class Game(object):
def __init__(self,
scenario,
action_builder,
reward_values=None,
score_variable='FRAGCOUNT',
freedoom=True,
screen_resolution='RES_400X225',
screen_format='CRCGCB',
use_screen_buffer=True,
use_depth_buffer=False,
labels_mapping='',
game_features='',
mode='PLAYER',
player_rank=0,
players_per_game=1,
render_hud=False,
render_minimal_hud=False,
render_crosshair=True,
render_weapon=True,
render_decals=False,
render_particles=False,
render_effects_sprites=False,
respawn_protect=True,
spawn_farthest=True,
freelook=False,
name='Arnold',
color=0,
visible=False,
n_bots=0,
use_scripted_marines=None,
doom_skill=2):
"""
Create a new game.
score_variable: indicates in which game variable the user score is
stored. by default it's in FRAGCOUNT, but the score in ACS against
built-in AI bots can be stored in USER1, USER2, etc.
render_decals: marks on the walls
render_particles: particles like for impacts / traces
render_effects_sprites: gun puffs / blood splats
color: 0 - green, 1 - gray, 2 - brown, 3 - red, 4 - light gray,
5 - light brown, 6 - light red, 7 - light blue
"""
# game resources
game_filename = '%s.wad' % ('freedoom2' if freedoom else 'Doom2')
self.scenario_path = os.path.join(RESOURCES_DIR, 'scenarios',
'%s.wad' % scenario)
self.game_path = os.path.join(RESOURCES_DIR, game_filename)
# check parameters
assert os.path.isfile(self.scenario_path)
assert os.path.isfile(self.game_path)
assert hasattr(GameVariable, score_variable)
assert hasattr(ScreenResolution, screen_resolution)
assert hasattr(ScreenFormat, screen_format)
assert use_screen_buffer or use_depth_buffer
assert hasattr(Mode, mode)
assert not (render_minimal_hud and not render_hud)
assert len(name.strip()) > 0 and color in range(8)
assert n_bots >= 0
assert (type(use_scripted_marines) is bool
or use_scripted_marines is None and n_bots == 0)
assert 0 <= doom_skill <= 4
assert 0 < players_per_game
assert 0 <= player_rank
# action builder
self.action_builder = action_builder
# add the score variable to the game variables list
self.score_variable = score_variable
game_variables.append(('score', getattr(GameVariable, score_variable)))
self.player_rank = player_rank
self.players_per_game = players_per_game
# screen buffer / depth buffer / labels buffer / mode
self.screen_resolution = screen_resolution
self.screen_format = screen_format
self.use_screen_buffer = use_screen_buffer
self.use_depth_buffer = use_depth_buffer
self.labels_mapping = parse_labels_mapping(labels_mapping)
self.game_features = parse_game_features(game_features)
self.use_labels_buffer = self.labels_mapping is not None
self.use_game_features = any(self.game_features)
self.mode = mode
# rendering options
self.render_hud = render_hud
self.render_minimal_hud = render_minimal_hud
self.render_crosshair = render_crosshair
self.render_weapon = render_weapon
self.render_decals = render_decals
self.render_particles = render_particles
self.render_effects_sprites = render_effects_sprites
# respawn invincibility / distance
self.respawn_protect = respawn_protect
self.spawn_farthest = spawn_farthest
# freelook / agent name / agent color
self.freelook = freelook
self.name = name.strip()
self.color = color
# window visibility
self.visible = visible
# actor reward
self.reward_builder = RewardBuilder(self, reward_values)
# game statistics
self.stat_keys = [
'kills', 'deaths', 'suicides', 'frags', 'k/d', 'medikits',
'armors', 'pistol', 'shotgun', 'chaingun', 'rocketlauncher',
'plasmarifle', 'bfg9000', 'bullets', 'shells', 'rockets', 'cells'
]
self.statistics = {}
# number of bots in the game
self.n_bots = n_bots
self.use_scripted_marines = use_scripted_marines
# doom skill
self.doom_skill = doom_skill
# manual control
self.count_non_forward_actions = 0
self.count_non_turn_actions = 0
def update_game_variables(self):
"""
Check and update game variables.
"""
# read game variables
new_v = {k: self.game.get_game_variable(v) for k, v in game_variables}
assert all(v.is_integer() or k[-2:] in ['_x', '_y', '_z']
for k, v in new_v.items())
new_v = {
k: (int(v) if v.is_integer() else float(v))
for k, v in new_v.items()
}
health = new_v['health']
armor = new_v['armor']
sel_weapon = new_v['sel_weapon']
sel_ammo = new_v['sel_ammo']
bullets = new_v['bullets']
shells = new_v['shells']
rockets = new_v['rockets']
cells = new_v['cells']
fist = new_v['fist']
pistol = new_v['pistol']
shotgun = new_v['shotgun']
chaingun = new_v['chaingun']
rocketlauncher = new_v['rocketlauncher']
plasmarifle = new_v['plasmarifle']
bfg9000 = new_v['bfg9000']
# check game variables
if sel_weapon == -1:
logger.warning("SELECTED WEAPON is -1!")
new_v['sel_weapon'] = 1
sel_weapon = 1
if sel_ammo == -1:
logger.warning("SELECTED AMMO is -1!")
new_v['sel_ammo'] = 0
sel_ammo = 0
assert sel_weapon in range(1, 8), sel_weapon
assert sel_ammo >= 0, sel_ammo
assert all(x in [0, 1] for x in [
fist, pistol, shotgun, chaingun, rocketlauncher, plasmarifle,
bfg9000
])
assert 0 <= health <= 200 or health < 0 and self.game.is_player_dead()
assert 0 <= armor <= 200, (health, armor)
assert 0 <= bullets <= 200 and 0 <= shells <= 50
assert 0 <= rockets <= 50 and 0 <= cells <= 300
# fist
if sel_weapon == 1:
assert sel_ammo == 0
# pistol
elif sel_weapon == 2:
assert pistol and sel_ammo == bullets
# shotgun
elif sel_weapon == 3:
assert shotgun and sel_ammo == shells
# chaingun
elif sel_weapon == 4:
assert chaingun and sel_ammo == bullets
# rocket launcher
elif sel_weapon == 5:
assert rocketlauncher and sel_ammo == rockets
# plasma rifle
elif sel_weapon == 6:
assert plasmarifle and sel_ammo == cells
# BFG9000
elif sel_weapon == 7:
assert bfg9000 and sel_ammo == cells
# update actor properties
self.prev_properties = self.properties
self.properties = new_v
def update_statistics_and_reward(self, action):
"""
Update statistics of the current game based on the previous
and the current properties, and create a reward.
"""
stats = self.statistics[self.map_id]
# reset reward
self.reward_builder.reset()
# we need to know the current and previous properties
assert self.prev_properties is not None and self.properties is not None
# distance
moving_forward = action[self.mapping['MOVE_FORWARD']]
turn_left = action[self.mapping['TURN_LEFT']]
turn_right = action[self.mapping['TURN_RIGHT']]
if moving_forward and not (turn_left or turn_right):
diff_x = self.properties['position_x'] - self.prev_properties[
'position_x']
diff_y = self.properties['position_y'] - self.prev_properties[
'position_y']
distance = math.sqrt(diff_x**2 + diff_y**2)
self.reward_builder.distance(distance)
# kill
d = self.properties['score'] - self.prev_properties['score']
if d > 0:
self.reward_builder.kill(d)
stats['kills'] += d
for _ in range(int(d)):
self.log('Kill')
# death
if self.game.is_player_dead():
self.reward_builder.death()
stats['deaths'] += 1
self.log('Dead')
# suicide
if self.properties['frag_count'] < self.prev_properties['frag_count']:
self.reward_builder.suicide()
stats['suicides'] += 1
self.log('Suicide')
# found / lost health
d = self.properties['health'] - self.prev_properties['health']
if d != 0:
if d > 0:
self.reward_builder.medikit(d)
stats['medikits'] += 1
else:
self.reward_builder.injured(d)
self.log('%s health (%i -> %i)' % (
'Found' if d > 0 else 'Lost',
self.prev_properties['health'],
self.properties['health'],
))
# found / lost armor
d = self.properties['armor'] - self.prev_properties['armor']
if d != 0:
if d > 0:
self.reward_builder.armor()
stats['armors'] += 1
self.log('%s armor (%i -> %i)' % (
'Found' if d > 0 else 'Lost',
self.prev_properties['armor'],
self.properties['armor'],
))
# change weapon
if self.properties['sel_weapon'] != self.prev_properties['sel_weapon']:
self.log('Switched weapon: %s -> %s' % (
WEAPON_NAMES[self.prev_properties['sel_weapon']],
WEAPON_NAMES[self.properties['sel_weapon']],
))
# found weapon
for i, weapon in enumerate([
'pistol', 'shotgun', 'chaingun', 'rocketlauncher',
'plasmarifle', 'bfg9000'
]):
if self.prev_properties[weapon] == self.properties[weapon]:
continue
# assert(self.prev_properties[weapon] == 0 and # TODO check
# self.properties[weapon] == 1), (weapon, self.prev_properties[weapon], self.properties[weapon])
self.reward_builder.weapon()
stats[weapon] += 1
self.log('Found weapon: %s' % WEAPON_NAMES[i + 1])
# found / lost ammo
for ammo in ['bullets', 'shells', 'rockets', 'cells']:
d = self.properties[ammo] - self.prev_properties[ammo]
if d != 0:
if d > 0:
self.reward_builder.ammo()
stats[ammo] += 1
else:
self.reward_builder.use_ammo()
self.log('%s ammo: %s (%i -> %i)' %
('Found' if d > 0 else 'Lost', ammo,
self.prev_properties[ammo], self.properties[ammo]))
def log(self, message):
"""
Log the game event.
During training, we don't want to display events.
"""
if self.log_events:
logger.info(message)
def start(self,
map_id,
episode_time=None,
manual_control=False,
log_events=False):
"""
Start the game.
If `episode_time` is given, the game will end after the specified time.
