def test_spawner(spawner_limits, entity_counter, entity_type, entity_params):
playground = SingleRoom(size=(200, 200))
max_elem, prod_limit = spawner_limits
max_in_pg = min(spawner_limits)
spawner = Spawner(
entity_type,
playground.grid_rooms[0][0].get_area_sampler(),
entity_produced_params=entity_params,
probability=1,
max_elements_in_playground=max_in_pg,
production_limit=prod_limit,
)
playground.add_spawner(spawner)
engine = Engine(playground, time_limit=100)
while engine.game_on:
engine.step()
count = len(
[
elem
for elem in getattr(playground, entity_counter)
if isinstance(elem, entity_type)
]
)
assert count == max_in_pg
def test_portal(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
portal_1 = Portal(color=PortalColor.RED)
portal_2 = Portal(color=PortalColor.BLUE)
portal_3 = Portal(color=PortalColor.GREEN)
portal_4 = Portal(color=(50, 50, 50))
playground.add_agent(agent, ((100, 80), 0))
playground.add_element(portal_1, ((140, 80), math.pi))
playground.add_element(portal_2, ((50, 50), math.pi/2))
playground.add_element(portal_3, ((50, 120), -math.pi/2))
playground.add_element(portal_4, ((150, 160), math.pi))
portal_1.destination = portal_2
portal_3.destination = portal_4
engine = Engine(playground, time_limit=1000)
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
assert agent.position[1] == 160
assert agent.angle % (2 * math.pi) == math.pi
def test_grasping():
playground = SingleRoom(size=(200, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=True,
rotate=True,
lateral=False,
radius=10,
)
playground.add_agent(agent_1, ((100, 100), 0))
elem = Physical(config_key='circle', mass=5, radius=10, graspable=True)
initial_position_elem = ((100 + agent_1.base_platform.radius + elem.radius + 2, 100), 0)
playground.add_element(elem, initial_position_elem)
engine = Engine(playground)
actions = {agent_1: {agent_1.grasp: 1, agent_1.rotation_velocity: 1}}
engine.step(actions)
engine.step(actions)
assert (elem.position, elem.angle) != initial_position_elem
assert elem.held_by[0].part.agent is agent_1
engine.step()
assert not elem.held_by
def test_lock_key_door(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
playground.add_agent(agent, ((80, 100), 0))
door = Door(start_point=(180, 180), end_point=(160, 160), door_depth=5)
playground.add_element(door)
switch = ContactSwitch(door=door)
playground.add_element(switch, ((140, 100), 0))
engine = Engine(playground, time_limit=200)
# agent grasps and move forward
actions = {agent: { agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
assert door not in playground.elements
# agent stands still
engine.reset()
assert door in playground.elements
while engine.game_on:
engine.step()
assert door in playground.elements
def test_dispenser_limit(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
dispenser = Dispenser(
element_produced=Candy,
production_area=CoordinateSampler(center=(50, 100),
area_shape='circle',
radius=10),
production_limit=1,
invisible_range=40,
element_produced_params={'reward': 1})
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(dispenser, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
while engine.game_on:
if engine.elapsed_time < 50:
actions = {agent: {agent.activate: 1}}
else:
actions = {agent: {agent.longitudinal_force: -1.}}
engine.step(actions)
total_rew += agent.reward
assert total_rew == 1
def test_edible_apple(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
apple = Apple(reward=16,
shrink_ratio=0.5,
invisible_range=30 * 16,
min_reward=1)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(apple, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.activate: 1}}
for rew in [16, 8, 4, 2, 1]:
engine.step(actions)
assert agent.reward == rew
engine.step(actions)
assert agent.reward == 0
assert apple not in playground.elements
engine.reset()
for rew in [16, 8, 4, 2, 1]:
engine.step(actions)
assert agent.reward == rew
engine.step(actions)
assert agent.reward == 0
assert apple not in playground.elements
def test_openclose_switch(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
door = Door(start_point=(180, 180), end_point=(160, 160), door_depth=5)
playground.add_element(door, ((150, 150), 0))
switch_1 = OpenCloseSwitch(door=door, invisible_range=40)
playground.add_element(switch_1, ((140, 100), 0))
playground.add_agent(agent, ((100, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.activate: 1}}
engine.step(actions)
assert door not in playground.elements
engine.step(actions)
assert door in playground.elements
engine.step(actions)
