class TerminalWrapper(gym.Wrapper):
def __init__(self, env, max_step=4000):
super(TerminalWrapper, self).__init__(env)
self._max_step = max_step
self._enemy_base = None
def _reset(self):
obs = self.env._reset()
self._enemy_base = DestRange(self.env.unwrapped.enemy_base())
return obs
def _step(self, action):
obs, rwd, done, info = self.env._step(action)
return obs, rwd, self._check_terminal(obs, done), info
def _check_terminal(self, obs, done):
if done:
return done
scout = self.env.unwrapped.scout()
pos = (scout.float_attr.pos_x, scout.float_attr.pos_y)
self._enemy_base.check_enter(pos)
self._enemy_base.check_hit(pos)
self._enemy_base.check_leave(pos)
if self._enemy_base.hit:
print('***episode terminal while scout hit ***')
return True
if self._enemy_base.enter and self._enemy_base.leave:
print('***episode terminal while scout enter and leave***')
return True
return done
class OnewayFinalReward(Reward):
def __init__(self, weight=50):
super(OnewayFinalReward, self).__init__(weight)
def reset(self, obs, env):
self._dest = DestRange(env.enemy_base())
def compute_rwd(self, obs, reward, done, env):
self._compute_rwd(env)
if done:
if self._dest.hit:
#print('compute final rwd, hit rwd=', self.w * 2)
self.rwd = self.w * 2
elif self._dest.enter:
#print('compute final rwd, enter rwd=', self.w * 1)
self.rwd = self.w * 1
else:
self.rwd = self.w * -1
else:
self.rwd = 0
def _compute_rwd(self, env):
scout = env.scout()
pos = (scout.float_attr.pos_x, scout.float_attr.pos_y)
self._dest.check_enter(pos)
self._dest.check_hit(pos)
self._dest.check_leave(pos)
class RoundTripTerminalWrapper(gym.Wrapper):
def __init__(self, env):
super(RoundTripTerminalWrapper, self).__init__(env)
self._enemy_base = None
self._home_base = None
self._back = False
def _reset(self):
obs = self.env._reset()
self._enemy_base = DestRange(self.env.unwrapped.enemy_base())
self._home_base = DestRange(self.env.unwrapped.owner_base())
self._back = False
return obs
def _step(self, action):
obs, rwd, done, info = self.env._step(action)
info = self._judge_course(obs)
return obs, rwd, self._check_terminal(obs, done), info
def _check_terminal(self, obs, done):
if self._back and self._home_base.enter:
return True
else:
return done
def _judge_course(self, obs):
scout = self.env.unwrapped.scout()
pos = (scout.float_attr.pos_x, scout.float_attr.pos_y)
if not self._back:
self._enemy_base.check_enter(pos)
self._enemy_base.check_hit(pos)
self._enemy_base.check_leave(pos)
else:
self._home_base.check_enter(pos)
self._home_base.check_hit(pos)
self._home_base.check_leave(pos)
if (self._enemy_base.enter
and self._enemy_base.leave) or self._enemy_base.hit:
if not self._back:
self._back = True
return self._back
class RoundTripFinalReward(Reward):
def __init__(self, weight=50):
super(RoundTripFinalReward, self).__init__(weight)
self._back = False
def reset(self, obs, env):
self._dest = DestRange(env.enemy_base())
self._src = DestRange(env.owner_base())
def compute_rwd(self, obs, reward, done, env):
scout = env.scout()
pos = (scout.float_attr.pos_x, scout.float_attr.pos_y)
self._check(pos)
if done:
if self._dest.hit and self._src.hit:
self.rwd = self.w * 2
elif self._dest.enter and self._src.enter:
self.rwd = self.w * 1
else:
self.rwd = 0
else:
self.rwd = 0
print("RoundTripFinalReward", self.rwd)
def _check(self, pos):
if not self._back:
self._check_dest(pos)
else:
self._check_src(pos)
if self._dest.enter and self._dest.leave:
if not self._back:
self._back = True
def _check_dest(self, pos):
self._dest.check_enter(pos)
self._dest.check_hit(pos)
self._dest.check_leave(pos)
def _check_src(self, pos):
self._src.check_enter(pos)