"""
assert type(manual_control) is bool
self.manual_control = manual_control
# Save statistics for this map
self.statistics[map_id] = {k: 0 for k in self.stat_keys}
# Episode time
self.episode_time = episode_time
# initialize the game
self.game = DoomGame()
self.game.set_doom_scenario_path(self.scenario_path)
self.game.set_doom_game_path(self.game_path)
# map
assert map_id > 0
self.map_id = map_id
self.game.set_doom_map("map%02i" % map_id)
# time limit
if episode_time is not None:
self.game.set_episode_timeout(int(35 * episode_time))
# log events that happen during the game (useful for testing)
self.log_events = log_events
# game parameters
args = []
# host / server
if self.players_per_game > 1:
port = 5092 + self.player_rank // self.players_per_game
if self.player_rank % self.players_per_game == 0:
args.append('-host %i -port %i' %
(self.players_per_game, port))
else:
args.append('-join 127.0.0.1:%i' % port)
else:
args.append('-host 1')
# screen buffer / depth buffer / labels buffer / mode
screen_resolution = getattr(ScreenResolution, self.screen_resolution)
self.game.set_screen_resolution(screen_resolution)
self.game.set_screen_format(getattr(ScreenFormat, self.screen_format))
self.game.set_depth_buffer_enabled(self.use_depth_buffer)
self.game.set_labels_buffer_enabled(self.use_labels_buffer
or self.use_game_features)
self.game.set_mode(getattr(Mode, self.mode))
# rendering options
self.game.set_render_hud(self.render_hud)
self.game.set_render_minimal_hud(self.render_minimal_hud)
self.game.set_render_crosshair(self.render_crosshair)
self.game.set_render_weapon(self.render_weapon)
self.game.set_render_decals(self.render_decals)
self.game.set_render_particles(self.render_particles)
self.game.set_render_effects_sprites(self.render_effects_sprites)
# deathmatch mode
# players will respawn automatically after they die
# autoaim is disabled for all players
args.append('-deathmatch')
args.append('+sv_forcerespawn 1')
args.append('+sv_noautoaim 1')
# respawn invincibility / distance
# players will be invulnerable for two second after spawning
# players will be spawned as far as possible from any other players
args.append('+sv_respawnprotect %i' % self.respawn_protect)
args.append('+sv_spawnfarthest %i' % self.spawn_farthest)
# freelook / agent name / agent color
args.append('+freelook %i' % (1 if self.freelook else 0))
args.append('+name %s' % self.name)
args.append('+colorset %i' % self.color)
# enable the cheat system (so that we can still
# send commands to the game in self-play mode)
args.append('+sv_cheats 1')
# load parameters
self.args = args
for arg in args:
self.game.add_game_args(arg)
# window visibility
self.game.set_window_visible(self.visible)
# available buttons
self.mapping = add_buttons(self.game,
self.action_builder.available_buttons)
# doom skill (https://zdoom.org/wiki/GameSkill)
self.game.set_doom_skill(self.doom_skill + 1)
# start the game
self.game.init()
# initialize the game after player spawns
self.initialize_game()
def reset(self):
"""
Reset the game if necessary. This can be because:
- we reach the end of an episode (we restart the game)
- because the agent is dead (we make it respawn)
"""
self.count_non_forward_actions = 0
# if the player is dead
if self.is_player_dead():
# respawn it (deathmatch mode)
if self.episode_time is None:
self.respawn_player()
# or reset the episode (episode ends when the agent dies)
else:
self.new_episode()
# start a new episode if it is finished
if self.is_episode_finished():
self.new_episode()
# deal with a ViZDoom issue
while self.is_player_dead():
logger.warning('Player %i is still dead after respawn.' %
self.params.player_rank)
self.respawn_player()
def update_bots(self):
"""
Add built-in AI bots.
There are two types of AI: built-in AI and ScriptedMarines.
"""
# only the host takes care of the bots
if self.player_rank % self.players_per_game != 0:
return
if self.use_scripted_marines:
command = "pukename set_value always 2 %i" % self.n_bots
self.game.send_game_command(command)
else:
self.game.send_game_command("removebots")
for _ in range(self.n_bots):
self.game.send_game_command("addbot")
def is_player_dead(self):
"""
Detect whether the player is dead.
"""
return self.game.is_player_dead()
def is_episode_finished(self):
"""
Return whether the episode is finished.
This should only be the case after the episode timeout.
"""
return self.game.is_episode_finished()
def is_final(self):
"""
Return whether the game is in a final state.
"""
return self.is_player_dead() or self.is_episode_finished()
def new_episode(self):
"""
Start a new episode.
"""
assert self.is_episode_finished() or self.is_player_dead()
self.game.new_episode()
self.log('New episode')
self.initialize_game()
def respawn_player(self):
"""
Respawn the player on death.
"""
assert self.is_player_dead()
self.game.respawn_player()
self.log('Respawn player')
self.initialize_game()
def initialize_game(self):
"""
Initialize the game after the player spawns / respawns.
Be sure that properties from the previous
life are not considered in this one.
"""
# generate buffers
game_state = self.game.get_state()
self._screen_buffer = game_state.screen_buffer
self._depth_buffer = game_state.depth_buffer
self._labels_buffer = game_state.labels_buffer
self._labels = game_state.labels
# actor properties
self.prev_properties = None
self.properties = None
# advance a few steps to avoid bugs due
# to initial weapon changes in ACS
self.game.advance_action(SKIP_INITIAL_ACTIONS)
self.update_game_variables()
# if there are bots in the game, and if this is a new game
self.update_bots()
def randomize_textures(self, randomize):
"""
Randomize the textures of the map.
"""
assert type(randomize) is bool
randomize = 1 if randomize else 0
self.game.send_game_command("pukename set_value always 4 %i" %
randomize)
def init_bots_health(self, health):
"""
Initial bots health.
"""
assert self.use_scripted_marines or health == 100
assert 0 < health <= 100
self.game.send_game_command("pukename set_value always 5 %i" % health)
def make_action(self, action, frame_skip=1, sleep=None):
"""
Make an action.
If `sleep` is given, the network will wait
`sleep` seconds between each action.
"""
assert frame_skip >= 1
# convert selected action to the ViZDoom action format
action = self.action_builder.get_action(action)
# select agent favorite weapon
for weapon_name, weapon_ammo, weapon_id in WEAPONS_PREFERENCES:
min_ammo = 40 if weapon_name == 'bfg9000' else 1
if self.properties[weapon_name] > 0 and self.properties[
weapon_ammo] >= min_ammo:
if self.properties['sel_weapon'] != weapon_id:
# action = ([False] * self.mapping['SELECT_WEAPON%i' % weapon_id]) + [True]
switch_action = (
[False] *
self.mapping['SELECT_WEAPON%i' % weapon_id]) + [True]
action = action + switch_action[len(action):]
self.log("Manual weapon change: %s -> %s" %
(WEAPON_NAMES[self.properties['sel_weapon']],
weapon_name))
break
if action[self.mapping['MOVE_FORWARD']]:
self.count_non_forward_actions = 0
else:
self.count_non_forward_actions += 1
if action[self.mapping['TURN_LEFT']] or action[
self.mapping['TURN_RIGHT']]:
self.count_non_turn_actions = 0
else:
self.count_non_turn_actions += 1
if self.manual_control and (self.count_non_forward_actions >= 30
or self.count_non_turn_actions >= 60):
manual_action = [False] * len(action)
manual_action[self.mapping['TURN_RIGHT']] = True
manual_action[self.mapping['SPEED']] = True
if self.count_non_forward_actions >= 30:
manual_action[self.mapping['MOVE_FORWARD']] = True
manual_repeat = 40
self.count_non_forward_actions = 0
self.count_non_turn_actions = 0
else:
manual_action = None
# if we are visualizing the experiment, show all the frames one by one
if self.visible:
if manual_action is not None:
logger.warning('Activated manual control')
for _ in range(manual_repeat):
self.game.make_action(manual_action)
else:
for _ in range(frame_skip):
self.game.make_action(action)
# death or episode finished
if self.is_player_dead() or self.is_episode_finished():
break
# sleep for smooth visualization
if sleep is not None:
time.sleep(sleep)
else:
if manual_action is not None:
logger.warning('Activated manual control')
self.game.make_action(manual_action, manual_repeat)
else:
self.game.make_action(action, frame_skip)
# generate buffers
game_state = self.game.get_state()
if game_state is not None:
self._screen_buffer = game_state.screen_buffer
self._depth_buffer = game_state.depth_buffer
self._labels_buffer = game_state.labels_buffer
self._labels = game_state.labels
# update game variables / statistics rewards
self.update_game_variables()
self.update_statistics_and_reward(action)
@property
def reward(self):
"""
Return the reward value.
"""
return self.reward_builder.reward
def close(self):
"""
Close the current game.
"""
self.game.close()
def print_statistics(self, eval_time=None):
"""
Print agent statistics.
If `map_id` is given, statistics are given for the specified map only.
Otherwise, statistics are given for all maps, with a summary.
"""
if 'all' in self.statistics:
del self.statistics['all']
map_ids = sorted(self.statistics.keys())
if len(map_ids) == 0:
logger.info("No statistics to show!")
return
for v in self.statistics.values():
assert set(self.stat_keys) == set(v.keys())
# sum the results on all maps for global statistics
self.statistics['all'] = {
k: sum(v[k] for v in self.statistics.values())
for k in self.stat_keys
}
# number of frags (kills - suicides)
# 100% accurate if the number of frags is given by 'FRAGCOUNT'
# almost 100% accurate if it is based on an internal ACS variable
for v in self.statistics.values():
v['frags'] = v['kills'] - v['suicides']
# number of frags per minutes (with and without respawn time)
if eval_time is not None:
assert eval_time % 60 == 0
for k, v in self.statistics.items():
eval_minutes = eval_time / 60
if k == 'all':
eval_minutes *= (len(self.statistics) - 1)
respawn_time = (v['deaths'] * RESPAWN_SECONDS * 1.0 / 60)
v['frags_pm'] = v['frags'] * 1.0 / eval_minutes
v['frags_pm_r'] = v['frags'] * 1.0 / (eval_minutes +
respawn_time)
# Kills / Deaths
# 100% accurate if the number of kills is given by an ACS variable
# almost 100% accurate if it is based on 'FRAGCOUNT'
for v in self.statistics.values():
v['k/d'] = v['kills'] * 1.0 / max(1, v['deaths'])
# statistics to log
log_lines = [
[''] + ['Map%02i' % i for i in map_ids] + ['All'],
('Kills', 'kills'),
('Deaths', 'deaths'),
('Suicides', 'suicides'),
('Frags', 'frags'),
('Frags/m', 'frags_pm'),
('Frags/m (r)', 'frags_pm_r'),
('K/D', 'k/d'),
None,
('Medikits', 'medikits'),
('Armors', 'armors'),
('SuperShotgun', 'shotgun'),
('Chaingun', 'chaingun'),
('RocketLauncher', 'rocketlauncher'),
('PlasmaRifle', 'plasmarifle'),
('BFG9000', 'bfg9000'),
('Bullets', 'bullets'),
('Shells', 'shells'),
('Rockets', 'rockets'),
('Cells', 'cells'),
]
# only show statistics on all maps if there is more than one map
if len(map_ids) > 1:
map_ids.append('all')
logger.info('*************** Game statistics summary ***************')
log_pattern = '{: >15}' + ('{: >8}' * len(map_ids))
for line in log_lines:
if line is None:
logger.info('')
else:
if type(line) is tuple:
assert len(line) == 2
name, k = line
if k in ['frags_pm', 'frags_pm_r'] and eval_time is None:
continue
line = ['%s:' % name]
line += [self.statistics[map_id][k] for map_id in map_ids]
else:
assert type(line) is list
line = line[:len(map_ids) + 1]
line = ['%.3f' % x if type(x) is float else x for x in line]
logger.info(log_pattern.format(*line))
def observe_state(self, params, last_states):
"""
Observe the current state of the game.
"""
# read game state
screen, game_features = process_buffers(self, params)
variables = [self.properties[x[0]] for x in params.game_variables]
last_states.append(GameState(screen, variables, game_features))
# update most recent states
if len(last_states) == 1:
last_states.extend([last_states[0]] * (params.hist_size - 1))
else:
assert len(last_states) == params.hist_size + 1
del last_states[0]
# return the screen and the game features
return screen, game_features
class DoomEnv(gym.Env):
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second': 35
}
def __init__(self, level):
self.previous_level = -1
self.level = level
self.game = DoomGame()
self.loader = Loader()
self.doom_dir = os.path.dirname(os.path.abspath(__file__))
self._mode = 'algo' # 'algo' or 'human'
self.no_render = False # To disable double rendering in human mode
self.viewer = None
self.is_initialized = False # Indicates that reset() has been called
self.curr_seed = 0
self.lock = (DoomLock()).get_lock()
# self.action_space = spaces.Discrete(43) # used to be in the old code
self.action_space = spaces.MultiBinary(NUM_ACTIONS)
self.allowed_actions = list(range(NUM_ACTIONS))
self.screen_height = 120
self.screen_width = 160
self.screen_resolution = ScreenResolution.RES_160X120
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.screen_height,
self.screen_width, 3),
dtype=np.uint8)
self.seed()
self._configure()
def _configure(self, lock=None, **kwargs):
if 'screen_resolution' in kwargs:
logger.warn(
'Deprecated - Screen resolution must now be set using a wrapper. See documentation for details.'
