From e7cdb3baaafa597a778df74fb403fc3e905e9c61 Mon Sep 17 00:00:00 2001
From: fheinrich <fheinrich@techfak.uni-bielefeld.de>
Date: Wed, 10 Jan 2024 15:41:26 +0100
Subject: [PATCH] Started decoupling pygame gui from simulator
---
.../layouts/godot_test_layout.layout | 9 ++
.../game_content/layouts/split.layout | 9 ++
overcooked_simulator/game_server.py | 98 ++++++++++++
.../gui_2d_vis/overcooked_gui.py | 139 +++++++++++++-----
overcooked_simulator/main.py | 6 +-
.../overcooked_environment.py | 24 ++-
overcooked_simulator/simulation_runner.py | 4 +-
overcooked_simulator/websocket_connector.py | 0
setup.py | 10 +-
9 files changed, 254 insertions(+), 45 deletions(-)
create mode 100644 overcooked_simulator/game_content/layouts/godot_test_layout.layout
create mode 100644 overcooked_simulator/game_content/layouts/split.layout
create mode 100644 overcooked_simulator/game_server.py
create mode 100644 overcooked_simulator/websocket_connector.py
diff --git a/overcooked_simulator/game_content/layouts/godot_test_layout.layout b/overcooked_simulator/game_content/layouts/godot_test_layout.layout
new file mode 100644
index 00000000..06db451a
--- /dev/null
+++ b/overcooked_simulator/game_content/layouts/godot_test_layout.layout
@@ -0,0 +1,9 @@
+##########
+#________#
+#________#
+#________#
+#________#
+#________#
+#________#
+#________#
+#########P
diff --git a/overcooked_simulator/game_content/layouts/split.layout b/overcooked_simulator/game_content/layouts/split.layout
new file mode 100644
index 00000000..39bace3e
--- /dev/null
+++ b/overcooked_simulator/game_content/layouts/split.layout
@@ -0,0 +1,9 @@
+#QU#T###NLB#
+#__________M
+#____A_____#
+W__________#
+############
+C__________#
+C_____A____#
+#__________X
+#P#S+####S+#
\ No newline at end of file
diff --git a/overcooked_simulator/game_server.py b/overcooked_simulator/game_server.py
new file mode 100644
index 00000000..3832221d
--- /dev/null
+++ b/overcooked_simulator/game_server.py
@@ -0,0 +1,98 @@
+import asyncio
+import json
+import logging
+import os
+import sys
+import threading
+from datetime import datetime
+
+import numpy as np
+from websockets.server import serve
+
+from overcooked_simulator import ROOT_DIR
+from overcooked_simulator.overcooked_environment import Action
+from overcooked_simulator.simulation_runner import Simulator
+
+log = logging.getLogger(__name__)
+
+
+PORT = 8765
+
+
+class Connector:
+ def __init__(self, simulator: Simulator):
+ self.simulator: Simulator = simulator
+
+ super().__init__()
+
+ async def process_message(self, websocket):
+ async for message in websocket:
+ if message.replace('"', "") != "get_state":
+ message_dict = json.loads(message)
+ if message_dict["act_type"] == "movement":
+ value = np.array(message_dict["value"])
+ else:
+ value = None
+ action = Action(
+ message_dict["player_name"], message_dict["act_type"], value
+ )
+ self.simulator.enter_action(action)
+
+ json_answer = self.simulator.get_state_simple_json()
+
+ # print("json:", json_answer, type(json_answer))
+ await websocket.send(json_answer)
+
+ async def connection_server(self):
+ async with serve(self.process_message, "localhost", PORT):
+ await asyncio.Future() # run forever
+
+ def set_sim(self, simulation_runner: Simulator):
+ self.simulator = simulation_runner
+
+ def start_connector(self):
+ asyncio.run(self.connection_server())
+
+
+def setup_logging():
+ path_logs = ROOT_DIR.parent / "logs"
+ os.makedirs(path_logs, exist_ok=True)
+ logging.basicConfig(
+ level=logging.DEBUG,
+ format="%(asctime)s %(levelname)-8s %(name)-50s %(message)s",
+ handlers=[
+ logging.FileHandler(
+ path_logs / f"{datetime.now().strftime('%Y-%m-%d_%H-%M-%S')}_debug.log",
+ encoding="utf-8",
+ ),
+ logging.StreamHandler(sys.stdout),
+ ],
+ )
+
+
+def main():
+ simulator = Simulator(
+ ROOT_DIR / "game_content" / "environment_config.yaml",
+ ROOT_DIR / "game_content" / "layouts" / "basic.layout",
+ 600,
+ )
+ number_player = 2
+ for i in range(number_player):
+ player_name = f"p{i}"
+ simulator.register_player(player_name)
+
+ connector = Connector(simulator)
+ connector.start_connector()
+
+
+if __name__ == "__main__":
+ setup_logging()