assert door not in playground.elements
engine.step(actions)
assert door in playground.elements
def test_list_sensors():
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=False,
rotate=False,
lateral=False
)
sensor_1 = RgbCamera(anchor=agent_1.base_platform, invisible_elements=agent_1.parts, range=400)
sensor_2 = Lidar(anchor=agent_1.base_platform, invisible_elements=agent_1.parts, range=400)
sensor_3 = SemanticRay(anchor=agent_1.base_platform, invisible_elements=agent_1.parts, range=400)
agent_1.add_sensor(sensor_1)
agent_1.add_sensor(sensor_2)
agent_1.add_sensor(sensor_3)
playground.add_agent(agent_1, ((100, 100), 0))
disabler = SensorDisabler(disabled_sensor_types=[RgbCamera, SemanticRay])
playground.add_element(disabler, ((100, 100), 0))
engine = Engine(playground)
engine.step()
engine.update_observations()
for sensor in [sensor_1, sensor_2, sensor_3]:
if isinstance(sensor, RgbCamera):
assert sensor._disabled
assert np.all(sensor.sensor_values == sensor._get_null_sensor())
elif isinstance(sensor, SemanticRay):
assert sensor._disabled
assert sensor.sensor_values == sensor._get_null_sensor()
else:
assert not sensor._disabled
if isinstance(sensor.sensor_values, np.ndarray):
assert not np.all(sensor.sensor_values == sensor._get_null_sensor())
else:
assert not sensor.sensor_values == sensor._get_null_sensor()
def test_beam_orientation(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
beam = InvisibleBeam(destination=((50, 50), math.pi/2))
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(beam, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
assert agent.position[0] == 50
engine.terminate()
def test_reward_zone(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
healing_zone = HealingZone(reward=3, limit=31)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(healing_zone, ((100, 100), 0))
engine = Engine(playground, time_limit=50)
total_rew = 0
while engine.game_on:
engine.step()
total_rew += agent.reward
assert total_rew == 31
def test_termination_zone(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
goal = GoalZone(reward=100, size=(5, 5))
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(goal, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
assert agent.reward > 0
assert playground.done
def test_contact_candy(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
candy = Candy(reward=12)
playground.add_agent(agent, ((60, 100), 0))
playground.add_element(candy, ((160, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
total_rew += agent.reward
assert total_rew > 0
def test_reward_changer(reward, base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
color_1 = (100, 100, 0)
color_2 = (0, 100, 100)
colors = [color_1, color_2]
durations = [3, 4]
roa = RewardOnActivation(reward=reward)
change = FlipReward(textures=colors, element_changed=roa)
timer = PeriodicTimer(durations=durations)
playground.add_agent(agent, ((80, 100), 0))
playground.add_element(
roa, ((80 + agent.base_platform.radius + roa.radius + 2, 100), 0))
playground.add_element(change, ((40, 40), 0))
playground.add_timer(timer, change)
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.activate: 1}}
index_color = 0
while engine.game_on:
sign = 1
for d in durations:
for t in range(d - 1):
engine.step(actions)
assert change.texture.base_color == colors[index_color]
assert agent.reward == sign * reward
sign *= -1
index_color = (index_color + 1) % len(colors)
engine.step(actions)
assert change.texture.base_color == colors[index_color]
assert agent.reward == sign * reward
def test_vending_machine(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
playground.add_agent(agent, ((80, 100), 0))
vending = VendingMachine(quantity_rewards=3, reward=10)
playground.add_element(vending, ((140, 100), 0))
coin = Coin(graspable=True, vending_machine=vending, radius=5)
playground.add_element(
coin, ((80 + agent.base_platform.radius + coin.radius + 2, 100), 0))
engine = Engine(playground, time_limit=100)
# agent grasps and move forward
total_rew = 0
actions = {agent: {agent.grasp: 1, agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
total_rew += agent.reward
assert total_rew == 10
assert not agent.grasped_elements
engine.step(actions)
assert not agent.grasped_elements
# test reset
engine.reset()
total_rew = 0
while engine.game_on:
actions = {agent: {agent.grasp: 1, agent.longitudinal_force: 1}}
engine.step(actions)
total_rew += agent.reward
assert total_rew > 0
# agent stands still
engine.reset()
total_rew = 0
while engine.game_on:
engine.step()