)
# Multiprocessing lock
if lock is not None:
self.lock = lock
def _load_level(self):
# Closing if is_initialized
if self.is_initialized:
self.is_initialized = False
self.game.close()
self.game = DoomGame()
# Customizing level
if getattr(self, '_customize_game', None) is not None and callable(
self._customize_game):
self.level = -1
self._customize_game()
else:
# Loading Paths
if not self.is_initialized:
self.game.set_vizdoom_path(self.loader.get_vizdoom_path())
self.game.set_doom_game_path(self.loader.get_freedoom_path())
# Common settings
self.game.load_config(
os.path.join(self.doom_dir,
'assets/%s' % DOOM_SETTINGS[self.level][CONFIG]))
self.game.set_doom_scenario_path(
self.loader.get_scenario_path(
DOOM_SETTINGS[self.level][SCENARIO]))
if DOOM_SETTINGS[self.level][MAP] != '':
if RANDOMIZE_MAPS > 0 and 'labyrinth' in DOOM_SETTINGS[
self.level][CONFIG].lower():
if 'fix' in DOOM_SETTINGS[self.level][SCENARIO].lower():
# mapId = 'map%02d'%np.random.randint(1, 23)
mapId = 'map%02d' % np.random.randint(4, 8)
else:
mapId = 'map%02d' % np.random.randint(
1, RANDOMIZE_MAPS + 1)
print(
'\t=> Special Config: Randomly Loading Maps. MapID = '
+ mapId)
self.game.set_doom_map(mapId)
else:
print('\t=> Default map loaded. MapID = ' +
DOOM_SETTINGS[self.level][MAP])
self.game.set_doom_map(DOOM_SETTINGS[self.level][MAP])
self.game.set_doom_skill(DOOM_SETTINGS[self.level][DIFFICULTY])
self.allowed_actions = DOOM_SETTINGS[self.level][ACTIONS]
self.game.set_screen_resolution(self.screen_resolution)
self.previous_level = self.level
self._closed = False
# Algo mode
if 'human' != self._mode:
if NO_MONSTERS:
print('\t=> Special Config: Monsters Removed.')
self.game.add_game_args('-nomonsters 1')
self.game
self.game.set_window_visible(False)
self.game.set_mode(Mode.PLAYER)
self.no_render = False
try:
with self.lock:
self.game.init()
except (ViZDoomUnexpectedExitException, ViZDoomErrorException):
raise error.Error(
'VizDoom exited unexpectedly. This is likely caused by a missing multiprocessing lock. '
+
'To run VizDoom across multiple processes, you need to pass a lock when you configure the env '
+
'[e.g. env.configure(lock=my_multiprocessing_lock)], or create and close an env '
+
'before starting your processes [e.g. env = gym.make("DoomBasic-v0"); env.close()] to cache a '
+ 'singleton lock in memory.')
self._start_episode()
self.is_initialized = True
return self.game.get_state().screen_buffer.copy()
# Human mode
else:
if NO_MONSTERS:
print('\t=> Special Config: Monsters Removed.')
self.game.add_game_args('-nomonsters 1')
self.game.add_game_args('+freelook 1')
self.game.set_window_visible(True)
self.game.set_mode(Mode.SPECTATOR)
self.no_render = True
with self.lock:
self.game.init()
self._start_episode()
self.is_initialized = True
self._play_human_mode()
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
def _start_episode(self):
if self.curr_seed > 0:
self.game.set_seed(self.curr_seed)
self.curr_seed = 0
self.game.new_episode()
return
def _play_human_mode(self):
while not self.game.is_episode_finished():
self.game.advance_action()
state = self.game.get_state()
total_reward = self.game.get_total_reward()
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(total_reward, 4)
print('===============================')
print('State: #' + str(state.number))
print('Action: \t' + str(self.game.get_last_action()) +
'\t (=> only allowed actions)')
print('Reward: \t' + str(self.game.get_last_reward()))
print('Total Reward: \t' + str(total_reward))
print('Variables: \n' + str(info))
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
print('===============================')
print('Done')
return
def old_step(self, action):
"""
action: a number in range 0..42
We get this from the simontudo and his predecessors, it transforms
a numeric action from space Discrete(43) into a indicator action .
However, we can only press one button at the same time.
"""
# Convert to array
action_arr = np.zeros(NUM_ACTIONS, dtype=int)
action_arr[action] = 1
action = action_arr
assert self.is_initialized, "Doom env not reset, call .reset()"
# action is a list of numbers but DoomGame.make_action expects a list of ints
if len(self.allowed_actions) > 0:
list_action = [
int(action[action_idx]) for action_idx in self.allowed_actions
]
else:
list_action = [int(x) for x in action]
try:
reward = self.game.make_action(list_action)
state = self.game.get_state()
if self.game.is_episode_finished():
info = {"TOTAL_REWARD": round(self.game.get_total_reward(), 4)}
is_finished = True
return np.zeros(shape=self.observation_space.shape,
dtype=np.uint8), reward, is_finished, info
else:
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(self.game.get_total_reward(), 4)
is_finished = False
return state.screen_buffer.copy(), reward, is_finished, info
except vizdoom.vizdoom.ViZDoomIsNotRunningException:
return np.zeros(shape=self.observation_space.shape,
dtype=np.uint8), 0, True, {}
def step(self, action):
"""
action: iterable of length 43, contains indicators of whether given buttons was pressed.
Written by me.
"""
list_action = [int(x) for x in action]
try:
reward = self.game.make_action(list_action)
state = self.game.get_state()
if self.game.is_episode_finished():
info = {"TOTAL_REWARD": round(self.game.get_total_reward(), 4)}
is_finished = True
return np.zeros(shape=self.observation_space.shape,
dtype=np.uint8), reward, is_finished, info
else:
info = self._get_game_variables(state.game_variables)
info["TOTAL_REWARD"] = round(self.game.get_total_reward(), 4)
is_finished = False
return state.screen_buffer.copy(), reward, is_finished, info
except vizdoom.vizdoom.ViZDoomIsNotRunningException:
return np.zeros(shape=self.observation_space.shape,
dtype=np.uint8), 0, True, {}
def reset(self):
if self.is_initialized and not self._closed:
self._start_episode()
screen_buffer = self.game.get_state().screen_buffer
if screen_buffer is None:
raise error.Error(
'VizDoom incorrectly initiated. This is likely caused by a missing multiprocessing lock. '
+
'To run VizDoom across multiple processes, you need to pass a lock when you configure the env '
+
'[e.g. env.configure(lock=my_multiprocessing_lock)], or create and close an env '
+
'before starting your processes [e.g. env = gym.make("DoomBasic-v0"); env.close()] to cache a '
+ 'singleton lock in memory.')
return screen_buffer.copy()
else:
return self._load_level()
def render(self, mode='human', close=False):
if close:
if self.viewer is not None:
self.viewer.close()
self.viewer = None # If we don't None out this reference pyglet becomes unhappy
return
try:
if 'human' == mode and self.no_render:
return
state = self.game.get_state()
img = state.screen_buffer
# VizDoom returns None if the episode is finished, let's make it
# an empty image so the recorder doesn't stop
if img is None:
img = np.zeros(shape=self.observation_space.shape,
dtype=np.uint8)
if mode == 'rgb_array':
return img
elif mode is 'human':
from gym.envs.classic_control import rendering
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
except vizdoom.vizdoom.ViZDoomIsNotRunningException:
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
except AttributeError:
return np.zeros(shape=self.observation_space.shape, dtype=np.uint8)
def close(self):
# Lock required for VizDoom to close processes properly
with self.lock:
self.game.close()
def seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 2**32
return [self.curr_seed]
def _get_game_variables(self, state_variables):
info = {"LEVEL": self.level}
if state_variables is None:
return info
info['KILLCOUNT'] = state_variables[0]
info['ITEMCOUNT'] = state_variables[1]
info['SECRETCOUNT'] = state_variables[2]
info['FRAGCOUNT'] = state_variables[3]
info['HEALTH'] = state_variables[4]
info['ARMOR'] = state_variables[5]
info['DEAD'] = state_variables[6]
info['ON_GROUND'] = state_variables[7]
info['ATTACK_READY'] = state_variables[8]
info['ALTATTACK_READY'] = state_variables[9]
info['SELECTED_WEAPON'] = state_variables[10]
info['SELECTED_WEAPON_AMMO'] = state_variables[11]
info['AMMO1'] = state_variables[12]
info['AMMO2'] = state_variables[13]
info['AMMO3'] = state_variables[14]
info['AMMO4'] = state_variables[15]
info['AMMO5'] = state_variables[16]
info['AMMO6'] = state_variables[17]
info['AMMO7'] = state_variables[18]
info['AMMO8'] = state_variables[19]
info['AMMO9'] = state_variables[20]
info['AMMO0'] = state_variables[21]
return info
class Experiment(object):
"""
Used to perform experiment combined with a Agent
Main methods :
-
"""
def __init__(self,
scenario,
action_builder,
reward_builder,
logger,
living_reward=0,
custom_reward=False,
score_variable='FRAGCOUNT',
game_features=[],
freedoom=True,
screen_resolution='RES_400X225',
screen_format='CRCGCB',
use_screen_buffer=True,
use_depth_buffer=False,
use_labels_buffer=True,
mode='PLAYER',
player_rank=0,
players_per_game=1,
render_hud=False,
render_minimal_hud=False,
render_crosshair=True,
render_weapon=True,
render_decals=False,
render_particles=False,
render_effects_sprites=False,
respawn_protect=True,
spawn_farthest=True,
name='Hubert_Bonnisseur_de_la_Bate',
visible=False,
n_bots=0,
use_scripted_marines=None,
doom_skill=2):
"""
Create a new game.
render_decals: marks on the walls
render_particles: particles like for impacts / traces
render_effects_sprites: gun puffs / blood splats
color: 0 - green, 1 - gray, 2 - brown, 3 - red, 4 - light gray,
5 - light brown, 6 - light red, 7 - light blue
"""
# game resources
game_filename = 'freedoom2.wad'
self.scenario = scenario
self.scenario_path = os.path.join(PATH,
'scenarios/{}.wad'.format(scenario))
self.game_path = os.path.join(PATH, game_filename)
# check parameters
assert os.path.isfile(self.scenario_path)
assert os.path.isfile(self.game_path)
assert hasattr(GameVariable, score_variable)
assert hasattr(ScreenResolution, screen_resolution)
assert hasattr(ScreenFormat, screen_format)
assert use_screen_buffer or use_depth_buffer
assert hasattr(Mode, mode)
assert not (render_minimal_hud and not render_hud)
assert len(name.strip()) > 0
assert n_bots >= 0
assert (type(use_scripted_marines) is bool
or use_scripted_marines is None and n_bots == 0)
assert 0 <= doom_skill <= 4
assert 0 < players_per_game
assert 0 <= player_rank
# screen buffer / depth buffer / labels buffer / mode
self.screen_resolution = screen_resolution
self.screen_format = screen_format
self.use_screen_buffer = use_screen_buffer
self.use_depth_buffer = use_depth_buffer
self.game_features = parse_game_features(game_features, logger)
self.use_labels_buffer = use_labels_buffer
self.use_game_features = any(self.game_features)
self.mode = mode
# rendering options
self.render_hud = render_hud
self.render_minimal_hud = render_minimal_hud
self.render_crosshair = render_crosshair
self.render_weapon = render_weapon
self.render_decals = render_decals
self.render_particles = render_particles
self.render_effects_sprites = render_effects_sprites
# window visibility
self.visible = visible
# actor reward
''' used for reward shaping (LSTM & Curiosity A3C) '''
self.reward_builder = reward_builder
self.living_reward = living_reward
self.custom_reward = custom_reward
# number of bots in the game
self.n_bots = n_bots
self.use_scripted_marines = use_scripted_marines
# doom skill (ie difficulty of the game)
self.doom_skill = doom_skill
# bot name
self.name = name
# action builder
self.action_builder = action_builder
# save game statistics for each episode (used for model comparison and reward shaping)
self.stats = {}
# use logging for DEBUG purpose
self.logger = logger
#==============================================================================
# Game start
#==============================================================================
def start(self, map_id, episode_time=None, log_events=False):
"""
Start the game.
