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