mirror of
https://github.com/illiumst/marl-factory-grid.git
synced 2025-05-22 14:56:43 +02:00
86 lines
3.5 KiB
Python
86 lines
3.5 KiB
Python
from marl_factory_grid.modules.clean_up import constants as d, rewards as r
|
|
from marl_factory_grid.environment import constants as c
|
|
|
|
from marl_factory_grid.environment.rules import Rule
|
|
from marl_factory_grid.utils.helpers import is_move
|
|
from marl_factory_grid.utils.results import TickResult
|
|
from marl_factory_grid.utils.results import DoneResult
|
|
|
|
|
|
class DoneOnAllDirtCleaned(Rule):
|
|
|
|
def __init__(self, reward: float = r.CLEAN_UP_ALL):
|
|
"""
|
|
Defines a 'Done'-condition which tirggers, when there is no more 'Dirt' in the environment.
|
|
|
|
:type reward: float
|
|
:parameter reward: Given reward when condition triggers.
|
|
"""
|
|
super().__init__()
|
|
self.reward = reward
|
|
|
|
def on_check_done(self, state) -> [DoneResult]:
|
|
if len(state[d.DIRT]) == 0 and state.curr_step:
|
|
return [DoneResult(validity=c.VALID, identifier=self.name, reward=self.reward)]
|
|
return [DoneResult(validity=c.NOT_VALID, identifier=self.name)]
|
|
|
|
|
|
class RespawnDirt(Rule):
|
|
|
|
def __init__(self, respawn_freq: int = 15, respawn_n: int = 5, respawn_amount: float = 1.0):
|
|
"""
|
|
Defines the spawn pattern of intial and additional 'Dirt'-entitites.
|
|
First chooses positions, then trys to spawn dirt until 'respawn_n' or the maximal global amount is reached.
|
|
If there is allready some, it is topped up to min(max_local_amount, amount).
|
|
|
|
:type respawn_freq: int
|
|
:parameter respawn_freq: In which frequency should this Rule try to spawn new 'Dirt'?
|
|
:type respawn_n: int
|
|
:parameter respawn_n: How many respawn positions are considered.
|
|
:type respawn_amount: float
|
|
:parameter respawn_amount: Defines how much dirt 'amount' is placed every 'spawn_freq' ticks.
|
|
"""
|
|
super().__init__()
|
|
self.respawn_n = respawn_n
|
|
self.respawn_amount = respawn_amount
|
|
self.respawn_freq = respawn_freq
|
|
self._next_dirt_spawn = respawn_freq
|
|
|
|
def tick_step(self, state):
|
|
collection = state[d.DIRT]
|
|
if self._next_dirt_spawn < 0:
|
|
pass # No DirtPile Spawn
|
|
elif not self._next_dirt_spawn:
|
|
result = [collection.trigger_spawn(state, coords_or_quantity=self.respawn_n, amount=self.respawn_amount)]
|
|
self._next_dirt_spawn = self.respawn_freq
|
|
else:
|
|
self._next_dirt_spawn -= 1
|
|
result = []
|
|
return result
|
|
|
|
|
|
class EntitiesSmearDirtOnMove(Rule):
|
|
|
|
def __init__(self, smear_ratio: float = 0.2):
|
|
"""
|
|
Enables 'smearing'. Entities that move through dirt, will leave a trail behind them.
|
|
They take dirt * smear_ratio of it with them to their next position.
|
|
|
|
:type smear_ratio: float
|
|
:parameter smear_ratio: How much percent dirt is smeared by entities to their next position.
|
|
"""
|
|
assert smear_ratio < 1, "'Smear Amount' must be smaller than 1"
|
|
super().__init__()
|
|
self.smear_ratio = smear_ratio
|
|
|
|
def tick_post_step(self, state):
|
|
results = list()
|
|
for entity in state.moving_entites:
|
|
if is_move(entity.state.identifier) and entity.state.validity == c.VALID:
|
|
if old_pos_dirt := state[d.DIRT].by_pos(entity.last_pos):
|
|
old_pos_dirt = next(iter(old_pos_dirt))
|
|
if smeared_dirt := round(old_pos_dirt.amount * self.smear_ratio, 2):
|
|
if state[d.DIRT].spawn(entity.pos, amount=smeared_dirt):
|
|
results.append(TickResult(identifier=self.name, entity=entity, validity=c.VALID))
|
|
return results
|