If `episode_time` is given, the game will end after the specified time.
"""
# Episode time
self.episode_time = episode_time
# initialize the game
self.game = DoomGame()
self.game.set_doom_scenario_path(self.scenario_path)
self.game.set_doom_game_path(self.game_path)
# map
assert map_id > 0
self.map_id = map_id
self.game.set_doom_map('map{:02d}'.format(map_id))
# time limit
if episode_time is not None:
self.game.set_episode_timeout(episode_time)
# Save statistics for this map
self.stats[self.map_id] = []
# log events that happen during the game (useful for testing)
# self.log_events = log_events
# game parameters
args = []
# screen buffer / depth buffer / labels buffer / mode
screen_resolution = getattr(ScreenResolution, self.screen_resolution)
self.game.set_screen_resolution(screen_resolution)
self.game.set_screen_format(getattr(ScreenFormat, self.screen_format))
self.game.set_depth_buffer_enabled(self.use_depth_buffer)
self.game.set_labels_buffer_enabled(self.use_labels_buffer)
self.game.set_mode(getattr(Mode, self.mode))
# rendering options
self.game.set_render_hud(self.render_hud)
self.game.set_render_minimal_hud(self.render_minimal_hud)
self.game.set_render_crosshair(self.render_crosshair)
self.game.set_render_weapon(self.render_weapon)
self.game.set_render_decals(self.render_decals)
self.game.set_render_particles(self.render_particles)
self.game.set_render_effects_sprites(self.render_effects_sprites)
# deathmatch mode
# players will respawn automatically after they die
# autoaim is disabled for all players
# args.append('-deathmatch')
args.append('+sv_forcerespawn 1')
args.append('+sv_noautoaim 1')
# agent name
args.append('+name %s' % self.name)
# load parameters
self.args = args
for arg in args:
self.game.add_game_args(arg)
# window visibility
self.game.set_window_visible(self.visible)
# define available buttons
self.action_builder.set_buttons(self.game)
# doom skill (https://zdoom.org/wiki/GameSkill)
self.game.set_doom_skill(self.doom_skill + 1)
# define basic rewards
self.game.set_living_reward(self.living_reward)
# start the game
self.game.init()
# initialize the game after player spawns
self.initialize_game()
self.logger.info('start_game')
#==============================================================================
# Game statistics
#==============================================================================
def update_game_properties(self):
"""
Update game properties.
"""
# read game variables
new_v = {
k: self.game.get_game_variable(v)
for k, v in GAME_FEATURES.items()
}
new_v = {
k: (int(v) if v.is_integer() else float(v))
for k, v in new_v.items()
}
# update game properties
self.prev_properties = self.properties
self.properties = new_v
def update_game_statistics(self):
"""
Calculate game statistics and store them in the running stats dict
"""
stats = self.run_stats
# init r if custom rewards
r = []
# calculate stats
# kill
d = self.properties['kill_count'] - self.prev_properties['kill_count']
if d > 0:
r.extend(d * ['kill_count'])
stats['kills'] += d
# death
if self.game.is_player_dead():
r.append('dead')
stats['deaths'] += 1
# suicide
if self.properties['frag_count'] < self.prev_properties['frag_count']:
r.append('suicide')
stats['suicides'] += 1
# found health
d = self.properties['health'] - self.prev_properties['health']
if d != 0:
if d > 0:
r.append('medikit')
stats['medikit'] += 1
stats['health'] = self.properties['health']
# health lost
d = self.properties['damage_count'] - self.prev_properties[
'damage_count']
if d > 0:
r.append('health_lost')
# found armor
d = self.properties['armor'] - self.prev_properties['armor']
if d != 0:
if d > 0:
r.append('armor')
stats['armor'] += 1
# found weapon
if self.prev_properties['sel_weapon'] != self.properties['sel_weapon']:
r.append('weapon')
stats['found_weapon'] += 1
# found / lost ammo
d = self.properties['sel_ammo'] - self.prev_properties['sel_ammo']
if self.prev_properties['sel_weapon'] == self.properties['sel_weapon']:
if d != 0:
if d > 0:
r.append('ammo')
stats['ammo'] += 1
else:
r.append('use_ammo')
# auxiliary stats not used for rewards
stats['frag_count'] = self.properties['frag_count']
return r
def calculate_final_stats(self):
"""
Calculate the final stats from the running stats
"""
self.run_stats['k/d'] = self.run_stats['kills'] * 1.0 / max(
1, self.run_stats['deaths'])
#==============================================================================
# Game handling
#==============================================================================
def is_player_dead(self):
"""
Detect whether the player is dead.
"""
return self.game.is_player_dead()
def is_episode_finished(self):
"""
Return whether the episode is finished.
This should only be the case after the episode timeout.
"""
return self.game.is_episode_finished()
def is_final(self):
"""
Return whether the game is in a final state.
"""
return self.is_player_dead() or self.is_episode_finished()
def reset(self):
"""
Reset the game if necessary. This can be because:
- we reach the end of an episode (we restart the game)
- because the agent is dead (we make it respawn)
"""
self.stats[self.map_id].append(self.run_stats)
# if the player is dead
if self.is_player_dead():
# respawn it (deathmatch mode)
if self.episode_time is None:
self.respawn_player()
# or reset the episode (episode ends when the agent dies)
else:
self.new_episode()
# start a new episode if it is finished
if self.is_episode_finished():
self.new_episode()
# deal with a ViZDoom issue
# while self.is_player_dead():
# logger.warning('Player %i is still dead after respawn.' %
# self.params.player_rank)
# self.respawn_player()
def respawn_player(self):
"""
Respawn the player on death.
"""
assert self.is_player_dead()
self.game.respawn_player()
# self.log('Respawn player')
self.initialize_game()
def new_episode(self):
"""
Start a new episode.
"""
# init new stats for the episode
self.run_stats = {k: 0 for k in STAT_KEYS}
# init new game
self.game.new_episode()
# init episode properties
self.initialize_game()
# self.log('New episode')
def initialize_game(self):
"""
Reset game properties
"""
new_v = {
k: self.game.get_game_variable(v)
for k, v in GAME_FEATURES.items()
}
new_v = {
k: (int(v) if v.is_integer() else float(v))
for k, v in new_v.items()
}
self.stats
self.prev_properties = None
self.properties = new_v
def close(self):
"""
Close the current experiment.
"""
self.game.close()
def observe_state(self, variable_names, feature_names):
"""
Observe the current state of the game.
"""
# read game state
screen, variables, game_features = process_game_info(
self.game, variable_names, feature_names)
# last_states.append(GameState(screen, variables, game_features))
# return the screen and the game features
return screen, variables, game_features
def make_action(self,
action,
variable_names,
feature_names,
frame_skip=1,
sleep=None):
"""
Process action and give the next state according to the game motor
Inputs :
action :
frame_skips : nb of frames during which the same action is performed
sleep : pause game for sleep seconds in order to smooth visualization
Output :
reward defined in the game motor or customized
screen |
variables | of the next state (if not final state)
game_features |
"""
assert frame_skip >= 1
# convert selected action to the ViZDoom action format
action = self.action_builder.get_action(action)
# smooth visualization if needed for make
if self.visible:
r = 0
for _ in range(frame_skip):
r += self.game.make_action(action)
# death or episode finished
if self.is_player_dead() or self.is_episode_finished():
break
# sleep for smooth visualization
if sleep is not None:
time.sleep(sleep)
else:
r = self.game.make_action(action, frame_skip)
# observe resulting state
if not self.is_final():
screen, variables, game_features = self.observe_state(
variable_names, feature_names)
else:
screen = None
variables = None
game_features = None
# update game statistics and return custom rewards
self.update_game_properties()
list_r = self.update_game_statistics()
r_bis = 0
if self.custom_reward and self.reward_builder:
r_bis = self.reward_builder.get_reward(list_r)
return r + r_bis, screen, variables, game_features
class Game(object):
def __init__(self,
scenario,
action_builder,
score_variable='FRAGCOUNT',
freedoom=True,
screen_resolution='RES_400X225',
screen_format='CRCGCB',
use_screen_buffer=True,
use_depth_buffer=False,
labels_mapping='',
game_features='',
mode='ASYNC_PLAYER',
render_hud=False,
render_minimal_hud=False,
render_crosshair=True,
render_weapon=True,
render_decals=False,
render_particles=False,
render_effects_sprites=False,
respawn_protect=True,
spawn_farthest=True,
freelook=False,
name='LUBAN',
color=0,
visible=False,
n_bots=0,
use_scripted_marines=None,
doom_skill=2):
"""
Create a new game.
score_variable: indicates in which game variable the user score is
stored. by default it's in FRAGCOUNT, but the score in ACS against
built-in AI bots can be stored in USER1, USER2, etc.
render_decals: marks on the walls
render_particles: particles like for impacts / traces
render_effects_sprites: gun puffs / blood splats
color: 0 - green, 1 - gray, 2 - brown, 3 - red, 4 - light gray,
5 - light brown, 6 - light red, 7 - light blue
"""
# game resources
game_filename = '%s.wad' % ('freedoom2' if freedoom else 'Doom2')
self.scenario_path = os.path.join(RESOURCES_DIR, '%s.wad' % scenario)
self.game_path = os.path.join(RESOURCES_DIR, game_filename)
print(self.scenario_path)
print(self.game_path)
# check parameters
assert os.path.isfile(self.scenario_path)
assert os.path.isfile(self.game_path)
assert hasattr(GameVariable, score_variable)
assert hasattr(ScreenResolution, screen_resolution)
assert hasattr(ScreenFormat, screen_format)
assert use_screen_buffer or use_depth_buffer
assert hasattr(Mode, mode)
assert len(name.strip()) > 0 and color in range(8)
assert n_bots >= 0
assert (type(use_scripted_marines) is bool
or use_scripted_marines is None and n_bots == 0)
assert 0 <= doom_skill <= 4
# action builder
self.action_builder = action_builder
# add the score variable to the game variables list
self.score_variable = score_variable
game_variables.append(('score', getattr(GameVariable, score_variable)))
# screen buffer / depth buffer / labels buffer / mode
self.screen_resolution = screen_resolution
self.screen_format = screen_format
self.use_screen_buffer = use_screen_buffer
self.use_depth_buffer = use_depth_buffer
self.labels_mapping = parse_labels_mapping(labels_mapping)
self.game_features = parse_game_features(game_features)
self.use_labels_buffer = self.labels_mapping is not None
self.use_game_features = any(self.game_features)
self.mode = mode
# rendering options
self.render_hud = render_hud
self.render_minimal_hud = render_minimal_hud
self.render_crosshair = render_crosshair
self.render_weapon = render_weapon
self.render_decals = render_decals
self.render_particles = render_particles
self.render_effects_sprites = render_effects_sprites
# respawn invincibility / distance
self.respawn_protect = respawn_protect
self.spawn_farthest = spawn_farthest
# freelook / agent name / agent color
self.freelook = freelook
self.name = name.strip()
self.color = color
# window visibility
self.visible = visible
# game statistics
self.stat_keys = [
'distance', 'kills', 'deaths', 'suicides', 'frags', 'k/d',
'medikits', 'armors', 'pistol', 'shotgun', 'chaingun',
'rocketlauncher', 'plasmarifle', 'bfg9000', 'bullets', 'shells',
'rockets', 'cells'
]
self.statistics = {}
# number of bots in the game
self.n_bots = n_bots
self.use_scripted_marines = use_scripted_marines
# doom skill
self.doom_skill = doom_skill
# manual control
self.count_non_forward_actions = 0
self.count_non_turn_actions = 0
def update_game_variables(self):
"""
Check and update game variables.
