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Merge branch 'main' into refactor_rename

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# Conflicts:
#	marl_factory_grid/configs/default_config.yaml
#	marl_factory_grid/environment/entity/object.py
This commit is contained in:
Chanumask
2023-10-31 10:28:25 +01:00
parent ea6634b187 acd545dc0e
commit ee4d29d50b
18 changed files with 217 additions and 92 deletions
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2
README.md
View File

@@ -60,7 +60,7 @@ Just define what your environment needs in a *yaml*-configfile like:
done_at_collisions: !!bool True
ItemRespawn:
spawn_freq: 5
DoDoorAutoClose: {}
DoorAutoClose: {}
Assets:
- Defaults

35
marl_factory_grid/configs/default_config.yaml
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@@ -1,23 +1,4 @@
Agents:
Eberhart:
Actions:
- Move8
- Noop
- ItemAction
Observations:
- Combined:
- Other
- Walls
- GlobalPosition
- Battery
- ChargePods
- DirtPiles
- Destinations
- Doors
- Items
- Inventory
- DropOffLocations
- Maintainers
Wolfgang:
Actions:
- Noop
@@ -42,7 +23,9 @@ Agents:
- DropOffLocations
- Maintainers
Entities:
Batteries: {}
Batteries:
initial_charge: 0.8
per_action_costs: 0.02
ChargePods: {}
Destinations: {}
DirtPiles:
@@ -70,23 +53,21 @@ General:
Rules:
SpawnAgents: {}
BtryDoneAtDischarge: {}
DoneAtBatteryDischarge: {}
Collision:
done_at_collisions: false
AssignGlobalPositions: {}
DoneAtDestinationReachAny: {}
DestinationReachReward: {}
SpawnDestinations:
n_dests: 1
spawn_mode: GROUPED
DoneOnAllDirtCleaned: {}
SpawnDirt:
initial_n: 4
initial_amount: 0.5
respawn_n: 2
respawn_amount: 0.2
spawn_freq: 15
EntitiesSmearDirtOnMove: {}
DoDoorAutoClose:
EntitiesSmearDirtOnMove:
smear_ratio: 0.2
DoorAutoClose:
close_frequency: 10
ItemRules:
max_dropoff_storage_size: 0

2
marl_factory_grid/environment/entity/mixin.py
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@@ -12,7 +12,7 @@ class BoundEntityMixin:
if self.bound_entity:
return f'{self.__class__.__name__}({self.bound_entity.name})'
else:
print()
pass
def belongs_to_entity(self, entity):
return entity == self.bound_entity

52
marl_factory_grid/environment/entity/object.py
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@@ -40,17 +40,6 @@ class _Object:
name = h.add_pos_name(name, self)
return name
# @property
# def name(self):
# name = f"{self.__class__.__name__}"
# if self.bound_entity:
# name += f"[{self.bound_entity.name}]"
# if self._str_ident is not None:
# name += f"({self._str_ident})"
# else:
# name += f"(#{self.u_int})"
# return name
@property
def identifier(self):
if self._str_ident is not None:
@@ -165,25 +154,30 @@ class _Object:
# except AttributeError:
# return False
#
# @property
# def var_can_collide(self):
# try:
# return self._collection.var_can_collide or False
# except AttributeError:
# return False
# @property
# def var_can_collide(self):
# try:
# return self._collection.var_can_collide or False
# except AttributeError:
# return False
#
# @property
# def encoding(self):
# return c.VALUE_OCCUPIED_CELL
#
# def __init__(self, **kwargs):
# super(EnvObject, self).__init__(**kwargs)
# @property
# def encoding(self):
# return c.VALUE_OCCUPIED_CELL
#
# def change_parent_collection(self, other_collection):
# other_collection.add_item(self)
# self._collection.delete_env_object(self)
# self._collection = other_collection
# return self._collection == other_collection
#
# def summarize_state(self):
# return dict(name=str(self.name))
# def __init__(self, **kwargs):
# self._bound_entity = None
# super(EnvObject, self).__init__(**kwargs)
#
#
# def change_parent_collection(self, other_collection):
# other_collection.add_item(self)
# self._collection.delete_env_object(self)
# self._collection = other_collection
# return self._collection == other_collection
#
#
# def summarize_state(self):
# return dict(name=str(self.name))

3
marl_factory_grid/environment/groups/global_entities.py
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@@ -1,6 +1,6 @@
from collections import defaultdict
from operator import itemgetter
from random import shuffle
from random import shuffle, random
from typing import Dict
from marl_factory_grid.environment.groups.objects import _Objects
@@ -26,6 +26,7 @@ class Entities(_Objects):
@property
def floorlist(self):
shuffle(self._floor_positions)
return self._floor_positions
def __init__(self, floor_positions):