total_rew += agent.reward
assert total_rew == 0
def test_disable_communication_receiver():
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=False,
rotate=False,
lateral=False
)
agent_2 = BaseAgent(
controller=External(),
interactive=False,
rotate=False,
lateral=False
)
comm_1 = CommunicationDevice(agent_1.base_platform)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform)
agent_2.add_communication(comm_2)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((200, 100), 0))
disabler = CommunicationDisabler()
playground.add_element(disabler, ((200, 100), 0))
assert agent_1.communication
assert agent_2.communication
engine = Engine(playground)
messages = [(comm_1, 'test', comm_2)]
engine.step(messages=messages)
assert not comm_1._disabled
assert comm_2._disabled
assert comm_2.received_message == []
def test_beam_area(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
area = CoordinateSampler(center=(50, 50), area_shape='rectangle', size=(20, 20))
beam = InvisibleBeam(destination=area)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(beam, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.longitudinal_force: 1}}
while not agent.has_teleported:
engine.step(actions)
assert 30 <= agent.position[0] <= 80
assert 30 <= agent.position[1] <= 80
def test_contact_termination(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
goal = VisibleEndGoal(reward=100)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(goal, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
actions = {agent: {agent.longitudinal_force: 1}}
while engine.game_on:
engine.step(actions)
total_rew += agent.reward
assert total_rew > 0
assert playground.done
def test_beam_homing(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
destination = Physical(config_key='pentagon')
playground.add_element(destination, ((70, 70), 0))
beam = VisibleBeamHoming(destination=destination, invisible_range=4)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(beam, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.longitudinal_force: 1}}
while not agent.has_teleported:
engine.step(actions)
assert agent.position.get_distance(destination.position) < agent.base_platform.radius + destination.radius + 4 + 3
def test_reward_on_activation(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
roa = RewardOnActivation(reward=5, quantity_rewards=10, invisible_range=40)
playground.add_agent(agent, ((100, 100), 0))
playground.add_element(roa, ((140, 100), 0))
engine = Engine(playground, time_limit=100)
total_rew = 0
actions = {agent: {agent.activate: 1}}
while engine.game_on:
engine.step(actions)
total_rew += agent.reward
assert total_rew == 50
def test_moving_element(basic_element):
playground = SingleRoom(size=(200, 200))
agent = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
actions = {agent: {agent.longitudinal_force: 1.}}
playground.add_agent(agent, ((50, 100), 0))
playground.add_element(basic_element, ((100, 100), 0))
engine = Engine(playground, time_limit=100)
while engine.game_on:
engine.step(actions)
if basic_element.movable:
assert agent.position[0] > 100
assert basic_element.position[0] > 100
else:
assert basic_element.position[0] == 100
def test_transmission_range(range_1, range_2, distance, in_range):
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_2 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
comm_1 = CommunicationDevice(agent_1.base_platform, range_1)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform, range_2)
agent_2.add_communication(comm_2)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((100 + distance, 100), 0))
assert agent_1.communication
assert agent_2.communication
assert comm_1.in_transmission_range(comm_2) is in_range
assert comm_2.in_transmission_range(comm_1) is in_range
engine = Engine(playground)
messages = [(comm_1, 'test', comm_2)]
engine.step(messages=messages)
if in_range:
assert comm_2.received_message == [(comm_1, 'test')]
else:
assert comm_2.received_message == []
def test_chest(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
playground.add_agent(agent, ((80, 100), 0))
chest = Chest(treasure=Candy())
playground.add_element(chest, ((140, 100), 0))
key = Key(graspable=True, locked_elem=chest, radius=5)
playground.add_element(
key, ((80 + agent.base_platform.radius + key.radius + 2, 100), 0))
engine = Engine(playground, time_limit=200)
# agent grasps and move forward
total_rew = 0
while engine.game_on:
actions = {agent: {agent.grasp: 1, agent.longitudinal_force: 1}}
engine.step(actions)
total_rew += agent.reward
