def __init__(self, IP, AIPort, scenario_name, simulate_compression):
self.control_noise = True
self.SERVER_PLAT = "linux"
self.SERVER_IP = IP
self.SERVER_PORT = AIPort
self.connect_mode = 1
self.DURATION_INTERVAL = etc.DURATION_INTERVAL
self.simulate_compression = simulate_compression
self.scenario_name = scenario_name
self.mozi_service = MoziService(IP,
AIPort,
self.scenario_name,
connect_mode=self.connect_mode)
self.action_space = 4
self.action_max = 1
self.element_item_count = 7
self.observation_space = 7 * 2
self.last_situation_time = None
self.red_unit_list = None
self.blue_unit_list = None
self.observation = None
self.red_side_name = "红方"
self.blue_side_name = "蓝方"
def connect_mozi_server(self, websocket_Ip, websocket_port):
"""
连接墨子服务器
param ：
websocket_server 要连接的服务器的ip
websocket_port 要连接的服务器的端口
:return:
"""
pylog.info("connect_mozi_server")
if self.connect_mode == 1:
self.mozi_service = MoziService(websocket_Ip, websocket_port,
self.scenario_name)
return True
# server_address = r"ws://%s:%d/websocket" % ('60.205.207.206', 9998)
server_address = r"ws://%s:%d/websocket" % (websocket_Ip,
websocket_port)
pylog.info(server_address)
for i in range(10):
try:
self.websocket_connect = create_connection(server_address)
break
except:
pylog.info("can not connect to %s." % server_address)
time.sleep(2)
self.websocket_connect = None
#
if self.websocket_connect is None:
pylog.warning("Interrupted, can not connect to %s." %
server_address)
return False
#
self.websocket_connect.send("{\"RequestType\":\"StartServer\"}")
result = self.websocket_connect.recv()
print("connect server result:%s" % result)
jsons = json.loads(result)
self.ai_server = jsons['IP']
self.ai_port = jsons['AIPort']
self.mozi_task = MoziService(self.server_ip, self.aiPort,
self.scenario_name)
return True
class MoziEnv():
def __init__(self, IP, AIPort, scenario_name, simulate_compression):
self.control_noise = True
self.SERVER_PLAT = "linux"
self.SERVER_IP = IP
self.SERVER_PORT = AIPort
self.connect_mode = 1
self.DURATION_INTERVAL = etc.DURATION_INTERVAL
self.simulate_compression = simulate_compression
self.scenario_name = scenario_name
self.mozi_service = MoziService(IP,
AIPort,
self.scenario_name,
connect_mode=self.connect_mode)
self.action_space = 2
self.action_max = 1
self.observation_space = 3
self.last_situation_time = None
self.red_unit_list = None
self.blue_unit_list = None
self.observation = None
self.red_side_name = "美国海军"
self.blue_side_name = "俄罗斯海军"
def _init_red_unit_list(self):
side_name = self.red_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
side_dic = get_a_side_dic(side_guid, self.mozi_service.all_info_dict)
aircraft_list_dic = get_units_from_side(
side_guid, "CAircraft", self.mozi_service.all_info_dict)
for key in aircraft_list_dic:
ret_lt.append(key)
return ret_lt
def _init_blue_unit_list(self):
side_name = self.blue_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
submarine_list_dic = get_units_from_side(
side_guid, "CSubmarine", self.mozi_service.all_info_dict)
return ret_lt
def _init_unit_list(self):
self.red_unit_list = self._init_red_unit_list()
self.blue_unit_list = self._init_blue_unit_list()
def _get_a_side_observation(self, unit_list):
obs_lt = []
for key in unit_list:
unit = self.mozi_service.all_info_dict.get(key, "")
if unit:
obs_lt.append(unit["dLongitude"])
obs_lt.append(unit["dLatitude"])
obs_lt.append(unit["fCurrentHeading"])
else:
pylog.info("unit do not exist")
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
return obs_lt
def _get_blue_observation(self):
unit_list = self.blue_unit_list
obs_lt = self._get_a_side_observation(unit_list)
return obs_lt
def _get_red_observation(self):
unit_list = self.red_unit_list
obs_lt = self._get_a_side_observation(unit_list)
return obs_lt
def _get_observation(self):
red_obs_lt = self._get_red_observation()
self.observation = red_obs_lt
if self._check_aircraft_exist():
if etc.TRANS_DATA:
lt = []
lt.append(red_obs_lt[0] - etc.task_end_point["longitude"])
lt.append(red_obs_lt[1] - etc.task_end_point["latitude"])
lt.append(red_obs_lt[2] / 360)
return lt
return red_obs_lt
def _set_duration_interval(self):
self.mozi_service.mozi_task.sendAndRecv("Hs_OneTimeStop('Stop', %d)" %
self.DURATION_INTERVAL)
def _reset(self):
ret = self.mozi_service.suspend_simulate()
self.mozi_service.all_info_dict = {}
self.scenario = self.mozi_service.load_scenario(plat=self.SERVER_PLAT)
self._set_duration_interval()
ret = self.mozi_service.set_run_mode()
ret = self.mozi_service.set_simulate_compression(
self.simulate_compression)
ret = self.mozi_service.set_compression_mode(False)
self._run_simulate()
def _run_simulate(self):
pylog.info("run simulation")
return self.mozi_service.run_simulate()
def _check_duration(self):
update_situation_time = self.mozi_service.mozi_task.getCurrentTime()
if self.last_situation_time != None:
duration_time = float(update_situation_time) - float(
self.last_situation_time)
if int(duration_time) != self.DURATION_INTERVAL:
pylog.error(
"duration_time:%s is differet from etc.DURATION_INTERVAL:%s"
% (duration_time, self.DURATION_INTERVAL))
self.last_situation_time = update_situation_time
def _run_with_situation_data(self):
self.mozi_service.update_situation(self.scenario)
# self._check_duration()
def _get_waypoint_heading(self, last_heading, action_value):
current_heading = last_heading + action_value
if current_heading < 0:
current_heading += 360
if current_heading > 360:
current_heading -= 360
return current_heading
def _get_new_waypoint(self, heading, lat, lon, distance=20.0):
dic = get_point_with_point_bearing_distance(lat, lon, heading,
distance)
return dic
def _deal_point_data(self, waypoint):
if self.control_noise:
lon = str(
float(waypoint["longitude"]) + random.random() / 10.0 - 0.05)
lat = str(
float(waypoint["latitude"]) + random.random() / 10.0 - 0.05)
else:
lon = str(waypoint["longitude"]),
lat = str(waypoint["latitude"]),
return lon, lat
def _check_is_drop_sonobuoy(self, action_value):
if action_value[1].item() > 0:
return True
return False
def _get_aircraft_waypoint(self, action_value):
obs = self.observation