+ try:
+ main()
+ except Exception as e:
+ log.exception(e)
+ for thread in threading.enumerate():
+ if isinstance(thread, Simulator):
+ thread.stop()
+ thread.join()
+ sys.exit(1)
diff --git a/overcooked_simulator/gui_2d_vis/overcooked_gui.py b/overcooked_simulator/gui_2d_vis/overcooked_gui.py
index 7c910c07..7d7e8aea 100644
--- a/overcooked_simulator/gui_2d_vis/overcooked_gui.py
+++ b/overcooked_simulator/gui_2d_vis/overcooked_gui.py
@@ -1,4 +1,5 @@
import colorsys
+import json
import logging
import math
import sys
@@ -11,6 +12,7 @@ import pygame
import pygame_gui
import yaml
from scipy.spatial import KDTree
+from websockets.sync.client import connect
from overcooked_simulator import ROOT_DIR
from overcooked_simulator.counters import Counter
@@ -26,9 +28,9 @@ from overcooked_simulator.gui_2d_vis.game_colors import colors, Color
from overcooked_simulator.overcooked_environment import Action
from overcooked_simulator.simulation_runner import Simulator
-USE_PLAYER_COOK_SPRITES = True
+USE_PLAYER_COOK_SPRITES = False
SHOW_INTERACTION_RANGE = False
-SHOW_COUNTER_CENTERS = False
+SHOW_COUNTER_CENTERS = True
class MenuStates(Enum):
@@ -90,13 +92,11 @@ class PyGameGUI:
def __init__(
self,
- simulator: Simulator,
player_names: list[str],
player_keys: list[pygame.key],
):
self.game_screen = None
self.FPS = 60
- self.simulator: Simulator = simulator
self.running = True
self.player_names = player_names
@@ -109,6 +109,8 @@ class PyGameGUI:
)
]
+ self.websocket_url = "ws://localhost:8765"
+
# TODO cache loaded images?
with open(ROOT_DIR / "gui_2d_vis" / "visualization.yaml", "r") as file:
self.visualization_config = yaml.safe_load(file)
@@ -134,22 +136,35 @@ class PyGameGUI:
self.manager: pygame_gui.UIManager
def init_window_sizes(self):
- if self.visualization_config["GameWindow"]["WhatIsFixed"] == "window_width":
- game_width = self.visualization_config["GameWindow"]["size"]
- kitchen_aspect_ratio = (
- self.simulator.env.kitchen_height / self.simulator.env.kitchen_width
- )
- game_height = int(game_width * kitchen_aspect_ratio)
- grid_size = int(game_width / self.simulator.env.kitchen_width)
- elif self.visualization_config["GameWindow"]["WhatIsFixed"] == "grid":
- grid_size = self.visualization_config["GameWindow"]["size"]
- game_width, game_height = (
- self.simulator.env.kitchen_width * grid_size,
- self.simulator.env.kitchen_height * grid_size,
- )
- else:
- game_width, game_height = 0, 0
- grid_size = 0
+ state = self.request_state()
+ print("THIS:", state["counters"])
+ counter_positions = np.array([c["pos"] for c in state["counters"]])
+ print(counter_positions)
+ kitchen_width = np.max(counter_positions[:, 0]) + 0.5
+ kitchen_height = np.max(counter_positions[:, 1]) + 0.5
+
+ print(kitchen_width, kitchen_height)
+
+ # if self.visualization_config["GameWindow"]["WhatIsFixed"] == "window_width":
+ # game_width = self.visualization_config["GameWindow"]["size"]
+ # kitchen_aspect_ratio = (
+ # self.simulator.env.kitchen_height / self.simulator.env.kitchen_width
+ # )
+ # game_height = int(game_width * kitchen_aspect_ratio)
+ # grid_size = int(game_width / self.simulator.env.kitchen_width)
+ # elif self.visualization_config["GameWindow"]["WhatIsFixed"] == "grid":
+ # grid_size = self.visualization_config["GameWindow"]["size"]
+ # game_width, game_height = (
+ # self.simulator.env.kitchen_width * grid_size,
+ # self.simulator.env.kitchen_height * grid_size,
+ # )
+ # else:
+ # game_width, game_height = 0, 0
+ # grid_size = 0
+
+ grid_size = 40
+ game_width = kitchen_width * grid_size
+ game_height = kitchen_height * grid_size
window_width, window_height = (
game_width + (2 * self.screen_margin),
@@ -159,7 +174,7 @@ class PyGameGUI:
return window_width, window_height, game_width, game_height, grid_size
def create_player_colors(self) -> list[Color]:
- number_player = len(self.simulator.env.players)
+ number_player = len(self.player_keys)
hue_values = np.linspace(0, 1, number_player + 1)
colors_vec = np.array([col for col in colors.values()])
@@ -177,14 +192,6 @@ class PyGameGUI:
return player_colors
- def send_action(self, action: Action):
- """Sends an action to the game environment.