assert total_rew > 0
# agent stands still
engine.reset()
total_rew = 0
while engine.game_on:
engine.step()
total_rew += agent.reward
assert total_rew == 0
def test_lock_key_door(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
playground.add_agent(agent, ((80, 100), 0))
door = Door(start_point=(180, 180), end_point=(160, 160), door_depth=5)
playground.add_element(door)
lock = Lock(door)
playground.add_element(lock, ((140, 100), 0))
key = Key(graspable=True, locked_elem=lock, radius=5)
playground.add_element(
key, ((80 + agent.base_platform.radius + key.radius + 2, 100), 0))
engine = Engine(playground, time_limit=200)
# agent grasps and move forward
while engine.game_on:
actions = {agent: {agent.grasp: 1, agent.longitudinal_force: 1}}
engine.step(actions)
assert door not in playground.elements
# agent stands still
engine.reset()
assert door in playground.elements
while engine.game_on:
engine.step()
assert door in playground.elements
def test_color_changing(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
color_1 = (100, 100, 0)
color_2 = (0, 100, 100)
color_3 = (20, 200, 2)
colors = [color_1, color_2, color_3]
durations = [3, 4, 5]
elem = ColorChanging(textures=colors)
playground.add_agent(agent, ((80, 100), 0))
playground.add_element(
elem, ((80 + agent.base_platform.radius + elem.radius + 2, 100), 0))
timer = PeriodicTimer(durations=durations)
playground.add_timer(timer, elem)
engine = Engine(playground, time_limit=100)
while engine.game_on:
index_color = 0
for d in durations:
for _ in range(d):
assert elem.texture.base_color == colors[index_color]
engine.step()
index_color += 1
assert elem.texture.base_color == colors[0]
def test_grasping_sensor():
playground = SingleRoom(size=(200, 200))
agent_1 = BaseAgent(
controller=External(),
interactive=True,
rotate=True,
lateral=False,
radius=10,
)
rgb = RgbCamera(anchor=agent_1.base_platform)
agent_1.add_sensor(rgb)
playground.add_agent(agent_1, ((100, 100), 0))
elem = Physical(config_key='circle', mass=5, radius=10, graspable=True)
initial_position_elem = ((100 + agent_1.base_platform.radius + elem.radius + 2, 100), 0)
playground.add_element(elem, initial_position_elem)
engine = Engine(playground)
engine.step()
engine.update_observations()
obs_1 = rgb.sensor_values[:]
actions = {agent_1: {agent_1.grasp: 1}}
engine.step(actions)
engine.update_observations()
obs_2 = rgb.sensor_values[:]
engine.update_observations(grasped_invisible=True)
obs_3 = rgb.sensor_values[:]
assert (obs_1 == obs_2).all()
assert (obs_3 != obs_1).any()
playground.remove_add_within(elems_remove=[elem], elems_add=[])
engine.step()
engine.update_observations()
obs_4 = rgb.sensor_values[:]
assert (obs_4 == obs_3).all()
def test_capacity():
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_2 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_3 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_4 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
comm_1 = CommunicationDevice(agent_1.base_platform, receiver_capacity=1)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform, receiver_capacity=2)
agent_2.add_communication(comm_2)
comm_3 = CommunicationDevice(agent_3.base_platform, receiver_capacity=3)
agent_3.add_communication(comm_3)
comm_4 = CommunicationDevice(agent_4.base_platform, receiver_capacity=2)
agent_4.add_communication(comm_4)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((180, 100), 0))
playground.add_agent(agent_3, ((200, 120), 0))
playground.add_agent(agent_4, ((100, 200), 0))
engine = Engine(playground)
# Broadcast message
msg_to_all_agents = [
(comm_1, 'test_1', None),
(comm_2, 'test_2', None),
(comm_3, 'test_3', None),
(comm_4, 'test_4', None),
]
engine.step(messages=msg_to_all_agents)
# Assert correct message length
assert len(comm_1.received_message) == 1
assert len(comm_2.received_message) == 2
assert len(comm_3.received_message) == 3
assert len(comm_4.received_message) == 2
# Assert priority is given to comm that are closer
assert comm_1.received_message == [(comm_2, 'test_2')]
assert comm_2.received_message == [(comm_3, 'test_3'), (comm_1, 'test_1')]
assert comm_3.received_message == [(comm_2, 'test_2'), (comm_1, 'test_1'),
(comm_4, 'test_4')]
def test_timer_switch(base_forward_interactive_agent_external):
playground = SingleRoom(size=(200, 200))
agent = base_forward_interactive_agent_external
door = Door(start_point=(180, 180), end_point=(160, 160), door_depth=5)
playground.add_element(door, ((150, 150), 0))
timer = CountDownTimer(duration=10)