# pylog.info(obs)
longitude = obs[0]
latitude = obs[1]
heading = obs[2]
waypoint_heading = self._get_waypoint_heading(
heading, action_value[0].item() * 90)
waypoint = self._get_new_waypoint(waypoint_heading, latitude,
longitude)
distance = get_target_distance(latitude, longitude)
return waypoint, distance
def _execute_action(self, action_value):
waypoint, distance = self._get_aircraft_waypoint(action_value)
guid = self.red_unit_list[0]
aircraft = self.mozi_service.get_entity(guid)
if self._check_is_find_target():
target_guid = self._get_target_guid()
# aircraft.autoattack_target(target_guid, self.mozi_service.mozi_task)
aircraft.autoattack_target(target_guid)
else:
if distance < etc.target_radius:
if self._check_is_drop_sonobuoy(action_value):
# aircraft.drop_sonobuoy(self.red_side_name, "shallow", "active", self.mozi_service.mozi_task)
aircraft.drop_sonobuoy(self.red_side_name, "shallow",
"active")
lon, lat = self._deal_point_data(waypoint)
# aircraft.set_waypoint(self.red_side_name, guid, lon, lat, self.mozi_service.mozi_task)
aircraft.set_waypoint(self.red_side_name, guid, lon, lat)
def _check_done(self):
if not self._check_aircraft_exist():
return True
if not self._check_target_exist():
return True
return False
def _check_aircraft_exist(self):
obs = self.observation
for i in range(len(obs)):
if obs[i] != 0.0:
return True
return False
def _check_target_exist(self):
if not check_is_exist_target(etc.target_name,
self.mozi_service.all_info_dict):
return False
return True
def _get_target_guid(self):
target_name = etc.target_name
target_guid = get_target_contact_guid_from_target_name(
self.red_side_name, target_name, self.mozi_service.all_info_dict)
return target_guid
def _check_is_find_target(self):
target_guid = self._get_target_guid()
if target_guid:
pylog.info("find target_guid:%s" % target_guid)
return True
return False
def _get_distance_reward(self, action_value):
obs = self.observation
longitude = obs[0]
latitude = obs[1]
heading = obs[2]
distance = get_target_distance(latitude, longitude)
action_change_heading = action_value[0].item() * 90
reward = get_distance_reward(latitude, longitude, heading,
action_change_heading)
return reward, distance
def _get_reward(self, action_value):
reward = 0.0
distance_reward, distance = self._get_distance_reward(action_value)
reward += distance_reward
if distance < etc.target_radius:
if self._check_is_drop_sonobuoy(action_value):
# pylog.info("target area drop sonobuoy get 10.0 reward")
reward += 10.0
else:
if not self._check_aircraft_exist():
# pylog.info("aircraft is not exist get -100.0 reward")
reward += -100.0
if self._check_is_find_target():
# pylog.info("find target get 10.0 reward")
reward += 10.0
if not self._check_target_exist():
pylog.info("destroy target get 150.0 reward")
reward += 150.0
return reward
def reset(self):
self._reset()
self.mozi_service.init_situation(self.scenario)
self._init_unit_list()
obs = self._get_observation()
return np.array(obs)
def step(self, action):
self._execute_action(action)
self._run_with_situation_data()
obs = self._get_observation()
reward = self._get_reward(action)
done = self._check_done()
info = ""
return np.array(obs), reward, done, info
def connect_server(self):
if not self.mozi_service.connect_mozi_server(self.SERVER_IP,
self.SERVER_PORT):
return False
else:
return True
class Environment():
'''
环境
'''
def __init__(self, IP, AIPort, scenario_name, simulate_compression):
self.server_ip = IP
self.aiPort = AIPort
self.scenario_name = scenario_name
self.websocker_conn = None
self.mozi_server = None
self.scenario = None
self.connect_mode = 1
self.num = 1
self.simulate_compression = simulate_compression
#self.agent = CAgent()
def step(self):
'''
步长
主要用途：
单步决策的方法
根据环境态势数据改变战场环境
'''
time.sleep(1/3)
self.mozi_server.suspend_simulate()
self.mozi_server.update_situation(self.scenario)#数据更新
self.redside.static_update()#数据组合
self.blueside.static_update()
#写了一个my_step函数，用来执行动作
self.my_step(self.blueside)
self.mozi_server.run_simulate()
return self.scenario
def reset(self):
'''
重置函数
主要用途：
加载想定，
'''
self.mozi_server.suspend_simulate()
self.mozi_server.load_scenario("linux")
self.create_scenario()
self.mozi_server.init_situation(self.scenario)
self.redside = self.scenario.get_side_by_name('红方')# 获得红方的主对象
self.redside.static_construct() # 结构化平台返回数据，存入相应的实体属性中,
self.blueside = self.scenario.get_side_by_name('蓝方')# 获得蓝方的主对象
self.blueside.static_construct()
self.mozi_server.run_simulate()
self.mozi_server.set_simulate_compression(4) #设定推演步长
#为了便于区分，定义了一个新的函数my_prepeo,以实例化的推演方对象作为参数输入，对推演前的任务进行设置
self.my_prepro(self.blueside)
def create_scenario(self):
'''
建立一个想定对象
'''
self.scenario = CScenario(self.mozi_server)
def connect_mozi_server(self, websocket_Ip, websocket_port):
"""
连接墨子服务器
param ：
websocket_server 要连接的服务器的ip
websocket_port 要连接的服务器的端口
:return:
"""
pylog.info("connect_mozi_server")
if self.connect_mode == 1:
self.mozi_server = MoziService(self.server_ip ,self.aiPort,self.scenario_name)
return True
# server_address = r"ws://%s:%d/websocket" % ('60.205.207.206', 9998)
server_address = r"ws://%s:%d/websocket" % (websocket_Ip, websocket_port)
pylog.info(server_address)
for i in range(10):
try:
self.websocket_connect = create_connection(server_address)
break
except:
pylog.info("can not connect to %s." % server_address)
time.sleep(2)
self.websocket_connect = None
#
if self.websocket_connect is None:
pylog.warning("Interrupted, can not connect to %s." % server_address)
return False
#
self.websocket_connect.send("{\"RequestType\":\"StartServer\"}")
result = self.websocket_connect.recv()
print("connect server result:%s" % result)
jsons = json.loads(result)
self.ai_server = jsons['IP']
self.ai_port = jsons['AIPort']
self.mozi_task = MoziService(self.server_ip ,self.aiPort,self.scenario_name)
return True
def start(self):
'''
开始函数
主要用途：
1.连接服务器端
2.设置决策时间
3.设置智能体决策想定是否暂停
'''
self.connect_mozi_server(self.server_ip,self.aiPort)
self.mozi_server.set_run_mode()
self.mozi_server.one_time_stop(10)
def my_prepro(self,side):
'''
设置预先设定的任务
'''
#清空原本的想定任务
mission_keys=list(self.blueside.missions.keys())
for k in mission_keys:
self.blueside.delete_mission(k)
#记录信息，这部分是用来做条件判断
self.enm_miss=[]
#设置推演方条令，对水面自由开火，对空自由开火，电磁管控开
doctrine=side.get_doctrine()
doctrine.set_weapon_control_status_surface(0)
doctrine.set_weapon_control_status_air(0)
doctrine.set_em_control_status('Radar','Active')
#设置武器打击距离
#51
doctrine.set_weapon_release_authority(weapon_dbid='51',target_type='1999', quantity_salvo='1', shooter_salvo='1',firing_range='45')
doctrine.set_weapon_release_authority(weapon_dbid='51',target_type='2000', quantity_salvo='1', shooter_salvo='1',firing_range='45')
doctrine.set_weapon_release_authority(weapon_dbid='51',target_type='2001', quantity_salvo='1', shooter_salvo='1',firing_range='45')
#15
doctrine.set_weapon_release_authority(weapon_dbid='15',target_type='2200', quantity_salvo='1', shooter_salvo='1',firing_range='25')
doctrine.set_weapon_release_authority(weapon_dbid='15',target_type='2201', quantity_salvo='1', shooter_salvo='1',firing_range='25')
doctrine.set_weapon_release_authority(weapon_dbid='15',target_type='2202', quantity_salvo='1', shooter_salvo='1',firing_range='25')
doctrine.set_weapon_release_authority(weapon_dbid='15',target_type='2203', quantity_salvo='1', shooter_salvo='1',firing_range='25')
doctrine.set_weapon_release_authority(weapon_dbid='15',target_type='2204', quantity_salvo='1', shooter_salvo='1',firing_range='25')
doctrine.set_weapon_release_authority(weapon_dbid='15',target_type='1999', quantity_salvo='1', shooter_salvo='1',firing_range='20')
#第一个是空战巡逻任务，主要是执行对空作战的歼击机，进行空中巡逻。第二个是空战等待任务，
#创建空战任务飞机的巡逻区（以驱逐舰为中心的八边形，内径长80km）
a=0
ship=side.ships['6d829dba-2092-4b9d-a824-05ae1cb74c9b']
point_list='{type="AAW",Zone={'
for i in range(8):
temp=get_geopoint_from_distance(geo_point=(ship.dLatitude,ship.dLongitude), azimuth=22.5+i*45, distance_m=80*1000)
side.addReferencePoint('AAW_Attack'+str(i),temp[0],temp[1])
if i!=7:
point_list+=('"AAW_Attack'+str(i)+'",')
else:
point_list+=('"AAW_Attack'+str(i)+'"}}')
print(point_list)
side.add_mission('空战巡逻','Patrol',point_list)
#创建突击任务飞机的巡逻区（以驱逐舰为中心的八边形，内径长30km）
a=0
point_list='{type="AAW",Zone={'
for i in range(8):
temp=get_geopoint_from_distance(geo_point=(ship.dLatitude,ship.dLongitude), azimuth=22.5+i*45, distance_m=30*1000)
side.addReferencePoint('AAW_Wait'+str(i),temp[0],temp[1])
if i!=7:
point_list+=('"AAW_Wait'+str(i)+'",')
else:
point_list+=('"AAW_Wait'+str(i)+'"}}')
side.add_mission('空战等待','Patrol',point_list)
#创建突击任务
side.add_mission('对水攻击','STRIKE',"{type='LAND'}")
#对每类飞机设置标签，记录当前信息。
self.AAW_Attack={}
self.AAW_Wait={}
for k,v in side.aircrafts.items():
temp=v.strName.split('#')
if int(temp[1])>8:
self.AAW_Attack[k]={'空战巡逻':True}
else:
self.AAW_Wait[k]={'空战等待':True, '对水攻击':False}
#最后一行代码，是用来标记任务是否进行了设置，在step中会用到。
self.mission_setting=False
def get_enmInfo(self, side):
'''
获取探测信息
'''
#print(side.contacts)
airs=dict()
air_missiles=dict()
ship_missiles=dict()
defense_missiles=dict()
ships=dict()
for k,v in side.contacts.items():
temp=v.get_contact_info()
if temp['typed']==2:
ships[k]={'name':temp['name'],'fg':temp['fg'],'longitude':temp['longitude'],'latitude':temp['latitude'],
'alt':temp['altitude'],'heading':temp['heading'],'speed':temp['speed']}
if temp['typed']==1 and '导弹' in temp['name']:
air_missiles[k]={'name':temp['name'],'fg':temp['fg'],'longitude':temp['longitude'],'latitude':temp['latitude'],
'alt':temp['altitude'],'heading':temp['heading'],'speed':temp['speed']}
if temp['typed']==0:
airs[k]={'name':temp['name'],'fg':temp['fg'],'longitude':temp['longitude'],'latitude':temp['latitude'],
'alt':temp['altitude'],'heading':temp['heading'],'speed':temp['speed']}
if temp['typed']==1 and ('VAMPIRE' in temp['name'] or 'GuidedWeapon' in temp['name']):
ship_missiles[k]={'name':temp['name'],'fg':temp['fg'],'longitude':temp['longitude'],'latitude':temp['latitude'],
'alt':temp['altitude'],'heading':temp['heading'],'speed':temp['speed']}
if temp['typed']==1 and '防空' in temp['name'] :
defense_missiles[k]={'name':temp['name'],'fg':temp['fg'],'longitude':temp['longitude'],'latitude':temp['latitude'],
'alt':temp['altitude'],'heading':temp['heading'],'speed':temp['speed']}
#敌方飞机，舰船，空空弹，空地弹，地空弹
return airs,ships,air_missiles,ship_missiles,defense_missiles
def my_step(self,side):
'''
实现自身的规则设计
'''
#获得己方任务对象，根据我们之前定义的名字，拿到被对象化的任务实例
for k,v in side.missions.items():
if '巡逻' in v.strName:
AAW_Attack=v
elif '等待' in v.strName:
AAW_Wait=v
else:
LAND_Attack=v
#获取敌方实体信息，接下来是我自己写的一个函数，用来对敌方的信息进行抽取，我将其分为飞机、舰船，空空弹，反舰弹，防空弹五类。
airs,ships,air_missiles,ship_missiles,defense_missiles=self.get_enmInfo(side)
#记录敌方发射的空空弹
for k,v in air_missiles.items():
if k not in self.enm_miss:
self.enm_miss.append(k)
#获取敌方驱逐舰信息，我这里获取敌方的舰船guid，这个值是要传给打击任务的。
ship_target=None
for k,v in ships.items():
if '驱逐舰' in v['name']:
ship_target=k
#首次进入对任务的规则进行设置
if not self.mission_setting:
#巡逻任务：关闭三分之一，关闭防区外探测，设置单机编队，设置出航、阵位、攻击速度；设置高度。
AAW_Attack.set_one_third_rule('false')
AAW_Attack.set_OPA_check(False)
AAW_Attack.set_flight_size(FlightSize.One)
AAW_Attack.set_throttle_transit(Throttle.Cruise)
AAW_Attack.set_throttle_station(Throttle.Loiter)
AAW_Attack.set_throttle_attack(Throttle.Loiter)
AAW_Attack.set_transit_altitude(8000)
AAW_Attack.set_station_altitude(8000)
AAW_Attack.set_attack_altitude(8000)
AAW_Wait.set_one_third_rule('false')
AAW_Wait.set_OPA_check(False)
AAW_Wait.set_flight_size(FlightSize.One)
AAW_Wait.set_throttle_transit(Throttle.Cruise)
AAW_Wait.set_throttle_station(Throttle.Loiter)
AAW_Wait.set_throttle_attack(Throttle.Loiter)
AAW_Wait.set_transit_altitude(8000)
AAW_Wait.set_station_altitude(8000)
AAW_Wait.set_attack_altitude(8000)
#打击任务：设置单机编队,设置预先规划，添加打击目标，设置最小打击半径,设置多扇面攻击
LAND_Attack.set_flight_size(FlightSize.One)
LAND_Attack.set_preplan(True)
LAND_Attack.add_target([k])
LAND_Attack.set_min_strike_radius(30)
LAND_Attack.set_auto_planner(True)
self.mission_setting=True
#规则实现，根据敌方的空中防御力量，判断是否发起对水攻击任务
if len(self.enm_miss)>60 or len(airs)<3:
for k,v in self.AAW_Wait.items():
self.AAW_Wait[k]['对水攻击']=True
self.AAW_Wait[k]['空战等待']=False
else:
for k,v in self.AAW_Wait.items():
self.AAW_Wait[k]['对水攻击']=False
self.AAW_Wait[k]['空战等待']=True
#获取任务的分配单元
AAW_Attack_list=AAW_Attack.get_assigned_mission()