-
- Args:
- action: The action to be sent. Contains the player, action type and move direction if action is a movement.
- """
- self.simulator.enter_action(action)
-
def handle_keys(self):
"""Handles keyboard inputs. Sends action for the respective players. When a key is held down, every frame
an action is sent in this function.
@@ -230,8 +237,8 @@ class PyGameGUI:
self.game_screen.fill(
colors[self.visualization_config["Kitchen"]["ground_tiles_color"]]
)
- for x in range(0, self.window_width, block_size):
- for y in range(0, self.window_height, block_size):
+ for x in range(0, int(self.window_width), block_size):
+ for y in range(0, int(self.window_height), block_size):
rect = pygame.Rect(x, y, block_size, block_size)
pygame.draw.rect(
self.game_screen,
@@ -257,7 +264,7 @@ class PyGameGUI:
rect.center = pos
self.game_screen.blit(image, rect)
- def draw_players(self, state):
+ def draw_players(self, state, state_dict):
"""Visualizes the players as circles with a triangle for the facing direction.
If the player holds something in their hands, it is displayed
@@ -265,11 +272,14 @@ class PyGameGUI:
state: The game state returned by the environment.
"""
for p_idx, player in enumerate(state["players"].values()):
- pos = player.pos * self.grid_size
+ # pos = player.pos * self.grid_size
+ pos = np.array(state_dict["players"][p_idx]["pos"]) * self.grid_size
+
+ facing = np.array(state_dict["players"][p_idx]["facing"])
if USE_PLAYER_COOK_SPRITES:
img_path = self.visualization_config["Cook"]["parts"][0]["path"]
- rel_x, rel_y = player.facing_direction
+ rel_x, rel_y = pos = facing
angle = -np.rad2deg(math.atan2(rel_y, rel_x)) + 90
size = (
self.visualization_config["Cook"]["parts"][0]["size"]
@@ -286,7 +296,7 @@ class PyGameGUI:
pygame.draw.circle(self.game_screen, BLUE, pos, size, width=1)
pygame.draw.circle(self.game_screen, colors[color1], pos, size // 2)
- facing = player.facing_direction
+ facing = facing
pygame.draw.polygon(
self.game_screen,
BLUE,
@@ -475,9 +485,11 @@ class PyGameGUI:
for counter in state["counters"]:
self.draw_counter(counter)
if SHOW_COUNTER_CENTERS:
- pygame.draw.circle(self.game_screen, colors["green1"], counter.pos, 3)
+ pygame.draw.circle(
+ self.game_screen, colors["green1"], counter.pos * self.grid_size, 3
+ )
- def draw(self, state):
+ def draw(self, state, state_dict):
"""Main visualization function.
Args:
@@ -487,7 +499,7 @@ class PyGameGUI:
self.draw_background()
self.draw_counters(state)
- self.draw_players(state)
+ self.draw_players(state, state_dict)
self.manager.draw_ui(self.game_screen)
def init_ui_elements(self):
@@ -654,6 +666,8 @@ class PyGameGUI:
self.init_ui_elements()
log.debug("Pressed start button")
+ # self.api.set_sim(self.simulator)
+
def back_button_press(self):
self.simulator.stop()
self.menu_state = MenuStates.Start
@@ -669,6 +683,35 @@ class PyGameGUI:
self.menu_state = MenuStates.End
log.debug("Pressed finished button")
+ def send_action(self, action: Action):
+ """Sends an action to the game environment.
+
+ Args:
+ action: The action to be sent. Contains the player, action type and move direction if action is a movement.
+ """
+ if isinstance(action.action, np.ndarray):
+ value = [float(action.action[0]), float(action.action[1])]
+ else:
+ value = action.action
+ message_dict = {
+ "player_name": action.player,
+ "act_type": action.act_type,
+ "value": value,
+ }
+ _ = self.websocket_communicate(message_dict)
+
+ def websocket_communicate(self, message_dict: dict | str):
+ with connect(self.websocket_url) as websocket:
+ print(message_dict)
+ websocket.send(json.dumps(message_dict))
+ answer = websocket.recv()
+ print(answer)
+ return json.loads(answer)
+
+ def request_state(self):
+ state_dict = self.websocket_communicate("get_state")
+ return state_dict
+
def start_pygame(self):
"""Starts pygame and the gui loop. Each frame the game state is visualized and keyboard inputs are read."""
log.debug(f"Starting pygame gui at {self.FPS} fps")
@@ -727,8 +770,9 @@ class PyGameGUI:
self.handle_keys()
+ state_dict = self.request_state()
state = self.simulator.get_state()
- self.draw(state)
+ self.draw(state, state_dict)
game_screen_rect = self.game_screen.get_rect()
game_screen_rect.center = [
@@ -753,3 +797,20 @@ class PyGameGUI:
self.simulator.stop()
pygame.quit()
sys.exit()
+
+
+if __name__ == "__main__":
+ # TODO maybe read the player names and keyboard keys from config file?
