Merge branch 'main' into refactor_rename

# Conflicts:
#	marl_factory_grid/configs/default_config.yaml
#	marl_factory_grid/environment/entity/object.py

marl_factory_grid/utils/config_parser.py

@@ -8,6 +8,7 @@ import yaml
 
 from marl_factory_grid.environment.groups.agents import Agents
 from marl_factory_grid.environment.entity.agent import Agent
+from marl_factory_grid.environment.rules import Rule
 from marl_factory_grid.utils.helpers import locate_and_import_class
 from marl_factory_grid.environment import constants as c
 
@@ -81,7 +82,15 @@ class FactoryConfigParser(object):
                         entity_class = locate_and_import_class(entity, folder_path)
                     except AttributeError as e3:
                         ents = [y for x in [e1.argss[1], e2.argss[1], e3.argss[1]] for y in x]
-                        raise AttributeError(e1.argss[0], e2.argss[0], e3.argss[0], 'Possible Entitys are:', str(ents))
+                        print('### Error  ###  Error  ###  Error  ###  Error  ###  Error  ###')
+                        print()
+                        print(f'Class "{entity}" was not found in "{folder_path.name}"')
+                        print('Possible Entitys are:', str(ents))
+                        print()
+                        print('Goodbye')
+                        print()
+                        exit()
+                        # raise AttributeError(e1.argss[0], e2.argss[0], e3.argss[0], 'Possible Entitys are:', str(ents))
 
             entity_kwargs = self.entities.get(entity, {})
             entity_symbol = entity_class.symbol if hasattr(entity_class, 'symbol') else None
@@ -114,6 +123,7 @@ class FactoryConfigParser(object):
 
             # Observation
             observations = list()
+            assert self.agents[name]['Observations'] is not None, 'Did you specify any Observation?'
             if c.DEFAULTS in self.agents[name]['Observations']:
                 observations.extend(self.default_observations)
             observations.extend(x for x in self.agents[name]['Observations'] if x != c.DEFAULTS)
@@ -141,6 +151,8 @@ class FactoryConfigParser(object):
                     rule_class = locate_and_import_class(rule, folder_path)
                 except AttributeError:
                     rule_class = locate_and_import_class(rule, self.custom_modules_path)
+            # Fixme This check does not work!
+            #  assert isinstance(rule_class, Rule), f'{rule_class.__name__} is no valid "Rule".'
             rule_kwargs = self.rules.get(rule, {})
             rules_classes.update({rule: {'class': rule_class, 'kwargs': rule_kwargs}})
         return rules_classes

marl_factory_grid/utils/observation_builder.py

@@ -76,6 +76,14 @@ class OBSBuilder(object):
             named_obs_dict[agent.name] = {'observation': obs, 'names': names}
         return named_obs_dict
 
+    def place_entity_in_observation(self, obs_array, agent, e):
+        x, y = (e.x - agent.x) + self.pomdp_r, (e.y - agent.y) + self.pomdp_r
+        try:
+            obs_array[x, y] += e.encoding
+        except IndexError:
+            # Seemded to be visible but is out of range
+            pass
+
     def build_for_agent(self, agent, state) -> (List[str], np.ndarray):
         assert self._curr_env_step == state.curr_step, (
             "The observation objekt has not been reset this state! Call 'reset_struc_obs_block(state)'"
@@ -91,12 +99,7 @@ class OBSBuilder(object):
         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
+                self.place_entity_in_observation(pre_sort_obs[e.obs_tag], agent, e)
         else:
             for e in set(visible_entitites):
                 pre_sort_obs[e.obs_tag][e.x, e.y] += e.encoding
@@ -157,18 +160,20 @@ class OBSBuilder(object):
                             np.put(obs[idx], 0, v, mode='raise')
                         except IndexError:
                             raise ValueError(f'Max(obs.size) for {e.name}:  {obs[idx].size}, but was: {len(v)}.')
-
-        try:
-            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()
+        if self.pomdp_r:
+            try:
+                light_map = np.zeros(self.obs_shape)
+                visible_floor = self.ray_caster[agent.name].visible_entities(self._floortiles, reset_cache=False)
+                if self.pomdp_r:
+                    for f in set(visible_floor):
+                        self.place_entity_in_observation(light_map, agent, f)
+                else:
+                    for f in set(visible_floor):
+                        light_map[f.x, f.y] += f.encoding
+                self.curr_lightmaps[agent.name] = light_map
+            except (KeyError, ValueError):
+                print()
+                pass
         return obs, self.obs_layers[agent.name]
 