AAW_Wait_list=AAW_Wait.get_assigned_mission()
LAND_Attack_target=LAND_Attack.get_targets()
LAND_Attack_list=LAND_Attack.get_assigned_mission()
#根据存储标识，将飞机分向指定任务
for k,v in self.AAW_Attack.items():
if k not in AAW_Attack_list and self.AAW_Attack[k]['空战巡逻']:
#先清空出之前的任务
if k in LAND_Attack_list:
LAND_Attack.scenEdit_unAssignUnitFromMission(k)
#在分配至新任务
AAW_Attack.assignUnitToMission(k)
for k,v in self.AAW_Wait.items():
if k not in AAW_Wait_list and self.AAW_Wait[k]['空战等待']:
side.aircrafts[k].delete_coursed_point(clear=True)
#先清空出之前的任务
if k in LAND_Attack_list:
LAND_Attack.scenEdit_unAssignUnitFromMission(k)
AAW_Wait.assignUnitToMission(k)
if k not in LAND_Attack_list and self.AAW_Wait[k]['对水攻击']:
#先清空出之前的任务
if k in AAW_Wait_list:
AAW_Wait.scenEdit_unAssignUnitFromMission(k)
LAND_Attack.assignUnitToMission(k)
def get_mysideInfo(self, side):
'''
传入推演方
输出：
{
'ships':{guid:{}},
'airs':{guid:{}},
'ship_missiles':{guid:{}},
'air_missiles': {guid:{}}
}
'''
ships=dict()
airs=dict()
missiles=dict()
for k,v in side.ships.items():
ships[k]={'latitude':v.dLatitude,'longitude':v.dLongitude,'name':v.strName}
for k,v in side.aircrafts.items():
airs[k]={'latitude':v.dLatitude,'longitude':v.dLongitude,'alt':v.fCurrentAlt,
'speed':v.fDesiredSpeed,'name':v.strName}
for k,v in side.weapons.items():
missiles[k]={'latitude':v.dLatitude,'longitude':v.dLongitude,'alt':v.fCurrentAlt,
'speed':v.fDesiredSpeed,'target':v.m_PrimaryTargetGuid,'from':v.m_FiringUnitGuid,'name':v.strName}
return ships,airs, missiles
class MoziEnv():
def __init__(self, IP, AIPort, scenario_name, simulate_compression):
self.control_noise = True
self.SERVER_PLAT = "linux"
self.SERVER_IP = IP
self.SERVER_PORT = AIPort
self.connect_mode = 1
self.DURATION_INTERVAL = etc.DURATION_INTERVAL
self.simulate_compression = simulate_compression
self.scenario_name = scenario_name
self.mozi_service = MoziService(IP,
AIPort,
self.scenario_name,
connect_mode=self.connect_mode)
self.action_space = 4
self.action_max = 1
self.element_item_count = 8
self.observation_space = self.element_item_count * 4 # two red aircraft, two blue aircraft
self.last_situation_time = None
self.red_unit_list = None
self.blue_unit_list = None
self.observation = None
self.red_side_name = "红方"
self.blue_side_name = "蓝方"
self.last_red_aircraft_num = 0
self.last_blue_aircraft_num = 0
self.red_aircraft_num = 0
self.blue_aircraft_num = 0
def _get_mounts_guid_lt(self, item_dic):
mounts_str = item_dic["m_Mounts"]
guid_lt = mounts_str.split("@")
#pylog.info("%s mounts guid:%s" %(item_dic["strUnitClass"], guid_lt))
return guid_lt
def _get_loadout_guid_lt(self, item_dic):
mounts_str = item_dic["m_LoadoutGuid"]
guid_lt = mounts_str.split("@")
#pylog.info("%s loadout guid:%s" %(item_dic["strUnitClass"], guid_lt))
return guid_lt
def _show_mounts_info(self, mounts_guid_lt):
for mounts_guid in mounts_guid_lt:
pylog.info("mount guid:%s" % mounts_guid)
item = self.mozi_service.all_info_dict[mounts_guid]
for key in item:
pylog.info("%s:%s" % (key, item[key]))
def _show_loadout_info(self, guid_lt):
for loadout_guid in guid_lt:
pylog.info("loadout guid:%s" % loadout_guid)
item = self.mozi_service.all_info_dict[loadout_guid]
pylog.info("strName:%s" % item["strName"])
pylog.info("m_AircraftGuid:%s" % item["m_AircraftGuid"])
pylog.info("strLoadWeaponCount:%s" % item["strLoadWeaponCount"])
pylog.info("m_LoadRatio:%s" % item["m_LoadRatio"])
#for key in item:
# pylog.info("%s:%s" % (key, item[key]))
def _init_red_unit_list(self):
side_name = self.red_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
side_dic = get_a_side_dic(side_guid, self.mozi_service.all_info_dict)
aircraft_list_dic = get_units_from_side(
side_guid, "CAircraft", self.mozi_service.all_info_dict)
for key in aircraft_list_dic:
item = aircraft_list_dic[key]
if item["strUnitClass"] == '苏-35S型“超级侧卫”战斗机':
ret_lt.append(key)
return ret_lt
def _init_blue_unit_list(self):
side_name = self.blue_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
side_dic = get_a_side_dic(side_guid, self.mozi_service.all_info_dict)
aircraft_list_dic = get_units_from_side(
side_guid, "CAircraft", self.mozi_service.all_info_dict)
for key in aircraft_list_dic:
item = aircraft_list_dic[key]
if item["strUnitClass"] == 'F-15E型“攻击鹰式”战斗机':
ret_lt.append(key)
return ret_lt
def _show_mounts_and_loadout(self):
for guid in self.blue_unit_list:
item = self.mozi_service.all_info_dict.get(guid, "")
if item != "":
mounts_guid_lt = self._get_mounts_guid_lt(item)
#self._show_mounts_info(mounts_guid_lt)
loadout_guid_lt = self._get_loadout_guid_lt(item)
self._show_loadout_info(loadout_guid_lt)
for guid in self.red_unit_list:
item = self.mozi_service.all_info_dict.get(guid, "")
if item != "":
mounts_guid_lt = self._get_mounts_guid_lt(item)
#self._show_mounts_info(mounts_guid_lt)
loadout_guid_lt = self._get_loadout_guid_lt(item)
self._show_loadout_info(loadout_guid_lt)
def _init_unit_list(self):
self.red_unit_list = self._init_red_unit_list()
#pylog.info(len(self.red_unit_list))
self.last_red_aircraft_num = len(self.red_unit_list)
self.blue_unit_list = self._init_blue_unit_list()
#pylog.info(len(self.blue_unit_list))
self.last_blue_aircraft_num = len(self.blue_unit_list)
def _get_a_side_observation(self, unit_list):
obs_lt = []
num = 0
for key in unit_list:
unit = self.mozi_service.all_info_dict.get(key, "")
if unit:
obs_lt.append(unit["fFuelConsumptionCruise"])
obs_lt.append(unit["dLongitude"])
obs_lt.append(unit["dLatitude"])
obs_lt.append(unit["fCurrentHeading"])
obs_lt.append(unit["fCurrentSpeed"])
obs_lt.append(unit["fCurrentAlt"])
obs_lt.append(unit["fPitch"])
obs_lt.append(unit["fRoll"])
num += 1
else:
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
return obs_lt, num
def _get_blue_observation(self):
unit_list = self.blue_unit_list
obs_lt, num = self._get_a_side_observation(unit_list)
self.blue_aircraft_num = num
return obs_lt
def _get_red_observation(self):
unit_list = self.red_unit_list
obs_lt, num = self._get_a_side_observation(unit_list)
self.red_aircraft_num = num
return obs_lt
def _get_observation(self):
red_obs_lt = self._get_red_observation()
