def reset(self):
self._destroy()
self.reward = 0.0
self.prev_reward = 0.0
self.t = 0.0
random_index = random.randint(0, 23)
#random_index = 5
init_pos_0 = self.__pos_safe[random_index]
#init_pos_1 = self.__pos_safe[9]
init_pos_1 = self.__pos_safe[random.choice(
self.__id_pos_linked[random_index])]
print(init_pos_0, init_pos_1)
self.__R1 = Robot(self.__world, 0, init_pos_0, ID_R1)
self.__B1 = Robot(self.__world, 0, init_pos_1, ID_B1)
self.__robots = [self.__R1, self.__B1]
self.__obstacle = ICRALayout(self.__world)
self.__projectile = Projectile(self.__world)
self.__area_buff = AreaBuff()
self.__area_supply = AreaSupply()
self.state = [RobotState(init_pos_0), RobotState(init_pos_1)]
self.actions = [Action(), Action()]
self.reward = 0
return init_pos_1
def reset(self):
self._destroy()
self.reward = [0.0]*self.red_agent_num
self.prev_reward = [0.0]*self.red_agent_num
self.t = 0.0
random_index = random.sample(range(len(self.__pos_safe)-1),self.red_agent_num + self.blue_agent_num)
init_pos_0 = self.__pos_safe[random_index[0]]
init_pos_1 = self.__pos_safe[random_index[1]]
init_pos_2 = self.__pos_safe[random_index[2]]
self.__R1 = Robot(self.__world, 0, init_pos_0, ID_R1)
self.__R2 = Robot(self.__world, 0, init_pos_1, ID_R2)
self.__B1 = Robot(self.__world, 0, init_pos_2, ID_B1)
self.__robots = [self.__R1, self.__R2, self.__B1]
self.__obstacle = ICRALayout(self.__world)
self.__projectile = Projectile(self.__world)
'''
self.__area_buff = AreaBuff()
self.__area_supply = AreaSupply()
'''
self.red_agent[0].pos = init_pos_0
self.red_agent[1].pos = init_pos_1
self.blue_agent[0].pos = init_pos_2
#self.state.append([self.red_agent, self.blue_agent])
self.state = []
self.state = self.__concat_state()
#self.actions = [Action(), Action()]
#self.reward.append(0.0)
return self.state
def reset(self):
self._destroy()
self.reward = 0.0
self.prev_reward = 0.0
self.t = 0.0
random_index = random.randint(0, 23)
#random_index = 5
init_pos_0 = self.__pos_safe[random_index]
#init_pos_1 = self.__pos_safe[9]
init_pos_1 = self.__pos_safe[random.choice(
self.__id_pos_linked[random_index])]
#print(init_pos_0, init_pos_1)
self.__R1 = Robot(self.__world, 0, init_pos_0, ID_R1)
self.__B1 = Robot(self.__world, 0, init_pos_1, ID_B1)
self.__robots = [self.__R1, self.__B1]
self.__obstacle = ICRALayout(self.__world)
self.__projectile = Projectile(self.__world)
'''
self.__area_buff = AreaBuff()
self.__area_supply = AreaSupply()
'''
self.red_agent.pos = init_pos_0
self.blue_agent.pos =init_pos_1
self.state = [self.red_agent, self.blue_agent]
self.state = self.__concat_state()
#self.actions = [Action(), Action()]
self.reward = 0
return self.state[0:self.state_size],self.state[self.state_size:2*self.state_size]
def _autoaim(self, robot: Robot, state: RobotState):
#detected = {}
if robot.robot_id == ID_R1:
self.o_dis = 8.0
scan_distance, scan_type = [], []
state.detect = False
type_ = None
for i in range(-135, 135, 2):
angle, pos = robot.get_angle_pos()
angle += i / 180 * math.pi
p1 = (pos[0] + 0.374 * math.cos(angle),
pos[1] + 0.374 * math.sin(angle))
p2 = (pos[0] + SCAN_RANGE * math.cos(angle),
pos[1] + SCAN_RANGE * math.sin(angle))
self.__world.RayCast(self.__callback_autoaim, p1, p2)
scan_distance.append(self.__callback_autoaim.fraction)
#print(f"ang {i}\tfraction:{self.__callback_autoaim.fraction}\t")
u = self.__callback_autoaim.userData
# print(f"u type {u.type}")
# if abs(i) == 45 and robot.robot_id == ID_R1:
# print(f"angle:{i}, frac:{self.__callback_autoaim.fraction}")
# FIXME 射线扫描距离检测
if robot.robot_id == ID_R1 and u is not None:
if u.type == 'wall':