     def _sort_and_name_observation_conf(self, agent):

marl_factory_grid/utils/ray_caster.py

@@ -0,0 +1,130 @@
+import math
+from itertools import product
+
+import numpy as np
+from numba import njit
+
+
+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.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})'
+
+    def build_ray_targets(self):
+        north = np.array([0, -1])*self.pomdp_r
+        thetas = [np.deg2rad(deg) for deg in np.linspace(-self.degs // 2, self.degs // 2, self.n_rays)[::-1]]
+        rot_M = [
+            [[math.cos(theta), -math.sin(theta)],
+             [math.sin(theta), math.cos(theta)]] for theta in thetas
+        ]
+        rot_M = np.stack(rot_M, 0)
+        rot_M = np.unique(np.round(rot_M @ north), axis=0)
+        return rot_M.astype(int)
+
+    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, pos_dict, reset_cache=True):
+        visible = list()
+        if reset_cache:
+            self._cache_dict = dict()
+
+        for ray in self.get_rays():
+            rx, ry = ray[0]
+            for x, y in ray:
+                cx, cy = x - rx, y - ry
+
+                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(
+                        key,
+                        lambda: all(False for e in pos_dict[key] if not e.var_is_blocking_light))
+                    for key in ((x, y-cy), (x-cx, y))
+                ]) if (cx != 0 and cy != 0) else False
+
+                visible += entities_hit if not diag_hits else []
+                if hits or diag_hits:
+                    break
+                rx, ry = x, y
+        return visible
+
+    def get_rays(self):
+        a_pos = self.agent.pos
+        outline = self.ray_targets + a_pos
+        return self.bresenham_loop(a_pos, outline)
+
+    # todo do this once and cache the points!
+    def get_fov_outline(self) -> np.ndarray:
+        return self.ray_targets + self.agent.pos
+
+    def get_square_outline(self):
+        agent = self.agent
+        x_coords = range(agent.x - self.pomdp_r, agent.x + self.pomdp_r + 1)
+        y_coords = range(agent.y - self.pomdp_r, agent.y + self.pomdp_r + 1)
+        outline = list(product(x_coords, [agent.y - self.pomdp_r, agent.y + self.pomdp_r])) \
+                  + list(product([agent.x - self.pomdp_r, agent.x + self.pomdp_r], y_coords))
+        return outline
+
+    @staticmethod
+    @njit
+    def bresenham_loop(a_pos, points):
+        results = []
+        for end in points:
+            x1, y1 = a_pos
+            x2, y2 = end
+            dx = x2 - x1
+            dy = y2 - y1
+
+            # Determine how steep the line is
+            is_steep = abs(dy) > abs(dx)
+
+            # Rotate line
+            if is_steep:
+                x1, y1 = y1, x1
+                x2, y2 = y2, x2
+
+            # Swap start and end points if necessary and store swap state
+            swapped = False
+            if x1 > x2:
+                x1, x2 = x2, x1
+                y1, y2 = y2, y1
+                swapped = True
+
+            # Recalculate differentials
+            dx = x2 - x1
+            dy = y2 - y1
+
+            # Calculate error
+            error = int(dx / 2.0)
+            ystep = 1 if y1 < y2 else -1
+
+            # Iterate over bounding box generating points between start and end
+            y = y1
+            points = []
+            for x in range(int(x1), int(x2) + 1):
+                coord = [y, x] if is_steep else [x, y]
+                points.append(coord)
+                error -= abs(dy)
+                if error < 0:
+                    y += ystep
+                    error += dx
+
+            # Reverse the list if the coordinates were swapped
+            if swapped:
+                points.reverse()
+            results.append(points)
+        return results

marl_factory_grid/utils/states.py

@@ -88,8 +88,8 @@ class Gamestate(object):
         results.extend(self.rules.tick_pre_step_all(self))
 
         for idx, action_int in enumerate(actions):
+            agent = self[c.AGENT][idx].clear_temp_state()
             if not agent.var_is_paralyzed:
-                agent = self[c.AGENT][idx].clear_temp_state()
                 action = agent.actions[action_int]
                 action_result = action.do(agent, self)
                 results.append(action_result)

marl_factory_grid/utils/utility_classes.py

@@ -31,6 +31,10 @@ class RenderEntity:
 @dataclass
 class Floor:
 
+    @property
+    def encoding(self):
+        return 1
+
     @property
     def name(self):
         return f"Floor({self.pos})"