#pylog.info(red_obs_lt)
blue_obs_lt = self._get_blue_observation()
#pylog.info(blue_obs_lt)
red_obs_lt.extend(blue_obs_lt)
#pylog.info(red_obs_lt)
self.observation = red_obs_lt
return red_obs_lt
def _set_duration_interval(self):
self.mozi_service.mozi_task.sendAndRecv("Hs_OneTimeStop('Stop', %d)" %
self.DURATION_INTERVAL)
def _reset(self):
ret = self.mozi_service.suspend_simulate()
self.mozi_service.all_info_dict = {}
self.scenario = self.mozi_service.load_scenario(plat=self.SERVER_PLAT)
self._set_duration_interval()
ret = self.mozi_service.set_run_mode()
ret = self.mozi_service.set_simulate_compression(
self.simulate_compression)
ret = self.mozi_service.set_compression_mode(False)
self._run_simulate()
def _run_simulate(self):
pylog.info("run simulation")
return self.mozi_service.run_simulate()
def _check_duration(self):
update_situation_time = self.mozi_service.mozi_task.getCurrentTime()
if self.last_situation_time != None:
duration_time = float(update_situation_time) - float(
self.last_situation_time)
if int(duration_time) != self.DURATION_INTERVAL:
pylog.error(
"duration_time:%s is differet from etc.DURATION_INTERVAL:%s"
% (duration_time, self.DURATION_INTERVAL))
self.last_situation_time = update_situation_time
def _run_with_situation_data(self):
self.mozi_service.update_situation(self.scenario)
#self._check_duration()
def _get_waypoint_heading(self, last_heading, action_value):
current_heading = last_heading + action_value
if current_heading < 0:
current_heading += 360
if current_heading > 360:
current_heading -= 360
return current_heading
def _get_new_waypoint(self, heading, lat, lon, distance=20.0):
dic = get_point_with_point_bearing_distance(lat, lon, heading,
distance)
return dic
def _deal_point_data(self, waypoint):
if self.control_noise:
lon = str(
float(waypoint["longitude"]) + random.random() / 10.0 - 0.05)
lat = str(
float(waypoint["latitude"]) + random.random() / 10.0 - 0.05)
else:
lon = str(waypoint["longitude"]),
lat = str(waypoint["latitude"]),
return lon, lat
def _check_is_drop_sonobuoy(self, action_value):
if action_value[1].item() > 0:
return True
return False
def _get_aircraft_waypoint(self, action_value):
obs = self.observation
#pylog.info(obs)
longitude = obs[0]
latitude = obs[1]
heading = obs[2]
#waypoint_heading = self._get_waypoint_heading(heading, action_value[0].item() * 90)
waypoint_heading = self._get_waypoint_heading(heading,
action_value * 90)
waypoint = self._get_new_waypoint(waypoint_heading, latitude,
longitude)
distance = get_target_distance(latitude, longitude)
return waypoint, distance
def _get_a_aircraft_waypoint(self, obs_item, action_value):
longitude = obs_item[0]
latitude = obs_item[1]
heading = obs_item[2]
waypoint_heading = self._get_waypoint_heading(heading,
action_value * 90)
#pylog.info("waypoint_heading:%s" % waypoint_heading)
waypoint = self._get_new_waypoint(waypoint_heading, latitude,
longitude)
#pylog.info("waypoint:%s" % waypoint)
return waypoint
def _execute_action(self, action_value):
count = 0
for guid in self.red_unit_list:
#pylog.info(guid)
#pylog.info("observation:%s" % self.observation)
obs_item = self.observation[count *
self.element_item_count:(count + 1) *
self.element_item_count]
#pylog.info("obs_item:%s" % obs_item)
waypoint = self._get_a_aircraft_waypoint(
obs_item, action_value[count].item())
#pylog.info(waypoint)
aircraft = self.mozi_service.get_entity(guid)
if aircraft:
lon, lat = self._deal_point_data(waypoint)
aircraft.set_waypoint(self.red_side_name, guid, lon, lat)
#if True:
#aircraft.set_up_throttleI(self.mozi_service.mozi_task)
# aircraft.set_up_throttleI()
#else:
#aircraft.set_down_throttleI(self.mozi_service.mozi_task)
# aircraft.set_down_throttleI()
# if True:
# aircraft.set_up_Alt(self.mozi_service.mozi_task)
# else:
# aircraft.set_down_Alt(self.mozi_service.mozi_task)
else:
pylog.debug("aircraft:%s has been destroyed" % guid)
count += 1
# if self._check_is_find_target():
# target_guid = self._get_target_guid()
# aircraft.autoattack_target(target_guid, self.mozi_service.mozi_task)
# else:
# if distance < etc.target_radius:
# if self._check_is_drop_sonobuoy(action_value):
# aircraft.drop_sonobuoy(self.red_side_name, "shallow", "active", self.mozi_service.mozi_task)
# lon, lat = self._deal_point_data(waypoint)
# aircraft.set_waypoint(self.red_side_name, guid, lon, lat, self.mozi_service.mozi_task)
def _check_done(self):
if not self._check_red_aircraft_exist():
#pylog.info("do not has any red aircraft exit")
if not self._check_red_missile_exist():
#pylog.info("do not has any red missile exit")
return True
if not self._check_blue_aircraft_exist():
#pylog.info("do not has any blue aircraft exit")
if not self._check_blue_missile_exist():
#pylog.info("do not has any blue missile exit")
return True
return False
def _check_red_missile_exist(self):
if self._get_red_missile_num() != 0:
return True
return False
def _check_blue_missile_exist(self):
if self._get_blue_missile_num() != 0:
return True
return False
def _check_red_aircraft_exist(self):
obs = self.observation
for i in range(2 * self.element_item_count):
if obs[i] != 0.0:
return True
return False
def _check_blue_aircraft_exist(self):
obs = self.observation
for i in range(2 * self.element_item_count,
4 * self.element_item_count):
if obs[i] != 0.0:
return True
return False
def _check_target_exist(self):
if not check_is_exist_target(etc.target_name,
self.mozi_service.all_info_dict):
return False
return True
def _get_target_guid(self):
target_name = etc.target_name
target_guid = get_target_contact_guid_from_target_name(
self.red_side_name, target_name, self.mozi_service.all_info_dict)
return target_guid
def _get_reward(self, action_value):
reward = 0.0
# get reward -1 when loss an aircraft
reward += -(self.last_red_aircraft_num - self.red_aircraft_num) * 1
# get reward 1 when destroy an aircraft
reward += (self.last_blue_aircraft_num - self.blue_aircraft_num) * 1
self.last_red_aircraft_num = self.red_aircraft_num
self.last_blue_aircraft_num = self.blue_aircraft_num
if reward != 0.0:
pylog.info("reward:%s" % reward)
pylog.info(
"cur red aircraft num:%s cur blue aircraft num:%s" %