"""
# read game variables
new_v = {k: self.game.get_game_variable(v) for k, v in game_variables}
assert all(v.is_integer() or k[-2:] in ['_x', '_y', '_z']
for k, v in new_v.items())
new_v = {
k: (int(v) if v.is_integer() else float(v))
for k, v in new_v.items()
}
health = new_v['health']
armor = new_v['armor']
sel_weapon = new_v['sel_weapon']
sel_ammo = new_v['sel_ammo']
bullets = new_v['bullets']
shells = new_v['shells']
rockets = new_v['rockets']
cells = new_v['cells']
fist = new_v['fist']
pistol = new_v['pistol']
shotgun = new_v['shotgun']
chaingun = new_v['chaingun']
rocketlauncher = new_v['rocketlauncher']
plasmarifle = new_v['plasmarifle']
bfg9000 = new_v['bfg9000']
# check game variables
if sel_weapon == -1:
new_v['sel_weapon'] = 1
sel_weapon = 1
if sel_ammo == -1:
new_v['sel_ammo'] = 0
sel_ammo = 0
assert sel_weapon in range(1, 8), sel_weapon
assert sel_ammo >= 0, sel_ammo
assert all(x in [0, 1] for x in [
fist, pistol, shotgun, chaingun, rocketlauncher, plasmarifle,
bfg9000
])
assert 0 <= health <= 200 or health < 0 and self.game.is_player_dead()
assert 0 <= armor <= 200, (health, armor)
assert 0 <= bullets <= 200 and 0 <= shells <= 50
assert 0 <= rockets <= 50 and 0 <= cells <= 300
# fist
if sel_weapon == 1:
assert sel_ammo == 0
# pistol
elif sel_weapon == 2:
assert pistol and sel_ammo == bullets
# shotgun
elif sel_weapon == 3:
assert shotgun and sel_ammo == shells
# chaingun
elif sel_weapon == 4:
assert chaingun and sel_ammo == bullets
# rocket launcher
elif sel_weapon == 5:
assert rocketlauncher and sel_ammo == rockets
# plasma rifle
elif sel_weapon == 6:
assert plasmarifle and sel_ammo == cells
# BFG9000
elif sel_weapon == 7:
assert bfg9000 and sel_ammo == cells
# update actor properties
self.prev_properties = self.properties
self.properties = new_v
def update_statistics(self, action):
"""
Update statistics of the current game based on the previous
and the current properties for evaluating the agent performance.
"""
stats = self.statistics[self.map_id]
# we need to know the current and previous properties
assert self.prev_properties is not None and self.properties is not None
# distance
moving_forward = action[self.mapping['MOVE_FORWARD']]
turn_left = action[self.mapping['TURN_LEFT']]
turn_right = action[self.mapping['TURN_RIGHT']]
if moving_forward and not (turn_left or turn_right):
diff_x = self.properties['position_x'] - self.prev_properties[
'position_x']
diff_y = self.properties['position_y'] - self.prev_properties[
'position_y']
distance = math.sqrt(diff_x**2 + diff_y**2)
stats['distance'] += distance
# kill
d = self.properties['score'] - self.prev_properties['score']
if d > 0:
stats['kills'] += d
# death
if self.game.is_player_dead():
stats['deaths'] += 1
# suicide
if self.properties['frag_count'] < self.prev_properties['frag_count']:
stats['suicides'] += 1
# found / lost health
d = self.properties['health'] - self.prev_properties['health']
if d != 0:
if d > 0:
stats['medikits'] += 1
# found / lost armor
d = self.properties['armor'] - self.prev_properties['armor']
if d != 0:
if d > 0:
stats['armors'] += 1
# found weapon
for i, weapon in enumerate([
'pistol', 'shotgun', 'chaingun', 'rocketlauncher',
'plasmarifle', 'bfg9000'
]):
if self.prev_properties[weapon] == self.properties[weapon]:
continue
stats[weapon] += 1
# found / lost ammo
for ammo in ['bullets', 'shells', 'rockets', 'cells']:
d = self.properties[ammo] - self.prev_properties[ammo]
if d != 0:
if d > 0:
stats[ammo] += 1
def start(self, map_id, episode_time=None, manual_control=False):
"""
Start the game.
If `episode_time` is given, the game will end after the specified time.
"""
assert type(manual_control) is bool
self.manual_control = manual_control
# Save statistics for this map
self.statistics[map_id] = {k: 0 for k in self.stat_keys}
# Episode time
self.episode_time = episode_time
# initialize the game
self.game = DoomGame()
self.game.set_doom_scenario_path(self.scenario_path)
self.game.set_doom_game_path(self.game_path)
# map
assert map_id > 0
self.map_id = map_id
self.game.set_doom_map("map%02i" % map_id)
# time limit
if episode_time is not None:
self.game.set_episode_timeout(int(35 * episode_time))
# game parameters
args = []
# host / server
args.append('-host 1')
# screen buffer / depth buffer / labels buffer / mode
screen_resolution = getattr(ScreenResolution, self.screen_resolution)
self.game.set_screen_resolution(screen_resolution)
self.game.set_screen_format(getattr(ScreenFormat, self.screen_format))
self.game.set_depth_buffer_enabled(self.use_depth_buffer)
self.game.set_labels_buffer_enabled(self.use_labels_buffer
or self.use_game_features)
self.game.set_mode(getattr(Mode, self.mode))
# rendering options
self.game.set_render_hud(self.render_hud)
self.game.set_render_minimal_hud(self.render_minimal_hud)
self.game.set_render_crosshair(self.render_crosshair)
self.game.set_render_weapon(self.render_weapon)
self.game.set_render_decals(self.render_decals)
self.game.set_render_particles(self.render_particles)
self.game.set_render_effects_sprites(self.render_effects_sprites)
# deathmatch mode
# players will respawn automatically after they die
# autoaim is disabled for all players
args.append('-deathmatch')
args.append('+sv_forcerespawn 1')
args.append('+sv_noautoaim 1')
# respawn invincibility / distance
# players will be invulnerable for two second after spawning
# players will be spawned as far as possible from any other players
args.append('+sv_respawnprotect %i' % self.respawn_protect)
args.append('+sv_spawnfarthest %i' % self.spawn_farthest)
# freelook / agent name / agent color
args.append('+freelook %i' % (1 if self.freelook else 0))
args.append('+name %s' % self.name)
args.append('+colorset %i' % self.color)
# enable the cheat system (so that we can still
# send commands to the game in self-play mode)
args.append('+sv_cheats 1')
# load parameters
self.args = args
for arg in args:
self.game.add_game_args(arg)
# window visibility
self.game.set_window_visible(self.visible)
# available buttons
self.mapping = add_buttons(self.game,
self.action_builder.available_buttons)
# doom skill
self.game.set_doom_skill(self.doom_skill + 1)
# start the game
self.game.init()
# initialize the game after player spawns
self.initialize_game()
def update_bots(self):
"""
Add built-in AI bots.
There are two types of AI: built-in AI and ScriptedMarines.
"""
# only the host takes care of the bots
if self.use_scripted_marines:
command = "pukename set_value always 2 %i" % self.n_bots
self.game.send_game_command(command)
else:
self.game.send_game_command("removebots")
for _ in range(self.n_bots):
self.game.send_game_command("addbot")
def is_player_dead(self):
"""
Detect whether the player is dead.
"""
return self.game.is_player_dead()
def is_episode_finished(self):
"""
Return whether the episode is finished.
This should only be the case after the episode timeout.
"""
return self.game.is_episode_finished()
def is_final(self):
"""
Return whether the game is in a final state.
"""
return self.is_player_dead() or self.is_episode_finished()
def new_episode(self):
"""
Start a new episode.
"""
assert self.is_episode_finished() or self.is_player_dead()
self.game.new_episode()
self.initialize_game()
def respawn_player(self):
"""
Respawn the player on death.
"""
assert self.is_player_dead()
self.game.respawn_player()
self.initialize_game()
def initialize_game(self):
"""
Initialize the game after the player spawns / respawns.
Be sure that properties from the previous life are not considered in this one.
"""
# generate buffers
game_state = self.game.get_state()
self._screen_buffer = game_state.screen_buffer
self._depth_buffer = game_state.depth_buffer
self._labels_buffer = game_state.labels_buffer
self._labels = game_state.labels
# actor properties
self.prev_properties = None
self.properties = None
# advance a few steps to avoid bugs due to initial weapon changes in ACS
self.game.advance_action(SKIP_INITIAL_ACTIONS)
self.update_game_variables()
# if there are bots in the game, and if this is a new game
self.update_bots()
def randomize_textures(self, randomize):
"""
Randomize the textures of the map.
"""
assert type(randomize) is bool
randomize = 1 if randomize else 0
self.game.send_game_command("pukename set_value always 4 %i" %
randomize)
def init_bots_health(self, health):
"""
Initial bots health.
"""
assert self.use_scripted_marines or health == 100
assert 0 < health <= 100
self.game.send_game_command("pukename set_value always 5 %i" % health)
def make_action(self, action, frame_skip=1, sleep=None):
"""
Make an action.
If `sleep` is given, the network will wait `sleep` seconds between each action.
"""
assert frame_skip >= 1
# convert selected action to the ViZDoom action format
action = self.action_builder.get_action(action)
# select agent favorite weapon
for weapon_name, weapon_ammo, weapon_id in WEAPONS_PREFERENCES:
min_ammo = 40 if weapon_name == 'bfg9000' else 1
if self.properties[weapon_name] > 0 and self.properties[
weapon_ammo] >= min_ammo:
if self.properties['sel_weapon'] != weapon_id:
switch_action = (
[False] *
self.mapping['SELECT_WEAPON%i' % weapon_id]) + [True]
action = action + switch_action[len(action):]
break
if action[self.mapping['MOVE_FORWARD']]:
self.count_non_forward_actions = 0
else:
self.count_non_forward_actions += 1
if action[self.mapping['TURN_LEFT']] or action[
self.mapping['TURN_RIGHT']]:
self.count_non_turn_actions = 0
else:
self.count_non_turn_actions += 1
if self.manual_control and (self.count_non_forward_actions >= 30
or self.count_non_turn_actions >= 60):
manual_action = [False] * len(action)
manual_action[self.mapping['TURN_RIGHT']] = True
manual_action[self.mapping['SPEED']] = True
if self.count_non_forward_actions >= 30:
manual_action[self.mapping['MOVE_FORWARD']] = True
manual_repeat = 40
self.count_non_forward_actions = 0
self.count_non_turn_actions = 0
else:
manual_action = None
# if we are visualizing the experiment, show all the frames one by one
if self.visible:
if manual_action is not None:
for _ in range(manual_repeat):
self.game.make_action(manual_action)
else:
for _ in range(frame_skip):
self.game.make_action(action)
# death or episode finished
if self.is_player_dead() or self.is_episode_finished():
break
# sleep for smooth visualization
if sleep is not None:
time.sleep(sleep)
else:
if manual_action is not None:
self.game.make_action(manual_action, manual_repeat)
else:
self.game.make_action(action, frame_skip)
# generate buffers
game_state = self.game.get_state()
if game_state is not None:
self._screen_buffer = game_state.screen_buffer
self._depth_buffer = game_state.depth_buffer
self._labels_buffer = game_state.labels_buffer
self._labels = game_state.labels
# update game variables / statistics rewards
self.update_game_variables()
self.update_statistics(action)
def close(self):
"""
Close the current game.
