in agent.collection if x.name != agent.name])
else:
names.append(val)
combined = Combined(names, self.pomdp_r, identifier=agent.name)
combined = Combined(names, self.size, identifier=agent.name)
self.all_obs[combined.name] = combined
obs_layers.append(combined.name)
elif obs_str == c.OTHERS:
@@ -183,19 +202,18 @@ class OBSBuilder(object):
else:
obs_layers.append(obs_str)
self.obs_layers[agent.name] = obs_layers
self.curr_lightmaps[agent.name] = np.zeros((self.pomdp_d or self.level_shape[0],
self.pomdp_d or self.level_shape[1]
))
self.curr_lightmaps[agent.name] = np.zeros(self.obs_shape)
class RayCaster:
def __init__(self, agent, pomdp_r, degs=360):
self.agent = agent
self.pomdp_r = pomdp_r
self.n_rays = 100 # (self.pomdp_r + 1) * 8
self.n_rays = (self.pomdp_r + 1) * 8
self.degs = degs
self.ray_targets = self.build_ray_targets()
self.obs_shape_cube = np.array([self.pomdp_r, self.pomdp_r])
self._cache_dict = {}
def __repr__(self):
return f'{self.__class__.__name__}({self.agent.name})'
@@ -211,30 +229,30 @@ class RayCaster:
rot_M = np.unique(np.round(rot_M @ north), axis=0)
return rot_M.astype(int)
def ray_block_cache(self, cache_dict, key, callback):
if key not in cache_dict:
cache_dict[key] = callback()
return cache_dict[key]
def ray_block_cache(self, key, callback):
if key not in self._cache_dict:
self._cache_dict[key] = callback()
return self._cache_dict[key]
def visible_entities(self, entities):
def visible_entities(self, pos_dict, reset_cache=True):
visible = list()
cache_blocking = {}
if reset_cache:
self._cache_dict = {}
for ray in self.get_rays():
rx, ry = ray[0]
for x, y in ray:
cx, cy = x - rx, y - ry
entities_hit = entities.pos_dict[(x, y)]
hits = self.ray_block_cache(cache_blocking,
(x, y),
lambda: any(True for e in entities_hit if e.var_is_blocking_light))
entities_hit = pos_dict[(x, y)]
hits = self.ray_block_cache((x, y),
lambda: any(True for e in entities_hit if e.var_is_blocking_light)
)
diag_hits = all([
self.ray_block_cache(
cache_blocking,
key,
lambda: all(False for e in entities.pos_dict[key] if not e.var_is_blocking_light))
lambda: all(False for e in pos_dict[key] if not e.var_is_blocking_light) and bool(pos_dict[key]))
for key in ((x, y-cy), (x-cx, y))
]) if (cx != 0 and cy != 0) else False