(self.last_red_aircraft_num, self.last_blue_aircraft_num))
pylog.info(
"cur red missile num:%s cur blue missile num:%s" %
(self._get_red_missile_num(), self._get_blue_missile_num()))
#self._show_mounts_and_loadout()
return reward
def _get_red_missile_num(self):
side_name = self.red_side_name
return self._get_missile_num(side_name)
def _get_missile_num(self, side_name):
missile_count = 0
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
side_dic = get_a_side_dic(side_guid, self.mozi_service.all_info_dict)
for key in side_dic:
if side_dic[key]["ClassName"] == "CWeapon":
missile_count += 1
#pylog.info(side_dic[key])
pylog.info("m_PrimaryTargetGuid:%s" %
side_dic[key]["m_PrimaryTargetGuid"])
pylog.info("m_FiringUnitGuid:%s" %
side_dic[key]["m_FiringUnitGuid"])
#for k in side_dic[key]:
# pylog.info("%s:%s" % (k, side_dic[key][k]))
return missile_count
def _get_blue_missile_num(self):
side_name = self.blue_side_name
return self._get_missile_num(side_name)
def reset(self):
self._reset()
self.mozi_service.init_situation(self.scenario)
self._init_unit_list()
obs = self._get_observation()
return np.array(obs)
def step(self, action):
self._execute_action(action)
self._run_with_situation_data()
obs = self._get_observation()
reward = self._get_reward(action)
done = self._check_done()
info = ""
return np.array(obs), reward, done, info
def connect_server(self):
if not self.mozi_service.connect_mozi_server(self.SERVER_IP,
self.SERVER_PORT):
return False
else:
return True
class MoziEnv():
def __init__(self, IP, AIPort, scenario_name, simulate_compression):
self.control_noise = True
self.SERVER_PLAT = "linux"
self.SERVER_IP = IP
self.SERVER_PORT = AIPort
self.connect_mode = 1
self.DURATION_INTERVAL = etc.DURATION_INTERVAL
self.simulate_compression = simulate_compression
self.scenario_name = scenario_name
self.mozi_service = MoziService(IP,
AIPort,
self.scenario_name,
connect_mode=self.connect_mode)
self.action_space = 4
self.action_max = 1
self.observation_space = 4 * 3
self.element_item_count = 4
self.last_situation_time = None
self.red_unit_list = None
self.blue_unit_list = None
self.observation = None
self.red_side_name = "红方"
self.blue_side_name = "蓝方"
def connect_server(self):
if not self.mozi_service.connect_mozi_server(self.SERVER_IP,
self.SERVER_PORT):
return False
else:
return True
def _init_red_unit_list(self):
side_name = self.red_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
side_dic = get_a_side_dic(side_guid, self.mozi_service.all_info_dict)
redfacility_list_dic = get_units_from_side(
side_guid, "CFacility", self.mozi_service.all_info_dict)
for key in redfacility_list_dic:
ret_lt.append(key)
return ret_lt
def _init_blue_unit_list(self):
side_name = self.blue_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
blufacility_list_dic = get_units_from_side(
side_guid, "CFacility", self.mozi_service.all_info_dict)
for key in blufacility_list_dic:
ret_lt.append(key)
return ret_lt
def _init_unit_list(self): # 方法生成属性
self.red_unit_list = self._init_red_unit_list()
self.blue_unit_list = self._init_blue_unit_list()
def _get_a_side_observation(self, unit_list):
obs_lt = []
for key in unit_list:
unit = self.mozi_service.all_info_dict.get(key, "")
if unit:
obs_lt.append(unit["dLongitude"])
obs_lt.append(unit["dLatitude"])
obs_lt.append(unit["fCurrentSpeed"])
obs_lt.append(unit["fCurrentHeading"])
else:
pylog.info("unit do not exist")
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
return obs_lt
def _get_blue_observation(self):
unit_list = self.blue_unit_list
obs_lt = self._get_a_side_observation(unit_list)
return obs_lt
def _get_red_observation(self):
unit_list = self.red_unit_list
obs_lt = self._get_a_side_observation(unit_list)
return obs_lt
def _get_observation(self):
red_obs_lt = self._get_red_observation()
self.observation = red_obs_lt
if not self._check_tank_exist():
if etc.TRANS_DATA:
lt = []
lt.append(red_obs_lt[0] - etc.task_end_point["longitude"])
lt.append(red_obs_lt[1] - etc.task_end_point["latitude"])
lt.append(red_obs_lt[2] / 360)
return lt
return red_obs_lt
def _set_duration_interval(self):
self.mozi_service.mozi_task.sendAndRecv("Hs_OneTimeStop('Stop', %d)" %
self.DURATION_INTERVAL)
def _reset(self):
ret = self.mozi_service.suspend_simulate()
self.mozi_service.all_info_dict = {}
self.scenario = self.mozi_service.load_scenario(plat=self.SERVER_PLAT)
self._set_duration_interval()
ret = self.mozi_service.set_run_mode()
ret = self.mozi_service.set_simulate_compression(
self.simulate_compression)
ret = self.mozi_service.set_compression_mode(False)
self._run_simulate()
def _run_simulate(self):
pylog.info("run simulation")
return self.mozi_service.run_simulate()
def _check_duration(self):
update_situation_time = self.mozi_service.mozi_task.getCurrentTime()
if self.last_situation_time != None:
duration_time = float(update_situation_time) - float(
self.last_situation_time)
if int(duration_time) != self.DURATION_INTERVAL:
pylog.error(
"duration_time:%s is differet from etc.DURATION_INTERVAL:%s"
% (duration_time, self.DURATION_INTERVAL))
self.last_situation_time = update_situation_time
def _run_with_situation_data(self):
self.mozi_service.update_situation(self.scenario)
# self._check_duration()
def _get_waypoint_heading(self, last_heading, action_value):
current_heading = last_heading + action_value
if current_heading < 0:
current_heading += 360
if current_heading > 360:
current_heading -= 360
return current_heading
def _get_new_waypoint(self, heading, lat, lon, distance=20.0):
dic = get_point_with_point_bearing_distance(lat, lon, heading,
distance)
return dic
def _deal_point_data(self, waypoint):
if self.control_noise:
lon = str(
float(waypoint["longitude"]) + random.random() / 10.0 - 0.05)
lat = str(
float(waypoint["latitude"]) + random.random() / 10.0 - 0.05)
else:
lon = str(waypoint["longitude"]),
lat = str(waypoint["latitude"]),
return lon, lat
def _get_tank_waypoint(self, obs, action_value):
longitude = obs[0]
latitude = obs[1]
heading = obs[2]
waypoint_heading = self._get_waypoint_heading(heading,
action_value * 90)
waypoint = self._get_new_waypoint(waypoint_heading, latitude,