if self.o_dis > self.__callback_autoaim.fraction * (
SCAN_RANGE - 0.374):
self.o_dis = self.__callback_autoaim.fraction * (
SCAN_RANGE - 0.374)
self.o_ang = i
#print("wall", self.o_dis)
if u.type == 'robot':
d = self.__callback_autoaim.fraction * (SCAN_RANGE -
0.374) - 0.10
if self.o_dis > d:
self.o_dis = d
#print("robot", self.o_dis)
self.o_ang = i
if u is not None and u.type == "robot":
if u.id % 2 == robot.robot_id % 2:
scan_type.append(0)
continue
else:
scan_type.append(1)
if -45 <= i <= 45:
#if u.id not in [ID_R1, ID_R2]:
if u.id % 2 != robot.robot_id % 2:
if not state.detect:
robot.set_gimbal(angle)
state.detect = True
else:
scan_type.append(0)
# FIXME 距离障碍物太近的时候惩罚, 但是由于扫面半径起点不是刚好是车的外表, 可能这个不加更好
# if min(scan_distance) * (SCAN_RANGE-0.374) <= 0.005:
# self.conflict = True
state.scan = [scan_distance, scan_type]
def reset(self):
self._destroy()
self.reward = 0.0
self.prev_reward = 0.0
self.t = 0.0
random_index = random.randint(0, 23)
#random_index = 5
init_pos_0 = self.__pos_safe[random_index]
#init_pos_1 = self.__pos_safe[9]
init_pos_1 = self.__pos_safe[random.choice(
self.__id_pos_linked[random_index])]
while (init_pos_1[0] < 1.0):
init_pos_1 = self.__pos_safe[random.randint(0, 23)]
# 新添加的位置
init_pos_2 = self.__pos_safe[random.randint(0, 23)]
init_pos_3 = self.__pos_safe[random.randint(0, 23)]
while (init_pos_3[0] < 1.0):
init_pos_3 = self.__pos_safe[random.randint(0, 23)]
# print(init_pos_0, init_pos_1)
self.__R1 = Robot(self.__world,
0, [0.5, 4.0],
ID_R1,
color_=(0.6, 0.2, 0.6))
self.__B1 = Robot(self.__world, 0, init_pos_1, ID_B1)
# 增加两个车
self.__R2 = Robot(self.__world, 0, [0.5, 0.5], ID_R2)
self.__B2 = Robot(self.__world, 0, init_pos_3, ID_B2)
print([0.5, 4.5], init_pos_1, [0.5, 0.5], init_pos_3)
self.__robots = [self.__R1, self.__B1, self.__R2, self.__B2]
self.__obstacle = ICRALayout(self.__world)
self.__projectile = Projectile(self.__world)
self.__area_buff = AreaBuff()
#self.__area_supply = AreaSupply()
self.state = [
RobotState([0.5, 4.4]),
RobotState(init_pos_1),
RobotState([0.5, 0.5]),
RobotState(init_pos_3)
]
self.actions = [Action(), Action(), Action(), Action()]
self.reward = 0
return init_pos_1, init_pos_3
def detect(self, robot: Robot, t_now):
if (robot.buff_left_time > 0):
robot.buff_left_time -= t_now - self.__t_last
robot.buff_left_time = max(0, robot.buff_left_time)
for buff in self.__buff_area:
buff.detect(robot, t_now)
self.__t_last = t_now
def detect(self, robot: Robot, t_now):
if (robot.buff_left_time > 0):
robot.buff_left_time -= t_now - self.__t_last
robot.buff_left_time = max(0, robot.buff_left_time)
# if robot.buff_left_time == 0:
# print("punish pass once")
for buff in self.__buff_area:
buff.detect(robot, t_now)
self.__t_last = t_now
def _blue_step_action(self, robot: Robot, blue_agent: blueAgent):
# gas, rotate, transverse, rotate cloud terrance, shoot
robot.move_ahead_back(blue_agent.v_t)
robot.move_left_right(blue_agent.v_n)
robot.turn_left_right(blue_agent.angular)
'''
if int(self.t * FPS) % (60 * FPS) == 0:
robot.refresh_supply_oppotunity()
if action.supply > 0.99:
action.supply = 0.0
if robot.if_supply_available():
robot.use_supply_oppotunity()
if self.__area_supply.if_in_area(robot):
robot.supply()
'''
if blue_agent.shoot > 0.99 and int(self.t*FPS) % (FPS/5) == 1:
if(robot.if_left_projectile()):
angle, pos = robot.get_gun_angle_pos()
robot.shoot()
blue_agent.shoot = 0.0
self.__projectile.shoot(robot,angle, pos)
def if_in_area(self, robot: Robot):
if robot.group == "red":
supply_area = self.supply_area_red
elif robot.group == "blue":
supply_area = self.supply_area_blue
else:
print("Wrong Input Object in supply area!")