self._src.check_hit(pos)
self._src.check_leave(pos)
class HitEnemyBaseReward(Reward):
def __init__(self, weight=10):
super(HitEnemyBaseReward, self).__init__(weight)
def reset(self, obs, env):
self._dest = DestRange(env.enemy_base())
self._hit_once = False
def compute_rwd(self, obs, reward, done, env):
scout = env.scout()
pos = (scout.float_attr.pos_x, scout.float_attr.pos_y)
self._dest.check_hit(pos)
self._dest.check_enter(pos)
self._dest.check_leave(pos)
if not self._hit_once and (self._dest.hit or
(self._dest.enter and self._dest.leave)):
self.rwd = self.w * 1
self._hit_once = True
else:
self.rwd = 0
print("HitEnemyBaseReward", self.rwd, self._hit_once)
class ExploreWithEvadeTerminalWrapper(RoundTripTerminalWrapper):
def __init__(self, env):
super(ExploreWithEvadeTerminalWrapper, self).__init__(env)
self._judge_walkaround_dist = JUDGE_WALKAROUND_DISTANCE
self._enemy_base_range_width = ENEMY_BASE_RANGE
self._scout_range_width = SCOUT_RANGE
self._map_size = self.env.unwrapped.map_size()
self._explore_step_required = EXPLORE_STEP
def _reset(self):
obs = self.env._reset()
self._judge_walkaround = False
self._task_finished = False
self._judge_back = False
self._enemy_base_range_map = self.createRangeMap(
self.env.unwrapped.enemy_base(), self._enemy_base_range_width)
self._home_base = DestRange(self.env.unwrapped.owner_base())
self._curr_explore_step = 0
return obs
def _step(self, action):
obs, rwd, done, info = self.env._step(action)
done = self._check_terminal(obs, done)
self.judge_walkAround()
self.judge_back()
info = {
'walkaround': self._judge_walkaround,
'back': self._judge_back,
'finished': self._task_finished
}
return obs, rwd, self._check_terminal(obs, done), info
def _check_terminal(self, obs, done):
if done:
return done
scout = self.env.unwrapped.scout()
# scout_health = scout.float_attr.health
# max_health = scout.float_attr.health_max
# print("self._home_base.enter",self._home_base.enter)
if self._judge_back:
self._home_base.check_enter(
(scout.float_attr.pos_x, scout.float_attr.pos_y))
if self._home_base.enter:
self._task_finished = True
return True
survive = self.env.unwrapped.scout_survive()
if survive:
return done
else:
return True
def createRangeMap(self, pos, range_width):
range_map = np.zeros(shape=(self._map_size[0], self._map_size[1]))
for i in range(int(pos[0] - range_width),
int(pos[0] + range_width + 1)):
for j in range(int(pos[1] - range_width),
int(pos[1] + range_width + 1)):
range_map[i][j] = 1
return range_map
def updateEnemyBaseMap(self, scout_map):
for i in range(self._enemy_base_range_map.shape[0]):
for j in range(self._enemy_base_range_map.shape[1]):
if self._enemy_base_range_map[i][j] and scout_map[i][j]:
self._enemy_base_range_map[i][j] = 0
def check_enemybase_in_range(self):
pos_x, pos_y = self.env.unwrapped.enemy_base(
)[0], self.env.unwrapped.enemy_base()[1]
scout = self.env.unwrapped.scout()
x_low = scout.float_attr.pos_x - self._judge_walkaround_dist
x_high = scout.float_attr.pos_x + self._judge_walkaround_dist
y_low = scout.float_attr.pos_y - self._judge_walkaround_dist
y_high = scout.float_attr.pos_y + self._judge_walkaround_dist
if pos_x > x_high or pos_x < x_low:
return False
if pos_y > y_high or pos_y < y_low:
return False
return True
def judge_walkAround(self):
if (not self._judge_walkaround) and (self.check_enemybase_in_range()):
self._judge_walkaround = True
def judge_back(self):
print("curr_explore_step:", self._curr_explore_step)
if self._judge_walkaround:
self._curr_explore_step += 1
if (not self._judge_back) and (self._curr_explore_step >
self._explore_step_required):
self._judge_back = True