6
marl_factory_grid/environment/groups/objects.py
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@@ -59,7 +59,7 @@ class _Objects:
return self
def remove_item(self, item: _entity):
for observer in self.observers:
for observer in item.observers:
observer.notify_del_entity(item)
# noinspection PyTypeChecker
del self._data[item.name]
@@ -126,10 +126,6 @@ class _Objects:
return f'{self.__class__.__name__}[{repr_dict}]'
def notify_del_entity(self, entity: _Object):
try:
entity.del_observer(self)
except AttributeError:
pass
try:
self.pos_dict[entity.pos].remove(entity)
except (AttributeError, ValueError, IndexError):

2
marl_factory_grid/modules/batteries/__init__.py
View File

@@ -1,4 +1,4 @@
from .actions import BtryCharge
from .entitites import Pod, Battery
from .groups import ChargePods, Batteries
from .rules import BtryDoneAtDischarge, BatteryDecharge
from .rules import DoneAtBatteryDischarge, BatteryDecharge

2
marl_factory_grid/modules/batteries/rules.py
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@@ -94,7 +94,7 @@ class BatteryDecharge(Rule):
return results
class BtryDoneAtDischarge(BatteryDecharge):
class DoneAtBatteryDischarge(BatteryDecharge):
def __init__(self, reward_discharge_done=b.REWARD_DISCHARGE_DONE, mode: str = b.SINGLE, **kwargs):
f"""

5
marl_factory_grid/modules/clean_up/groups.py
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@@ -45,6 +45,7 @@ class DirtPiles(Collection):
if not self.amount > self.max_global_amount:
amount = amount_s[idx] if isinstance(amount_s, list) else amount_s
if dirt := self.by_pos(pos):
dirt = next(dirt.iter())
new_value = dirt.amount + amount
dirt.set_new_amount(new_value)
else:
@@ -57,8 +58,8 @@ class DirtPiles(Collection):
return Result(identifier=f'{self.name}_spawn', validity=c.VALID, reward=0, value=spawn_counter)
def trigger_dirt_spawn(self, n, amount, state, n_var=0.2, amount_var=0.2) -> Result:
free_for_dirt = [x for x in state.entities.floorlist if len(state.entities.pos_dict[x]) == 1 or (
len(state.entities.pos_dict[x]) == 2 and isinstance(next(y for y in x), DirtPile))]
free_for_dirt = [x for x in state.entities.floorlist if len(state.entities.pos_dict[x]) == 0 or (
len(state.entities.pos_dict[x]) >= 1 and isinstance(next(y for y in x), DirtPile))]
# free_for_dirt = [x for x in state[c.FLOOR]
# if len(x.guests) == 0 or (
# len(x.guests) == 1 and

3
marl_factory_grid/modules/clean_up/rules.py
View File

@@ -27,7 +27,8 @@ class DoneOnAllDirtCleaned(Rule):
class SpawnDirt(Rule):
def __init__(self, initial_n: int, initial_amount: float, respawn_n: int, respawn_amount: float,
def __init__(self, initial_n: int = 5, initial_amount: float = 1.3,
respawn_n: int = 3, respawn_amount: float = 0.8,
n_var: float = 0.2, amount_var: float = 0.2, spawn_freq: int = 15):
"""
Defines the spawn pattern of intial and additional 'Dirt'-entitites.

2
marl_factory_grid/modules/doors/__init__.py
View File

@@ -1,4 +1,4 @@
from .actions import DoorUse
from .entitites import Door, DoorIndicator
from .groups import Doors
from .rules import DoDoorAutoClose, IndicateDoorAreaInObservation
from .rules import DoorAutoClose, IndicateDoorAreaInObservation

2
marl_factory_grid/modules/doors/rules.py
View File

@@ -5,7 +5,7 @@ from . import constants as d
from .entitites import DoorIndicator
class DoDoorAutoClose(Rule):
class DoorAutoClose(Rule):
def __init__(self, close_frequency: int = 10):
"""

2
marl_factory_grid/modules/items/groups.py
View File

@@ -135,7 +135,7 @@ class DropOffLocations(Collection):
@staticmethod
def trigger_drop_off_location_spawn(state, n_locations):
empty_positions = state.entities.empty_positions()[:n_locations]
empty_positions = state.entities.empty_positions[:n_locations]
do_entites = state[i.DROP_OFF]
drop_offs = [DropOffLocation(pos) for pos in empty_positions]
do_entites.add_items(drop_offs)

14
marl_factory_grid/utils/config_parser.py
View File

@@ -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

41
marl_factory_grid/utils/observation_builder.py
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@@ -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):

130
marl_factory_grid/utils/ray_caster.py Normal file
View File

@@ -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

2
marl_factory_grid/utils/states.py
View File

@@ -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)

4
marl_factory_grid/utils/utility_classes.py
View File

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