switch_1 = TimerSwitch(door=door, invisible_range=40, timer=timer)
playground.add_element(switch_1, ((140, 100), 0))
playground.add_timer(timer, switch_1)
playground.add_agent(agent, ((100, 100), 0))
engine = Engine(playground, time_limit=100)
actions = {agent: {agent.activate: 1}}
assert door in playground.elements
# Open a first time
engine.step(actions)
assert door not in playground.elements
for i in range(9):
engine.step()
assert door not in playground.elements
engine.step()
assert door in playground.elements
# Open a second time
engine.step(actions)
assert door not in playground.elements
for i in range(9):
engine.step()
assert door not in playground.elements
engine.step()
assert door in playground.elements
# Open multiple time time
engine.step(actions)
engine.step(actions)
engine.step(actions)
engine.step(actions)
assert door not in playground.elements
for i in range(9):
engine.step()
assert door not in playground.elements
engine.step()
assert door in playground.elements
import cv2
my_agent = HeadAgent(controller=Keyboard(), lateral=True, interactive=True)
#################################
for playground_name, pg_class in PlaygroundRegister.playgrounds['demo'].items(
):
pg = pg_class()
pg.add_agent(my_agent, allow_overlapping=False)
engine = Engine(playground=pg, debug=False)
while engine.game_on:
actions = {my_agent: my_agent.controller.generate_actions()}
engine.step(actions)
cv2.imshow('playground',
engine.generate_playground_image()[:, :, ::-1])
cv2.waitKey(1)
if my_agent.reward != 0:
print(my_agent.reward)
time.sleep(0.05)
pg.remove_agent(my_agent)
def test_directed_broadcast():
playground = SingleRoom(size=(300, 200))
agent_1 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_2 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_3 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
agent_4 = BaseAgent(controller=External(),
interactive=False,
rotate=False,
lateral=False)
comm_1 = CommunicationDevice(agent_1.base_platform, receiver_capacity=1)
agent_1.add_communication(comm_1)
comm_2 = CommunicationDevice(agent_2.base_platform, receiver_capacity=2)
agent_2.add_communication(comm_2)
comm_3 = CommunicationDevice(agent_3.base_platform, receiver_capacity=3)
agent_3.add_communication(comm_3)
comm_4 = CommunicationDevice(agent_4.base_platform, receiver_capacity=4)
agent_4.add_communication(comm_4)
playground.add_agent(agent_1, ((100, 100), 0))
playground.add_agent(agent_2, ((180, 100), 0))
playground.add_agent(agent_3, ((200, 120), 0))
playground.add_agent(agent_4, ((100, 200), 0))
engine = Engine(playground)
# Directed message
msg_to_single_agent = [(comm_1, 'test', comm_2)]
engine.step(messages=msg_to_single_agent)
assert comm_1.received_message == []
assert comm_2.received_message == [(comm_1, 'test')]
assert comm_3.received_message == []
assert comm_4.received_message == []
# No message, verify receivers are empty
engine.step()
assert comm_1.received_message == []
assert comm_2.received_message == []
assert comm_3.received_message == []
assert comm_4.received_message == []
# Broadcast message
msg_to_all_agents = [(comm_1, 'test', None)]
engine.step(messages=msg_to_all_agents)
assert comm_1.received_message == []
assert comm_2.received_message == [(comm_1, 'test')]
assert comm_3.received_message == [(comm_1, 'test')]
assert comm_4.received_message == [(comm_1, 'test')]
def run_drones(pg_width, n_agents):
n_elem_per_dim = int(pg_width / 100)
size_elem = 20
fps = 0
for run in range(N_RUNS):
pg = BasicUnmovable(size=(pg_width, pg_width), size_elements=size_elem, n_elements_per_dim=n_elem_per_dim)
for agent in range(n_agents):
my_agent = BaseAgent(controller=RandomContinuous(), lateral=False, rotate=True, interactive=False)
sem_cones = SemanticCones(anchor=my_agent.base_platform,
normalize=False,
n_cones=36,
rays_per_cone=4,
max_range=200,
fov=360)
my_agent.add_sensor(sem_cones)
lidar = Lidar(anchor= my_agent.base_platform,
normalize=False,
resolution=60,
max_range=300,
fov=180,
)
my_agent.add_sensor(lidar)
touch = Touch(anchor= my_agent.base_platform,
normalize=True,
fov=360,
max_range=5,
resolution=36)
my_agent.add_sensor(touch)
pos = Position(anchor=my_agent.base_platform)
my_agent.add_sensor(pos)
pg.add_agent(my_agent)
engine_ = Engine(playground=pg, time_limit=RUN_DURATION)
t_start = time.time()
while engine_.game_on:
actions = {}
for agent in pg.agents:
actions[agent] = agent.controller.generate_actions()
engine_.step(actions=actions)
engine_.update_observations()
t_end = time.time()
fps += (RUN_DURATION/ (t_end - t_start)) / N_RUNS
return fps