longitude)
distance = get_target_distance(latitude, longitude)
return waypoint, distance
def _execute_action(self, action_value):
pylog.info(action_value)
count = 0
for guid in self.red_unit_list:
obs_item = self.observation[count *
self.element_item_count:(count + 1) *
self.element_item_count]
waypoint, distance = self._get_tank_waypoint(
obs_item, action_value[count].item())
tank = self.mozi_service.get_entity(guid)
if distance < etc.target_radius:
target_guid = self._get_target_guid(
) # 只有1个，如果一个red， 可以检测到多个怎么办？
tank.fac_attack_auto(target_guid)
else:
if tank:
lon, lat = self._deal_point_data(waypoint)
tank.set_waypoint(self.red_side_name, guid, lon, lat)
count += 1
def _check_done(self):
if not self._check_tank_exist():
return True
if not self._check_target_exist():
return True
return False
def _check_tank_exist(self):
obs = self.observation
for i in range(len(obs)):
if obs[i] != 0.0:
return True
return False
def _check_target_exist(self):
if not check_is_exist_target(etc.target_name,
self.mozi_service.all_info_dict):
return False
return True
def _get_target_guid(self):
target_name = etc.target_name
target_guid = get_target_contact_guid_from_target_name(
self.red_side_name, target_name, self.mozi_service.all_info_dict)
return target_guid
def _check_is_find_target(self):
target_guid = self._get_target_guid()
if target_guid:
pylog.info("find target_guid:%s" % target_guid)
return True
return False
def _get_distance_reward(self, num, action_value):
obs = self.observation
longitude = obs[0]
latitude = obs[1]
heading = obs[2]
distance = get_target_distance(latitude, longitude)
# action_change_heading = action_value[0].item() * 90
action_change_heading = action_value[num].item() * 90
reward = get_distance_reward(latitude, longitude, heading,
action_change_heading)
return reward, distance
def _get_reward(self, action_value):
# reward = 0
sum_reward = []
count = 0
for i in range(len(self.red_unit_list)): # 一直是3个？，应该用更新后的。
reward = 0
distance_reward, distance = self._get_distance_reward(
i, action_value)
reward += distance_reward
if self._check_is_find_target():
reward += 10.0
if distance < etc.target_radius:
reward += 10.0
if not self._check_tank_exist():
reward += -100.0
# 红方打掉蓝方坦克， 加100
# if distance < etc.target_radius: # 其实就是距离的奖赏值。只不过在距离范围内，值增加的更多。保留。
# reward += 10.0
# # else:
# # if not self._check_tank_exist():
# # # pylog.info("tank is not exist get -100.0 reward")
# # reward += -100.0
# elif not self._check_tank_exist():
# reward += -100.0
# elif self._check_is_find_target():
# reward += 10.0
#
# elif not self._check_target_exist():
# pylog.info("destroy target get 150.0 reward")
# reward += 150.0
# else:
# print('没有用的else语句')
sum_reward.append(reward)
count += 1
return sum(sum_reward)
def reset(self):
self._reset()
self.mozi_service.init_situation(self.scenario)
self._init_unit_list()
obs = self._get_observation()
return np.array(obs)
def step(self, action):
self._execute_action(action)
self._run_with_situation_data() # 更新，update
obs = self._get_observation()
reward = self._get_reward(action)
done = self._check_done()
info = ""
return np.array(obs), reward, done, info
class MoziEnv():
def __init__(self, IP, AIPort, scenario_name, simulate_compression):
self.control_noise = True
self.SERVER_PLAT = "linux"
self.SERVER_IP = IP
self.SERVER_PORT = AIPort
self.connect_mode = 1
self.DURATION_INTERVAL = etc.DURATION_INTERVAL
self.simulate_compression = simulate_compression
self.scenario_name = scenario_name
self.mozi_service = None
self.action_space = 4
self.action_max = 1
self.observation_space = 4 * 3
self.element_item_count = 4
self.last_situation_time = None
self.red_unit_list = None
self.blue_unit_list = None
self.observation = None
self.red_side_name = "红方"
self.blue_side_name = "蓝方"
def connect_mozi_server(self, websocket_Ip, websocket_port):
"""
连接墨子服务器
param ：
websocket_server 要连接的服务器的ip
websocket_port 要连接的服务器的端口
:return:
"""
pylog.info("connect_mozi_server")
if self.connect_mode == 1:
self.mozi_service = MoziService(websocket_Ip, websocket_port,
self.scenario_name)
return True
# server_address = r"ws://%s:%d/websocket" % ('60.205.207.206', 9998)
server_address = r"ws://%s:%d/websocket" % (websocket_Ip,
websocket_port)
pylog.info(server_address)
for i in range(10):
try:
self.websocket_connect = create_connection(server_address)
break
except:
pylog.info("can not connect to %s." % server_address)
time.sleep(2)
self.websocket_connect = None
#
if self.websocket_connect is None:
pylog.warning("Interrupted, can not connect to %s." %
server_address)
return False
#
self.websocket_connect.send("{\"RequestType\":\"StartServer\"}")
result = self.websocket_connect.recv()
print("connect server result:%s" % result)
jsons = json.loads(result)
self.ai_server = jsons['IP']
self.ai_port = jsons['AIPort']
self.mozi_task = MoziService(self.server_ip, self.aiPort,
self.scenario_name)
return True
#def connect_server(self):
#if not self.mozi_service.connect_mozi_server(self.SERVER_IP, self.SERVER_PORT):
#return False
#else:
#return True
def _init_red_unit_list(self):
side_name = self.red_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
side_dic = get_a_side_dic(side_guid, self.mozi_service.all_info_dict)
redaircraft_list_dic = get_units_from_side(
side_guid, "CAircraft", self.mozi_service.all_info_dict)
for key in redaircraft_list_dic:
ret_lt.append(key)
return ret_lt
def _init_blue_unit_list(self):
side_name = self.blue_side_name
ret_lt = []
side_guid = get_side_guid_from_side_name(
side_name, self.mozi_service.all_info_dict)
blufacility_list_dic = get_units_from_side(
side_guid, "CFacility", self.mozi_service.all_info_dict)
for key in blufacility_list_dic:
ret_lt.append(key)
return ret_lt
def _init_unit_list(self): # 方法生成属性
self.red_unit_list = self._init_red_unit_list()
self.blue_unit_list = self._init_blue_unit_list()
def _get_a_side_observation(self, unit_list):
obs_lt = []
for key, unit in unit_list.items():
if unit:
obs_lt.append(unit.dLongitude)
obs_lt.append(unit.dLatitude)
obs_lt.append(unit.fCurrentSpeed)
obs_lt.append(unit.fCurrentHeading)
else:
pylog.info("unit do not exist")
