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Add manual controll override and pause functionality

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This commit is contained in:
Dominik Moritz Roth 2022-06-22 20:32:17 +02:00
parent 60892ee145
commit 4f3c8bec8b
1 changed files with 56 additions and 16 deletions
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64
columbus/env.py
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@ -6,7 +6,6 @@ import pygame
import random as random_dont_use
from os import urandom
import math
from time import time as get_time
from columbus import entities, observables
@ -45,11 +44,14 @@ class ColumbusEnv(gym.Env):
self.void_barrier = True
self.void_damage = 100
self.paused = False
self.keypress_timeout = 0
self.rng = random_dont_use.Random()
self._seed(self.env_seed)
self.reset()
self.observation_space = self.observable.get_observation_space()
@property
def observation_space(self):
return self.observable.get_observation_space()
def _seed(self, seed):
if seed == None:
@ -111,10 +113,14 @@ class ColumbusEnv(gym.Env):
def step(self, action):
inp = action[0], action[1]
if self._disturb_next:
inp = self._disturb_next
self._disturb_next = False
if self.limit_inp_to_unit_circle:
inp = self._limit_to_unit_circle(((inp[0]-0.5)*2, (inp[1]-0.5)*2))
inp = (inp[0]+1)/2, (inp[1]+1)/2
self.inp = inp
if not self.paused:
self._step_timers()
self._step_entities()
observation = self.observable.get_observation()
@ -168,8 +174,8 @@ class ColumbusEnv(gym.Env):
pygame.init()
self._seed(self.env_seed)
self._rendered = False
self._disturb_next = False
self.inp = (0.5, 0.5)
self.keypress_timeout = 0
# will get rescaled acording to fps (=reward per second)
self.new_reward = 0
self.new_abs_reward = 0 # will not get rescaled. should be used for one-time rewards
@ -193,26 +199,47 @@ class ColumbusEnv(gym.Env):
def _draw_joystick(self, forceDraw=False):
if (self.draw_joystick or forceDraw) and self.visible:
x, y = self.inp
pygame.draw.circle(self.screen, (100, 100, 100), (50 +
bigcol = (100, 100, 100)
smolcol = (100, 100, 100)
if self._disturb_next:
smolcol = (255, 255, 255)
pygame.draw.circle(self.screen, bigcol, (50 +
self.joystick_offset[0], 50+self.joystick_offset[1]), 50, width=1)
pygame.draw.circle(self.screen, (100, 100, 100), (20+int(60*x) +
pygame.draw.circle(self.screen, smolcol, (20+int(60*x) +
self.joystick_offset[0], 20+int(60*y)+self.joystick_offset[1]), 20, width=0)
def render(self, mode='human', dont_show=False):
def _handle_user_input(self):
for event in pygame.event.get():
pass
keys = pygame.key.get_pressed()
if self.keypress_timeout == 0:
self.keypress_timeout = int(self.fps/2)
self.keypress_timeout = int(self.fps/5)
if keys[pygame.K_m]:
self.draw_entities = not self.draw_entities
elif keys[pygame.K_r]:
self.reset()
elif keys[pygame.K_p]:
self.paused = not self.paused
else:
self.keypress_timeout = 0
else:
self.keypress_timeout -= 1
# keys, that can be hold down to continously trigger them
if keys[pygame.K_q]:
self._disturb_next = (
random_dont_use.random(), random_dont_use.random())
elif keys[pygame.K_w]:
self._disturb_next = (0.5, 0.0)
elif keys[pygame.K_a]:
self._disturb_next = (0.0, 0.5)
elif keys[pygame.K_s]:
self._disturb_next = (0.5, 1.0)
elif keys[pygame.K_d]:
self._disturb_next = (1.0, 0.5)
def render(self, mode='human', dont_show=False):
self._handle_user_input()
self.visible = self.visible or not dont_show
self._ensure_surface()
pygame.draw.rect(self.surface, (0, 0, 0),
@ -363,11 +390,12 @@ class ColumbusJustState(ColumbusEnv):
class ColumbusStateWithBarriers(ColumbusEnv):
def __init__(self, observable=observables.StateObservable(coordsAgent=True, speedAgent=False, coordsRelativeToAgent=False, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True), fps=30, env_seed=3.141):
def __init__(self, observable=observables.StateObservable(coordsAgent=True, speedAgent=False, coordsRelativeToAgent=False, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=False, include_rand=True), fps=30, env_seed=3.141, num_chasers=1):
super(ColumbusStateWithBarriers, self).__init__(
observable=observable, fps=fps, env_seed=env_seed)
self.aux_reward_max = 0.01
self.aux_reward_max = 10
self.start_pos = (0.5, 0.5)
self.num_chasers = num_chasers
def setup(self):
self.agent.pos = self.start_pos
@ -375,7 +403,7 @@ class ColumbusStateWithBarriers(ColumbusEnv):
enemy = entities.CircleBarrier(self)
enemy.radius = self.random()*25+75
self.entities.append(enemy)
for i in range(1):
for i in range(self.num_chasers):
enemy = entities.FlyingChaser(self)
enemy.chase_acc = 0.55 # *0.6+0.5
self.entities.append(enemy)
@ -385,8 +413,14 @@ class ColumbusStateWithBarriers(ColumbusEnv):
self.entities.append(reward)
###
class ColumbusTrivialRay(ColumbusStateWithBarriers):
def __init__(self, observable=observables.RayObservable(num_rays=8, ray_len=512), hide_map=False, fps=30):
super(ColumbusTrivialRay, self).__init__(
observable=observable, fps=fps, num_chasers=0)
self.draw_entities = not hide_map
###
register(
id='ColumbusTestCnn-v0',
entry_point=ColumbusTest3_1,
@ -428,3 +462,9 @@ register(
entry_point=ColumbusStateWithBarriers,
max_episode_steps=30*60*2,
)
register(
id='ColumbusTrivialRay-v0',
entry_point=ColumbusTrivialRay,
max_episode_steps=30*60*2,
)