return False
pos = robot.get_pos()
x, y = pos.x, pos.y
bx, by, w, h = supply_area
return (bx <= x <= bx + w) and (by <= y <= by + h)
def detect(self, robot: Robot, t_now):
# 0, 1, 2min refresh
if (int(t_now) % 60 == 0):
self.__activated = False
self.__t_stay = 0
if self.__activated:
return
if robot.group != self.__group:
return
if self._if_in_area(robot.get_pos(), self.__box):
self.__t_stay += t_now - self.__t_last
if self.__t_stay >= TIME_BUFF_TRIGGER:
self.__activated = True
robot.buff_left_time = TIME_BUFF_INIT
self.__t_stay = 0
else:
self.__t_stay = 0
self.__t_last = t_now
def _autoaim(self, robot: Robot, state: RobotState):
#detected = {}
scan_distance, scan_type = [], []
state.detect = False
for i in range(-135, 135, 2):
angle, pos = robot.get_angle_pos()
angle += i / 180 * math.pi
p1 = (pos[0] + 0.3 * math.cos(angle),
pos[1] + 0.3 * math.sin(angle))
p2 = (pos[0] + SCAN_RANGE * math.cos(angle),
pos[1] + SCAN_RANGE * math.sin(angle))
self.__world.RayCast(self.__callback_autoaim, p1, p2)
scan_distance.append(self.__callback_autoaim.fraction)
u = self.__callback_autoaim.userData
if u is not None and u.type == "robot":
scan_type.append(1)
if -45 <= i <= 45:
if not state.detect:
robot.set_gimbal(angle)
state.detect = True
else:
scan_type.append(0)
state.scan = [scan_distance, scan_type]
def _red_autoaim(self, robot: Robot,red_agent : redAgent):
#detected = {}
scan_distance, scan_type = [], []
red_agent.detect = False
for i in range(-30, 30, 1):
angle, pos = robot.get_angle_pos()
angle += i/180*math.pi
p1 = (pos[0] + 0.2*math.cos(angle), pos[1] + 0.2*math.sin(angle))
p2 = (pos[0] + SCAN_RANGE*math.cos(angle),
pos[1] + SCAN_RANGE*math.sin(angle))
self.__world.RayCast(self.__callback_autoaim, p1, p2)
scan_distance.append(self.__callback_autoaim.fraction)
u = self.__callback_autoaim.userData
if u is not None and u.type == "robot":
scan_type.append(1)
if not red_agent.detect:
#robot.set_gimbal(angle)
distance = self.distance_detection()
if(distance <4):
red_agent.detect = True
else:
scan_type.append(0)
red_agent.scan = scan_distance+scan_type
def detect(self, robot: Robot, t_now):
# 0, 1, 2min refresh
bool_t = (t_now > 3.00 - 0.05
and t_now < 3.00 + 0.05) and (t_now > 120.00 - 0.05
and t_now < 120.00 + 0.05)
if (int(t_now) % 60 == 0):
# if t_now == 5.00 or t_now == 60.00:
# if bool_t:
self.__activated = False
self.__t_stay = 0
self.__type = choice(TYPE)
# print(f'time {t_now}')
# print(f"buff type - 2 {self.__type}")
if self.__activated:
return
if robot.group != self.__group and self.__type < 1:
return
if self._if_in_area(robot.get_pos(), self.__box):
self.__t_stay += t_now - self.__t_last
if self.__t_stay >= TIME_BUFF_TRIGGER:
self.__activated = True
if self.__type == 0:
robot.lose_health(-1000)
return
if self.__type == 1:
robot.supply()
return
robot.buff_left_time = PUNISH_TIME
robot.buff_type = self.__type
self.__t_stay = 0
else:
self.__t_stay = 0
self.__t_last = t_now
def _update_blue_robot_state(self, robot: Robot, blue_agent: blueAgent):
blue_agent.pos = robot.get_pos()
blue_agent.health = robot.get_health()
blue_agent.angle = robot.get_angle()
def _update_red_robot_state(self, robot: Robot, red_agent: redAgent):
red_agent.pos = robot.get_pos()
red_agent.health = robot.get_health()
red_agent.angle = robot.get_angle()
def _update_robot_state(self, robot: Robot, state: RobotState):
state.pos = robot.get_pos()
state.health = robot.get_health()
state.angle = robot.get_angle()
state.velocity = robot.get_velocity()
state.angular = robot.get_angular()
def _step_action(self, robot: Robot, action: Action):
# gas, rotate, transverse, rotate cloud terrance, shoot
robot.move_ahead_back(action.v_t)
robot.turn_left_right(action.angular)
robot.move_left_right(action.v_n)
# if int(self.t * FPS) % (60 * FPS) == 0:
# robot.refresh_supply_oppotunity()
# if action.supply > 0.99:
# action.supply = 0.0
# if robot.if_supply_available():
# robot.use_supply_oppotunity()
# if self.__area_supply.if_in_area(robot):
# robot.supply()
if action.shoot > 0.99 and int(self.t * FPS) % (FPS / 5) == 1:
if (robot.if_left_projectile() > 0) and robot.get_health() > 0:
# print("shoot")
# FIXME 下面这行条件只允许红方发射子弹
if robot.robot_id % 2 == ID_R1:
angle, pos = robot.get_gun_angle_pos()
robot.shoot()
self.__projectile.shoot(angle, pos, robot.robot_id)