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
obs_lt.append(0.0)
return obs_lt
def _get_blue_observation(self):
unit_list = self.blue_unit_list
obs_lt = self._get_a_side_observation(unit_list)
return obs_lt
def _get_red_observation(self):
'''
获取红方得态势信息
'''
side_dic = self.scenario.situation.side_dic
for key, side in side_dic.items():
if side.strName == '红方':
unit_list = side.get_all_unitinfo()
break
obs_lt = self._get_a_side_observation(unit_list)
return obs_lt
def _get_observation(self):
red_obs_lt = self._get_red_observation()
self.observation = red_obs_lt
if not self._check_tank_exist():
if etc.TRANS_DATA:
lt = []
lt.append(red_obs_lt[0] - etc.task_end_point["longitude"])
lt.append(red_obs_lt[1] - etc.task_end_point["latitude"])
lt.append(red_obs_lt[2] / 360)
return lt
return red_obs_lt
def _set_duration_interval(self):
self.mozi_service.sendAndRecv("Hs_OneTimeStop('Stop', %d)" %
self.DURATION_INTERVAL)
def _reset(self):
ret = self.mozi_service.suspend_simulate()
self.mozi_service.all_info_dict = {}
self.scenario = self.mozi_service.load_scenario(plat=self.SERVER_PLAT)
self._set_duration_interval()
ret = self.mozi_service.set_run_mode()
ret = self.mozi_service.set_simulate_compression(
self.simulate_compression)
ret = self.mozi_service.set_compression_mode(False)
self._run_simulate()
def _run_simulate(self):
pylog.info("run simulation")
return self.mozi_service.run_simulate()
def _check_duration(self):
update_situation_time = self.mozi_service.mozi_task.getCurrentTime()
if self.last_situation_time != None:
duration_time = float(update_situation_time) - float(
self.last_situation_time)
if int(duration_time) != self.DURATION_INTERVAL:
pylog.error(
"duration_time:%s is differet from etc.DURATION_INTERVAL:%s"
% (duration_time, self.DURATION_INTERVAL))
self.last_situation_time = update_situation_time
def _run_with_situation_data(self):
self.mozi_service.update_situation(self.scenario)
# self._check_duration()
def _get_waypoint_heading(self, last_heading, action_value):
current_heading = last_heading + action_value
if current_heading < 0:
current_heading += 360
if current_heading > 360:
current_heading -= 360
return current_heading
def _get_new_waypoint(self, heading, lat, lon, distance=20.0):
dic = get_point_with_point_bearing_distance(lat, lon, heading,
distance)
return dic
def _deal_point_data(self, waypoint):
if self.control_noise:
lon = str(
float(waypoint["longitude"]) + random.random() / 10.0 - 0.05)
lat = str(
float(waypoint["latitude"]) + random.random() / 10.0 - 0.05)
else:
lon = str(waypoint["longitude"]),
lat = str(waypoint["latitude"]),
return lon, lat
def _get_tank_waypoint(self, obs, action_value):
longitude = obs[0]
latitude = obs[1]
heading = obs[2]
waypoint_heading = self._get_waypoint_heading(heading,
action_value * 90)
waypoint = self._get_new_waypoint(waypoint_heading, latitude,
longitude)
distance = get_target_distance(latitude, longitude)
return waypoint, distance
def _execute_action(self, action_value):
pylog.info(action_value)
count = 0
for guid in self.red_unit_list:
obs_item = self.observation[count *
self.element_item_count:(count + 1) *
self.element_item_count]
waypoint, distance = self._get_tank_waypoint(
obs_item, action_value[count].item())
tank = self.mozi_service.get_entity(guid)
if distance < etc.target_radius:
target_guid = self._get_target_guid(
) # 只有1个，如果一个red， 可以检测到多个怎么办？
tank.fac_attack_auto(target_guid)
else:
if tank:
lon, lat = self._deal_point_data(waypoint)
tank.set_waypoint(self.red_side_name, guid, lon, lat)
count += 1
def _check_done(self):
if not self._check_tank_exist():
return True
if not self._check_target_exist():
return True
return False
def _check_tank_exist(self):
obs = self.observation
for i in range(len(obs)):
if obs[i] != 0.0:
return True
return False
def _check_target_exist(self):
if not check_is_exist_target(etc.target_name,
self.mozi_service.all_info_dict):
return False
return True
def _get_target_guid(self):
target_name = etc.target_name
target_guid = get_target_contact_guid_from_target_name(
self.red_side_name, target_name, self.mozi_service.all_info_dict)
return target_guid
def _check_is_find_target(self):
target_guid = self._get_target_guid()
if target_guid:
pylog.info("find target_guid:%s" % target_guid)
return True
return False
def _get_distance_reward(self, num, action_value):
obs = self.observation
longitude = obs[0]
latitude = obs[1]
heading = obs[2]
distance = get_target_distance(latitude, longitude)
# action_change_heading = action_value[0].item() * 90
action_change_heading = action_value[num].item() * 90
reward = get_distance_reward(latitude, longitude, heading,
action_change_heading)
return reward, distance
def _get_reward(self, action_value):
# reward = 0
sum_reward = []
count = 0
for i in range(len(self.red_unit_list)): # 一直是3个？，应该用更新后的。
reward = 0
distance_reward, distance = self._get_distance_reward(
i, action_value)
reward += distance_reward
if self._check_is_find_target():
reward += 10.0
if distance < etc.target_radius:
reward += 10.0
if not self._check_tank_exist():
reward += -100.0
# 红方打掉蓝方坦克， 加100
# if distance < etc.target_radius: # 其实就是距离的奖赏值。只不过在距离范围内，值增加的更多。保留。
# reward += 10.0
# # else:
# # if not self._check_tank_exist():
# # # pylog.info("tank is not exist get -100.0 reward")
# # reward += -100.0
# elif not self._check_tank_exist():
# reward += -100.0
# elif self._check_is_find_target():
# reward += 10.0
#
# elif not self._check_target_exist():
# pylog.info("destroy target get 150.0 reward")
# reward += 150.0
# else:
# print('没有用的else语句')
sum_reward.append(reward)
count += 1
return sum(sum_reward)
def reset(self):
self._reset()
self.mozi_service.init_situation(self.scenario)
#self._init_unit_list()
obs = self._get_observation()
return np.array(obs)
'''
#by aie
def step(self, action):
self._execute_action(action)
self._run_with_situation_data() # 更新，update
obs = self._get_observation()
reward = self._get_reward(action)
done = self._check_done()
info = ""
return np.array(obs), reward, done, info
'''
#by aie
def step(self):
self._run_with_situation_data() # 更新，update
return True