"""
self.game.close()
def print_statistics(self, eval_time=None):
"""
Print agent statistics.
If `map_id` is is given, statistics are given for the specified map only.
"""
map_ids = self.statistics.keys()
assert len(map_ids) == 1
for v in self.statistics.values():
assert set(self.stat_keys) == set(v.keys())
# number of frags (kills - suicides)
# 100% accurate if the number of frags is given by 'FRAGCOUNT'
# almost 100% accurate if it is based on an internal ACS variable
for v in self.statistics.values():
v['frags'] = v['kills'] - v['suicides']
# Kills / Deaths
# 100% accurate if the number of kills is given by an ACS variable
# almost 100% accurate if it is based on 'FRAGCOUNT'
for v in self.statistics.values():
v['k/d'] = v['kills'] * 1.0 / max(1, v['deaths'])
print("******************Game statistics summary********************")
print("Map%02d" % self.map_id)
for item in self.stat_keys:
print(item + ":\t%d" % self.statistics[self.map_id][item])
def observe_state(self, params, last_states):
"""
Observe the current state of the game.
"""
# read game state
screen, game_features = process_buffers(self, params)
variables = [self.properties[x[0]] for x in params.game_variables]
last_states.append(GameState(screen, variables, game_features))
# update most recent states
if len(last_states) == 1:
last_states.extend([last_states[0]] * (params.hist_size - 1))
else:
assert len(last_states) == params.hist_size + 1
del last_states[0]
# return the screen and the game features
return screen, game_features
class DoomEnv(gym.Env, EzPickle):
metadata = {
'render.modes': ['human', 'rgb_array'],
'video.frames_per_second': 35
}
def __init__(self, level='deathmatch', obs_type='ram'):
# super(DoomEnv, self).__init__()
EzPickle.__init__(self, level.split('.')[0], obs_type)
assert obs_type in ('ram', 'image')
level = level.split('.')[0]
Config.init(level)
self.curr_seed = 0
self.game = DoomGame()
self.lock = (DoomLock()).get_lock()
self.level = level
self.obs_type = obs_type
self.tick = 4
self._mode = 'algo'
self.is_render_in_human_mode = True
self.is_game_initialized = False
self.is_level_loaded = False
self.viewer = None
self.set_game(self.level, resolution=None, render=True)
print()
# todo: add frame skip option by using tick
def step(self, action):
reward = 0.0
# self.tick = 4
if self._mode == 'algo':
if self.tick:
reward = self.game.make_action(action, self.tick)
else:
reward = self.game.make_action(action)
# self.game.set_action(action)
# self.game.advance_action(4)
# reward = self.game.get_last_reward()
return self.get_obs(), reward, self.isDone(), self.get_info()
def reset(self):
if not self.is_game_initialized:
self.__load_level()
self.__init_game()
self.__start_episode()
return self.get_obs()
def render(self, mode='human', **kwargs):
if 'close' in kwargs and kwargs['close']:
if self.viewer is not None:
self.viewer.close()
self.viewer = None
return
if mode == 'human' and not self.is_render_in_human_mode:
return
img = self.get_image()
if mode == 'rgb_array':
return img
elif mode is 'human':
if self.viewer is None:
self.viewer = rendering.SimpleImageViewer()
self.viewer.imshow(img)
def close(self):
with self.lock:
self.game.close()
def seed(self, seed=None):
self.curr_seed = seeding.hash_seed(seed) % 2**32
return [self.curr_seed]
# ================================== GETTERS SETTERS ===============================================================
def set_game(self, level, resolution, render):
self.__configure()
self.__load_level(level)
self.__set_resolution(resolution)
self.__set_obs_and_ac_space()
self.__set_player(render)
def __configure(self, lock=None, **kwargs):
self.seed()
if lock is not None:
self.lock = lock
def __load_level(self, level=None):
if level is not None:
self.level = level.split('.')[0]
self.is_level_loaded = False
if self.is_level_loaded:
return
if self.is_game_initialized:
self.is_game_initialized = False
self.game.close()
self.game = DoomGame()
if not self.is_game_initialized:
self.game.set_vizdoom_path(Config.VIZDOOM_PATH)
self.game.set_doom_game_path(Config.FREEDOOM_PATH)
# Common settings
self.record_file_path = Config.RECORD_FILE_PATH
self.game.load_config(Config.VIZDOOM_SCENARIO_PATH +
Config.DOOM_SETTINGS[self.level][Config.CONFIG])
self.game.set_doom_scenario_path(
Config.VIZDOOM_SCENARIO_PATH +
Config.DOOM_SETTINGS[self.level][Config.SCENARIO])
if Config.DOOM_SETTINGS[self.level][Config.MAP] != '':
self.game.set_doom_map(
Config.DOOM_SETTINGS[self.level][Config.MAP])
self.game.set_doom_skill(
Config.DOOM_SETTINGS[self.level][Config.DIFFICULTY])
self.allowed_actions = Config.DOOM_SETTINGS[self.level][Config.ACTIONS]
self.available_game_variables = Config.DOOM_SETTINGS[self.level][
Config.GAME_VARIABLES]
self.is_level_loaded = True
def __set_resolution(self, resolution=None):
if resolution is None:
resolution = Config.DEFAULT_SCREEN_RESOLUTION
resolution_l = resolution.lower()
if resolution_l not in resolutions:
raise gym.error.Error(
'Error - The specified resolution "{}" is not supported by Vizdoom.\n The list of valid'
'resolutions: {}'.format(resolution, resolutions))
if '_' in resolution_l:
resolution_l = resolution_l.split('_')[1]
self.scr_width = int(resolution_l.split("x")[0])
self.scr_height = int(resolution_l.split("x")[1])
self.game.set_screen_resolution(
getattr(ScreenResolution,
'RES_{}X{}'.format(self.scr_width, self.scr_height)))
self.screen_format = self.game.get_screen_format()
self.screen_height = self.game.get_screen_height()
self.screen_width = self.game.get_screen_width()
def __set_obs_and_ac_space(self):
if self.obs_type == 'ram':
self.observation_space = spaces.Box(
low=0,
high=255,
dtype=np.uint8,
shape=(len(self.available_game_variables), ))
elif self.obs_type == 'image':
# self.observation_space = self.screen_resized
self.observation_space = spaces.Box(low=0,
high=255,
shape=(self.scr_height,
self.scr_width, 3),
dtype=np.uint8)
else:
raise error.Error('Unrecognized observation type: {}'.format(
self.obs_type))
if self.screen_format in inverted_screen_formats:
self.dummy_screen = np.zeros(shape=(3, self.scr_height,
self.scr_width),
dtype=np.uint8)
else:
self.dummy_screen = np.zeros(shape=(self.scr_height,
self.scr_width, 3),
dtype=np.uint8)
self.dummy_ram = [0] * len(self.available_game_variables)
self.available_action_codes = [
list(a)
for a in it.product([0, 1],
repeat=self.game.get_available_buttons_size())
]
# self.__delete_conflict_actions()
self.action_space = spaces.MultiDiscrete(
[len(self.available_action_codes)])
def __set_player(self, render=True):
self.game.set_window_visible(render)
self.game.set_mode(Mode.PLAYER)
def __init_game(self):
try:
with self.lock:
self.game.init()
self.is_game_initialized = True
except (ViZDoomUnexpectedExitException, ViZDoomErrorException):
raise error.Error('Could not start the game.')
def __start_episode(self):
if self.curr_seed > 0:
self.game.set_seed(self.curr_seed)
self.curr_seed = 0
if self.record_file_path:
self.game.new_episode(self.record_file_path)
else:
self.game.new_episode()
return
def getState(self):
return self.game.get_state()
def getLastAction(self):
return self.game.get_last_action()
def getButtonsNames(self, action):
return action_to_buttons(self.allowed_actions, action)
def get_info(self):
info = {
"LEVEL": self.level,
"TOTAL_REWARD": round(self.game.get_total_reward(), 4)
}
state_variables = self.get_ram()
for i in range(len(self.available_game_variables)):
info[self.available_game_variables[i]] = state_variables[i]
return info
def get_ram(self):
if not self.is_game_initialized:
raise NotImplementedError(
"The game was not initialized. Run env.reset() first!")
try:
ram = self.getState().game_variables
except AttributeError:
ram = self.dummy_ram
return ram
def get_image(self):
try:
screen = self.getState().screen_buffer.copy()
except AttributeError:
screen = self.dummy_screen
return self.invert_screen(screen)
def get_obs(self):
if self.obs_type == 'ram':
return self.get_ram()
elif self.obs_type == 'image':
return self.get_image()
def isDone(self):
return self.game.is_episode_finished() or self.game.is_player_dead(
) or self.getState() is None
# =========================================== ==============================================================
def invert_screen(self, img):
if self.screen_format in inverted_screen_formats:
return np.rollaxis(img, 0, 3)
else:
return img
def __delete_conflict_actions(self):
if self._mode == 'human':
return
action_codes_copy = self.available_action_codes.copy()
print("Initial actions size: " + str(len(action_codes_copy)))
for i in tqdm.trange(len(self.available_action_codes)):
action = self.available_action_codes[i]
ac_names = action_to_buttons(self.allowed_actions, action)
if all(elem in ac_names
for elem in ['MOVE_LEFT', 'MOVE_RIGHT']) or all(
elem in ac_names
for elem in ['MOVE_BACKWARD', 'MOVE_FORWARD']) or all(
elem in ac_names
for elem in ['TURN_RIGHT', 'TURN_LEFT']) or all(
elem in ac_names for elem in
['SELECT_NEXT_WEAPON', 'SELECT_PREV_WEAPON']):
action_codes_copy.remove(action)
print("Final actions size: " + str(len(action_codes_copy)))
self.available_action_codes = action_codes_copy
def __initHumanPlayer(self):
self._mode = 'human'
self.__load_level()
self.game.add_game_args('+freelook 1')
self.game.set_window_visible(True)
self.game.set_mode(Mode.SPECTATOR)
self.is_render_in_human_mode = False
self.__init_game()
def advanceAction(self, tick=0):
try:
if tick:
self.game.advance_action(tick)
else:
self.game.advance_action()
return True
except ViZDoomUnexpectedExitException:
return False
def playHuman(self):
self.__initHumanPlayer()
while not self.game.is_episode_finished(
) and not self.game.is_player_dead():
self.advanceAction()
state = self.getState()
if state is None:
if self.record_file_path is None:
self.game.new_episode()
else:
self.game.new_episode(self.record_file_path)
state = self.getState()
total_reward = self.game.get_total_reward()
info = self.get_info()
info["TOTAL_REWARD"] = round(total_reward, 4)
print('===============================')
print('State: #' + str(state.number))
print('Action: \t' + str(self.game.get_last_action()) +
'\t (=> only allowed actions)')
print('Reward: \t' + str(self.game.get_last_reward()))
print('Total Reward: \t' + str(total_reward))
print('Variables: \n' + str(info))
sleep(0.02857) # 35 fps = 0.02857 sleep between frames
print('===============================')
print('Done')
return
def __init__(self, cfg, name='Player1', color='0', map='map01'):
game = DoomGame()
game_args = ""
game_args += " -name %s" % name
game_args += " -colorset %s" % color
game.add_game_args(game_args)
game.load_config(cfg)
game.set_death_penalty(1)
game.set_doom_map(map)
self.env = game
self.observation_space = spaces.Box(0, 255, game.get_screen_size())
self.action_space = spaces.Discrete(game.get_available_buttons_size())
self.reward_range = None
def __init__(self,
cfg,
name='Player1',
color='0',
host=True,
map='map01',
dm=True,
port=None,
num_players=7):
game = DoomGame()
game.load_config(cfg)
game_args = ""
if host:
# This machine will function as a host for a multiplayer game with this many
# players (including this machine). It will wait for other machines to connect using
# the -join parameter and then start the game when everyone is connected.
game_args += "-host %s " % num_players
# The game (episode) will end after this many minutes have elapsed.
game_args += "+timelimit 10.0 "
# Players will respawn automatically after they die.
game_args += "+sv_forcerespawn 1 "
# Autoaim is disabled for all players.
game_args += "+sv_noautoaim 1 "
# Players will be invulnerable for two second after spawning.
game_args += "+sv_respawnprotect 1 "
# Players will be spawned as far as possible from any other players.
game_args += "+sv_spawnfarthest 1 "
# Disables crouching.
game_args += "+sv_nocrouch 1 "
# Sets delay between respanws (in seconds).
game_args += "+viz_respawn_delay 10 "
game_args += "+viz_nocheat 1"
if dm:
# Deathmatch rules are used for the game.
game_args += " -deathmatch"
if port is not None:
game_args += " -port %s" % port
else:
game_args += " -join 127.0.0.1"
if port is not None:
game_args += ":%s" % port
game_args += " -name %s" % name
game_args += " -colorset %s" % color
game.add_game_args(game_args)
game.set_death_penalty(1)
game.set_doom_map(map)
self.env = game
self.observation_space = spaces.Box(0, 255, game.get_screen_size())
self.action_space = spaces.Discrete(game.get_available_buttons_size())
self.reward_range = None
def __init__(self,
emulator_id,
game,
resource_folder,
gray=False,
reward_coef=1 / 100,
action_repeat=6,
history_window=1,
screen_size=(60, 90),
verbose=0,
visualize=False,
**unknown):
if verbose >= 2:
logging.debug('Initializing Vizdoom.{}. emulator_id={}'.format(
game, emulator_id))
logging.debug('Emulator#{} received unknown args: {}'.format(
emulator_id, unknown))
doom_game = DoomGame()
config_file_path = join_path(resource_folder, game + '.cfg')
doom_game.load_config(config_file_path)
doom_game.set_window_visible(visualize)
doom_game.set_screen_resolution(self.SCREEN_RESOLUTION)
doom_game.set_screen_format(
ScreenFormat.GRAY8 if gray else ScreenFormat.BGR24)
doom_game.set_mode(self.MODE)
if self.MODE == Mode.SPECTATOR:
doom_game.add_game_args("+freelook 1")
# with a fixed seed all episodes in this environment will be identical
#doom_game.set_seed(args.random_seed)
# doom_game.add_available_game_variable(vizdoom.GameVariable.AMMO2)
doom_game.init()
self.game = doom_game
self.legal_actions, self.noop = self._define_actions(self.game)
self._preprocess = cv2_resize
self.screen_size = screen_size
self.reward_coef = reward_coef
self.action_repeat = action_repeat
self.history_window = history_window
num_channels = doom_game.get_screen_channels()
self.observation_shape = (self.history_window *
num_channels, ) + self.screen_size
self.history = create_history_observation(self.history_window)
# If episode is done WorkerProcess drops last returned state and
# returns the initial state of a new episode.
# Therefore it doesn't really matter that terminal_screen is None
self.terminal_obs = None
class DoomScenario:
"""
DoomScenario class runs instances of Vizdoom according to scenario
configuration (.cfg) files.
Scenario Configuration files for this project are located in
the /src/configs/ folder.
"""
def __init__(self, config_filename):
'''
Method initiates Vizdoom with desired configuration file.
'''
self.config_filename = config_filename
self.game = DoomGame()
self.game.load_config("configs/" + config_filename)
self.game.set_window_visible(False)
self.game.init()
self.res = (self.game.get_screen_height(),
self.game.get_screen_width())
self.actions = [
list(a)
for a in it.product([0, 1],
repeat=self.game.get_available_buttons_size())
]
self.pbar = None
self.game.new_episode()
def play(self, action, tics):
'''
Method advances state with desired action for a number of tics.
'''
self.game.set_action(action)
self.game.advance_action(tics, True)
if self.pbar: self.pbar.update(int(tics))
def get_processed_state(self, depth_radius, depth_contrast):
'''
Method processes the Vizdoom RGB and depth buffer into
a composite one channel image that can be used by the Models.
depth_radius defines how far the depth buffer sees with 1.0 being
as far as ViZDoom allows.
depth_contrast defines how much of the depth buffer is in the final
processed image as compared to the greyscaled RGB buffer.
**processed = (1-depth_contrast)* grey_buffer + depth_contrast*depth_buffer
'''
state = self.game.get_state()
if not self.game.is_episode_finished():
img = state.screen_buffer # screen pixels
# print(img)
screen_buffer = np.array(img).astype('float32') / 255
# print(screen_buffer.shape) # (3, 120, 160)
try:
# Grey Scaling
grey_buffer = np.dot(np.transpose(screen_buffer, (1, 2, 0)),
[0.21, 0.72, 0.07])
# print(grey_buffer.shape) # (120, 160)
# Depth Radius
depth_buffer = np.array(state.depth_buffer).astype('float32') / 255
depth_buffer[(depth_buffer >
depth_radius)] = depth_radius #Effects depth radius
depth_buffer_filtered = (depth_buffer - np.amin(depth_buffer)) / (
np.amax(depth_buffer) - np.amin(depth_buffer))
# Depth Contrast
processed_buffer = (
(1 - depth_contrast) * grey_buffer) + (depth_contrast *
(1 - depth_buffer))
processed_buffer = (processed_buffer - np.amin(processed_buffer)
) / (np.amax(processed_buffer) -
np.amin(processed_buffer))
processed_buffer = np.round(processed_buffer, 6)
processed_buffer = processed_buffer.reshape(self.res[-2:])
except:
processed_buffer = np.zeros(self.res[-2:])
return processed_buffer # balance the depth & RGB data
def run(self, agent, save_replay='', verbose=False, return_data=False):
'''
Method runs a instance of DoomScenario.
'''
if return_data:
data_S = []
data_a = []
if verbose:
print("\nRunning Simulation:", self.config_filename)
self.pbar = tqdm(total=self.game.get_episode_timeout())
# Initiate New Instance
self.game.close()
self.game.set_window_visible(False)
self.game.add_game_args("+vid_forcesurface 1 ")
self.game.init()
if save_replay != '':
self.game.new_episode("../data/replay_data/" + save_replay)
else:
self.game.new_episode()
# Run Simulation
while not self.game.is_episode_finished():
S = agent.get_state_data(self)
q = agent.model.online_network.predict(S)
if np.random.random() < 0.1:
q = np.random.choice(len(q[0]), 1, p=softmax(q[0], 1))[0]
else:
q = int(np.argmax(q[0]))
a = agent.model.predict(self, q)
if return_data:
delta = np.zeros((len(self.actions)))
a_ = np.cast['int'](a)
delta[a_] = 1
data_S.append(S.reshape(S.shape[1], S.shape[2], S.shape[3]))
data_a.append(delta)
if not self.game.is_episode_finished():
self.play(a, agent.frame_skips + 1)
if agent.model.__class__.__name__ == 'HDQNModel' and not self.game.is_episode_finished(
):
if q >= len(agent.model.actions):
for i in range(agent.model.skill_frame_skip):
if not self.game.is_episode_finished():
a = agent.model.predict(self, q)
self.play(a, agent.frame_skips + 1)
else:
break
# Reset Agent and Return Score
agent.frames = None
if agent.model.__class__.__name__ == 'HDQNModel':
agent.model.sub_model_frames = None
score = self.game.get_total_reward()
if verbose:
self.pbar.close()
print("Total Score:", score)
if return_data:
data_S = np.array(data_S)
data_a = np.array(data_a)
return [data_S, data_a]
return score
def replay(self, filename, verbose=False, doom_like=False):
'''
Method runs a replay of the simulations at 800 x 600 resolution.
'''
print("\nRunning Replay:", filename)
# Initiate Replay
self.game.close()
self.game.set_screen_resolution(ScreenResolution.RES_800X600)
self.game.set_window_visible(True)
self.game.add_game_args("+vid_forcesurface 1")
if doom_like:
self.game.set_render_hud(True)
self.game.set_render_minimal_hud(False)
self.game.set_render_crosshair(False)
self.game.set_render_weapon(True)
self.game.set_render_particles(True)
self.game.init()
self.game.replay_episode("../data/replay_data/" + filename)
# Run Replay
while not self.game.is_episode_finished():
if verbose: print("Reward:", self.game.get_last_reward())
self.game.advance_action()
# Print Score
score = self.game.get_total_reward()
print("Total Score:", score)
self.game.close()
def apprentice_run(self, test=False):
'''
Method runs an apprentice data gathering.
'''
# Initiate New Instance
self.game.close()
self.game.set_mode(Mode.SPECTATOR)
self.game.set_screen_resolution(ScreenResolution.RES_800X600)
self.game.set_window_visible(True)
self.game.set_ticrate(30)
self.game.init()
self.game.new_episode()
# Run Simulation
while not self.game.is_episode_finished():
self.game.advance_action()
self.game.close()
def _create_game(self, params, idx, is_train, get_extra_info=False):
game = DoomGame()
VALID_SCENARIOS = [
'my_way_home.cfg', 'health_gathering.cfg',
'health_gathering_supreme.cfg',
'health_gathering_supreme_no_death_penalty.cfg',
'deadly_corridor.cfg', 'defend_the_center.cfg',
'defend_the_line.cfg', 'two_color_maze014.cfg',
'labyrinth_maze000.cfg', 'labyrinth_maze11_000.cfg'
]
VALID_MULTI_SCENARIOS = [
'maze_{:003}.cfg', 'custom_scenario{:003}.cfg'
'mino_maze{:003}.cfg', 'labyrinth_maze{:003}.cfg',
'two_item_maze{:003}.cfg', 'six_item_maze{:003}.cfg',
'four_item_maze{:003}.cfg', 'eight_item_maze{:003}.cfg',
'repeated_laby_maze{:003}.cfg', 'two_color_maze{:003}.cfg',
'custom_scenario{:003}.cfg'
]
if params.scenario in VALID_SCENARIOS:
game.load_config(params.scenario_dir + params.scenario)
elif params.scenario in VALID_MULTI_SCENARIOS:
assert params.multimaze
if not is_train and params.test_scenario_dir:
filename = params.test_scenario_dir + params.scenario.format(
idx)
#print('loading file', filename)
game.load_config(filename)
else:
if not is_train:
print(
'WARNING, LOADING TRAINING DATA FOR TESTING, THIS MAY NOT BE WHAT YOU INTENDED!'
