mirror of
https://github.com/illiumst/marl-factory-grid.git
synced 2025-10-30 20:27:27 +01:00
93 lines
3.5 KiB
Python
93 lines
3.5 KiB
Python
from random import shuffle
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import networkx as nx
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import numpy as np
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from ...algorithms.static.utils import points_to_graph
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from ...environment import constants as c
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from ...environment.actions import Action, ALL_BASEACTIONS
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from ...environment.entity.entity import Entity
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from ..doors import constants as do
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from ..maintenance import constants as mi
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from ...utils import helpers as h
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from ...utils.utility_classes import RenderEntity, Floor
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from ..doors import DoorUse
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class Maintainer(Entity):
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def __init__(self, objective: str, action: Action, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.action = action
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self.actions = [x() for x in ALL_BASEACTIONS] + [DoorUse()]
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self.objective = objective
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self._path = None
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self._next = []
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self._last = []
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self._last_serviced = 'None'
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self._floortile_graph = None
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def tick(self, state):
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if found_objective := h.get_first(state[self.objective].by_pos(self.pos)):
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if found_objective.name != self._last_serviced:
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self.action.do(self, state)
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self._last_serviced = found_objective.name
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else:
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action = self.get_move_action(state)
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return action.do(self, state)
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else:
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action = self.get_move_action(state)
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return action.do(self, state)
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def get_move_action(self, state) -> Action:
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if not self._floortile_graph:
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state.print("Generating Floorgraph....")
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self._floortile_graph = points_to_graph(state.entities.floorlist)
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if self._path is None or not self._path:
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if not self._next:
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self._next = list(state[self.objective].values()) + [Floor(*state.random_free_position)]
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shuffle(self._next)
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self._last = []
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self._last.append(self._next.pop())
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state.print("Calculating shortest path....")
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self._path = self.calculate_route(self._last[-1])
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if door := self._closed_door_in_path(state):
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state.print(f"{self} found {door} that is closed. Attempt to open.")
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# Translate the action_object to an integer to have the same output as any other model
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action = do.ACTION_DOOR_USE
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else:
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action = self._predict_move(state)
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# Translate the action_object to an integer to have the same output as any other model
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try:
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action_obj = h.get_first(self.actions, lambda x: x.name == action)
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except (StopIteration, UnboundLocalError):
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print('Will not happen')
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raise EnvironmentError
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return action_obj
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def calculate_route(self, entity):
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route = nx.shortest_path(self._floortile_graph, self.pos, entity.pos)
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return route[1:]
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def _closed_door_in_path(self, state):
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if self._path:
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return h.get_first(state[do.DOORS].by_pos(self._path[0]), lambda x: x.is_closed)
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else:
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return None
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def _predict_move(self, state):
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next_pos = self._path[0]
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if any(x for x in state.entities.pos_dict[next_pos] if x.var_can_collide) > 0:
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action = c.NOOP
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else:
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next_pos = self._path.pop(0)
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diff = np.subtract(next_pos, self.pos)
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# Retrieve action based on the pos dif (like in: What do I have to do to get there?)
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action = next(action for action, pos_diff in h.MOVEMAP.items() if np.all(diff == pos_diff))
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return action
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def render(self):
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return RenderEntity(mi.MAINTAINER, self.pos)
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