)
filename = params.scenario_dir + params.scenario.format(idx)
#print('loading file', filename)
game.load_config(filename)
else:
assert 0, 'Invalid environment {}'.format(params.scenario)
if params.screen_size == '320X180':
# TODO: Implement options for other resolutions
game.set_screen_resolution(ScreenResolution.RES_320X180)
else:
assert 0, 'Invalid screen_size {}'.format(params.screen_size)
game.set_sound_enabled(False)
#game.add_game_args("+vid_forcesurface 1")
game.set_window_visible(params.show_window)
if params.show_window:
game.set_mode(Mode.SPECTATOR)
game.add_game_args("+freelook 1")
# Player variables for prediction of position etc
game.add_available_game_variable(GameVariable.POSITION_X)
game.add_available_game_variable(GameVariable.POSITION_Y)
game.add_available_game_variable(GameVariable.POSITION_Z)
game.add_available_game_variable(GameVariable.VELOCITY_X)
game.add_available_game_variable(GameVariable.VELOCITY_Y)
game.add_available_game_variable(GameVariable.VELOCITY_Z)
game.add_available_game_variable(GameVariable.ANGLE)
game.add_available_game_variable(GameVariable.PITCH)
game.add_available_game_variable(GameVariable.ROLL)
if get_extra_info:
game.set_labels_buffer_enabled(True)
game.set_automap_buffer_enabled(True)
game.set_automap_mode(AutomapMode.OBJECTS)
game.set_automap_rotate(True)
game.set_automap_render_textures(False)
game.set_depth_buffer_enabled(True)
game.init()
if GameVariable.HEALTH in game.get_available_game_variables():
self.previous_health = game.get_game_variable(GameVariable.HEALTH)
if self.use_shaping:
self.shaping_reward = doom_fixed_to_double(
game.get_game_variable(GameVariable.USER1))
if params.disable_head_bob:
game.send_game_command('movebob 0.0')
return game
def _create_game(self, params, idx, is_train, get_extra_info=False):
game = DoomGame()
self.idx = idx
game.set_window_visible(params.show_window)
game.set_sound_enabled(False)
game.add_game_args("+vid_forcesurface 1")
VALID_SCENARIOS = [
'my_way_home.cfg', 'health_gathering.cfg',
'health_gathering_supreme.cfg',
'health_gathering_supreme_no_death_penalty.cfg',
'deadly_corridor.cfg', 'defend_the_center.cfg',
'defend_the_line.cfg', 'custom_maze_001.cfg',
'custom_maze_002.cfg', 'custom_maze_003.cfg',
'custom_mazes_005/train/maze_000.cfg',
'custom_mazes_005/train/maze_004.cfg',
'custom_mazes_005/valid/maze_000.cfg', 'long_term_base.cfg',
'scenario_x.cfg', 'scenario_cw2.cfg', 'scenario_2_item0.cfg',
'scenario_2_item1.cfg', 'scenario_2_item2.cfg',
'scenario_2_item3.cfg', 'scenario_3_item0.cfg',
'two_color_maze040.cfg', 'four_item_maze034.cfg',
'labyrinth_maze000.cfg', 'mino_maze000.cfg',
'labyrinth_maze11_000.cfg', 'mino_maze_simple.cfg'
]
VALID_MULTI_SCENARIOS = [
'maze_{:003}.cfg', 'mino_maze{:003}.cfg',
'labyrinth_maze{:003}.cfg', 'indicator_maze{:003}.cfg',
'two_item_maze{:003}.cfg', 'six_item_maze{:003}.cfg',
'four_item_maze{:003}.cfg', 'eight_item_maze{:003}.cfg',
'repeated_laby_maze{:003}.cfg', 'two_color_maze{:003}.cfg'
]
if params.scenario in VALID_SCENARIOS:
game.load_config(params.scenario_dir + params.scenario)
elif params.scenario in VALID_MULTI_SCENARIOS:
assert params.multimaze
if not is_train and params.test_scenario_dir:
filename = params.test_scenario_dir + params.scenario.format(
idx)
#print('loading file', filename)
game.load_config(filename)
else:
filename = params.scenario_dir + params.scenario.format(idx)
#print('loading file', filename)
game.load_config(filename)
elif params.scenario == 'curriculum':
pass
else:
assert 0, 'Invalid environment {}'.format(params.scenario)
if params.screen_size == '320X180':
game.set_screen_resolution(ScreenResolution.RES_320X180)
else:
assert 0, 'Invalid screen_size {}'.format(params.screen_size)
if (params.use_depth or params.predict_depth or params.ego_model
or params.depth_as_obs):
game.set_depth_buffer_enabled(True)
#self.game.set_labels_buffer_enabled(True)
game.set_window_visible(params.show_window)
game.set_sound_enabled(False)
if params.show_window:
game.set_mode(Mode.SPECTATOR)
game.add_game_args("+freelook 1")
# Player variables for prediction of position etc
game.add_available_game_variable(GameVariable.POSITION_X)
game.add_available_game_variable(GameVariable.POSITION_Y)
game.add_available_game_variable(GameVariable.POSITION_Z)
game.add_available_game_variable(GameVariable.VELOCITY_X)
game.add_available_game_variable(GameVariable.VELOCITY_Y)
game.add_available_game_variable(GameVariable.VELOCITY_Z)
game.add_available_game_variable(GameVariable.ANGLE)
game.add_available_game_variable(GameVariable.PITCH)
game.add_available_game_variable(GameVariable.ROLL)
if get_extra_info:
game.set_labels_buffer_enabled(True)
game.set_automap_buffer_enabled(True)
game.set_automap_mode(AutomapMode.OBJECTS)
game.set_automap_rotate(True)
game.set_automap_render_textures(False)
game.set_depth_buffer_enabled(True)
game.add_game_args("+vid_forcesurface 1")
game.init()
if GameVariable.HEALTH in game.get_available_game_variables():
self.previous_health = game.get_game_variable(GameVariable.HEALTH)
if self.use_shaping:
self.shaping_reward = doom_fixed_to_double(
game.get_game_variable(GameVariable.USER1))
if params.disable_head_bob:
game.send_game_command('movebob 0.0')
return game
class VizDoomGym(gym.Env):
"""
Wraps a VizDoom environment
"""
def __init__(self):
raise NotImplementedError
def _init(self, mission_file: str, scaled_resolution: list):
"""
:param mission_file: name of the mission (.cfg) to run,
:param scaled_resolution: resolution (height, width) of the video frames
to run training on
"""
super(VizDoomGym, self).__init__()
self.mission_file = mission_file
self._logger = logging.getLogger(__name__)
self._logger.info("Creating environment: VizDoom (%s)",
self.mission_file)
self.deathmatch = True
# distance we need the agent to travel per time-step, otherwise we penalise
self.distance_threshold = 15
self.prev_properties = None
self.properties = None
self.cum_kills = np.array([0])
# Create an instace on VizDoom game, initalise it from a scenario config file
self.env = DoomGame()
self.env.load_config(self.mission_file)
self.env.set_window_visible(False)
self.env.set_screen_format(ScreenFormat.RGB24)
if self.deathmatch:
self.env.add_game_args("-deathmatch")
self.env.set_doom_skill(4)
self._action_frame_repeat = 4
self.env.init()
# Perform config validation:
# Only RGB format with a seperate channel per colour is supported
assert self.env.get_screen_format() == ScreenFormat.RGB24
# Only discrete actions are supported (no delta actions)
self.available_actions = self.env.get_available_buttons()
not_supported_actions = [
Button.LOOK_UP_DOWN_DELTA, Button.TURN_LEFT_RIGHT_DELTA,
Button.MOVE_LEFT_RIGHT_DELTA, Button.MOVE_UP_DOWN_DELTA,
Button.MOVE_FORWARD_BACKWARD_DELTA
]
# print(available_actions)
assert len((set(self.available_actions) - set(not_supported_actions))) \
== len(self.available_actions)
self.metadata['render_modes'] = ['rgb_array']
# Allow only one button to be pressed at a given step
self.action_space = gym.spaces.Discrete(
self.env.get_available_buttons_size() - 1)
self.rows = scaled_resolution[0]
self.columns = scaled_resolution[1]
self.observation_space = gym.spaces.Box(low=0.0,
high=1.0,
shape=(self.rows, self.columns,
3),
dtype=np.float32)
self._rgb_array = None
self.steps = 0
self.global_steps = 0
self.reset()
def _process_image(self, img):
# PIL resize has indexing opposite to numpy array
img = np.array(Image.fromarray(img).resize((self.columns, self.rows)))
img = img.astype(np.float32)
img = img / 255.0
return img
def update_game_variables(self):
"""
Check and update game variables.
"""
# read game variables
new_v = {
k: self.env.get_game_variable(v)
for k, v in game_variables.items()
}
assert all(v.is_integer() or k[-2:] in ['_x', '_y', '_z']
for k, v in new_v.items())
new_v = {
k: (int(v) if v.is_integer() else float(v))
for k, v in new_v.items()
}
health = new_v['health']
armor = new_v['armor']
# check game variables
assert 0 <= health <= 200 or health < 0 and self.env.is_player_dead()
assert 0 <= armor <= 200, (health, armor)
# update actor properties
self.prev_properties = self.properties
self.properties = new_v
def update_reward(self):
"""
Update reward.
"""
# we need to know the current and previous properties
assert self.prev_properties is not None and self.properties is not None
reward = 0
# kill
d = self.properties['score'] - self.prev_properties['score']
if d > 0:
self.cum_kills += d
reward += d * default_reward_values['KILL']
# death
if self.env.is_player_dead():
reward += default_reward_values['DEATH']
# suicide
if self.properties['frag_count'] < self.prev_properties['frag_count']:
reward += default_reward_values['SUICIDE']
# found / lost health
d = self.properties['health'] - self.prev_properties['health']
if d != 0:
if d > 0:
reward += default_reward_values['MEDIKIT']
else:
reward += default_reward_values['INJURED']
# found / lost armor
d = self.properties['armor'] - self.prev_properties['armor']
if d != 0:
if d > 0:
reward += default_reward_values['ARMOR']
# found / lost ammo
d = self.properties['sel_ammo'] - self.prev_properties['sel_ammo']
if d != 0:
if d > 0:
reward += default_reward_values['AMMO']
else:
reward += default_reward_values['USE_AMMO']
# distance
# turn_left = (Button.TURN_LEFT == self.available_actions[action])
# turn_right = (Button.TURN_RIGHT == self.available_actions[action])
# if not (turn_left or turn_right):
diff_x = self.properties['position_x'] - self.prev_properties[
'position_x']
diff_y = self.properties['position_y'] - self.prev_properties[
'position_y']
distance = np.sqrt(diff_x**2 + diff_y**2)
if distance > self.distance_threshold:
reward += default_reward_values['DISTANCE'] * distance
else:
reward += default_reward_values['STANDSTILL']
# living
reward += default_reward_values['LIVING']
return reward
# def increase_difficulty(self):
# self.curr_skill += 1
# self.env.close()
# self.env.set_doom_skill(self.curr_skill)
# self.env.init()
# print('changing skill to', self.curr_skill)
# def update_map(self):
# self.map_level += 1
# map_str = 'map0' + str(self.map_level)
# # go with initial wad file if there's still maps on it
# self.env.close()
# self.env.set_doom_map(map_str)
# self.env.init()
def sub_reset(self):
"""Reset environment"""
self.steps = 0
self.cum_kills = np.array([0])
self.prev_properties = None
self.properties = None
self.env.new_episode()
self._rgb_array = self.env.get_state().screen_buffer
observation = self._process_image(self._rgb_array)
return observation
def reset(self):
observation = self.sub_reset()
return observation
def sub_step(self, action):
"""Take step"""
one_hot_action = np.zeros(self.action_space.n, dtype=int)
one_hot_action[action] = 1
# ALWAYS SPRINTING
one_hot_action = np.append(one_hot_action, [1])
assert len(one_hot_action) == len(self.env.get_available_buttons())
_ = self.env.make_action(list(one_hot_action),
self._action_frame_repeat)
self.update_game_variables()
if self.steps > 1:
reward = self.update_reward()
else:
reward = 0
self.steps += 1
self.global_steps += 1
done = self.env.is_episode_finished()
# state is available only if the episode is still running
if not done:
self._rgb_array = self.env.get_state().screen_buffer
observation = self._process_image(self._rgb_array)
return observation, reward, done
def step(self, action):
observation, reward, done = self.sub_step(action)
return observation, reward, done, {}
def close(self):
"""Close environment"""
self.env.close()
def seed(self, seed=None):
"""Seed"""
if seed:
self.env.set_seed(seed)
def render(self, mode='human'):
"""Render frame"""
if mode == 'rgb_array':
return self._rgb_array
raise NotImplementedError