+ keys1 = [
+ pygame.K_LEFT,
+ pygame.K_RIGHT,
+ pygame.K_UP,
+ pygame.K_DOWN,
+ pygame.K_SPACE,
+ pygame.K_i,
+ ]
+ keys2 = [pygame.K_a, pygame.K_d, pygame.K_w, pygame.K_s, pygame.K_f, pygame.K_e]
+
+ number_players = 2
+ gui = PyGameGUI([f"p{i}" for i in range(number_players)], [keys1, keys2])
+ gui.start_pygame()
diff --git a/overcooked_simulator/main.py b/overcooked_simulator/main.py
index 86caba35..81a5d8f0 100644
--- a/overcooked_simulator/main.py
+++ b/overcooked_simulator/main.py
@@ -51,10 +51,14 @@ def main():
]
keys2 = [pygame.K_a, pygame.K_d, pygame.K_w, pygame.K_s, pygame.K_f, pygame.K_e]
- gui = PyGameGUI(simulator, [f"p{i}" for i in range(number_player)], [keys1, keys2])
+ gui = PyGameGUI(
+ simulator, None, [f"p{i}" for i in range(number_player)], [keys1, keys2]
+ )
gui.start_pygame()
sys.exit()
+ print("HERE?")
+
if __name__ == "__main__":
setup_logging()
diff --git a/overcooked_simulator/overcooked_environment.py b/overcooked_simulator/overcooked_environment.py
index 8f5adf96..c3bf5502 100644
--- a/overcooked_simulator/overcooked_environment.py
+++ b/overcooked_simulator/overcooked_environment.py
@@ -1,5 +1,6 @@
from __future__ import annotations
+import json
import logging
import random
from datetime import timedelta
@@ -177,6 +178,7 @@ class Environment:
for character in line:
character = character.capitalize()
pos = np.array([current_x, current_y])
+ print(pos)
counter_class = self.SYMBOL_TO_CHARACTER_MAP[character]
if not isinstance(counter_class, str):
counter = counter_class(pos)
@@ -450,13 +452,31 @@ class Environment:
"""
return {"players": self.players, "counters": self.counters, "score": self.score}
- def get_state_json(self):
+ def get_state_simple_json(self):
"""Get the current state of the game environment as a json-like nested dictionary.
Returns: Json-like string of the current game state.
"""
- pass
+ players = [
+ {
+ "pos": [float(p.pos[0]), float(p.pos[1])],
+ "facing": [float(p.facing_direction[0]), float(p.facing_direction[1])],
+ }
+ for p in self.players.values()
+ ]
+
+ counters = [
+ {"type": str(c.__class__), "pos": [float(c.pos[0]), float(c.pos[1])]}
+ for c in self.counters
+ ]
+
+ gamestate_dict = {
+ "players": players,
+ "counters": counters,
+ }
+ answer = json.dumps(gamestate_dict)
+ return answer
def init_counters(self):
plate_dispenser = self.get_counter_of_type(PlateDispenser)
diff --git a/overcooked_simulator/simulation_runner.py b/overcooked_simulator/simulation_runner.py
index 8ad41e28..f004ecdd 100644
--- a/overcooked_simulator/simulation_runner.py
+++ b/overcooked_simulator/simulation_runner.py
@@ -66,14 +66,14 @@ class Simulator(Thread):
return self.env.get_state()
- def get_state_json(self):
+ def get_state_simple_json(self):
"""Get the current game state in json-like dict.
Returns:
The gamest ate encoded in a json style nested dict.
"""
- return self.env.get_state_json()
+ return self.env.get_state_simple_json()
def register_player(self, player_name: str, pos=None):
"""Adds a player to the environment.
diff --git a/overcooked_simulator/websocket_connector.py b/overcooked_simulator/websocket_connector.py
new file mode 100644
index 00000000..e69de29b
diff --git a/setup.py b/setup.py
index b3ceeba7..f0324963 100644
--- a/setup.py
+++ b/setup.py
@@ -10,7 +10,15 @@ with open("README.md") as readme_file:
with open("CHANGELOG.md") as history_file:
history = history_file.read()
-requirements = ["numpy", "pygame", "scipy", "pytest>=3", "pyyaml", "pygame-gui"]
+requirements = [
+ "numpy",
+ "pygame",
+ "scipy",
+ "pytest>=3",
+ "pyyaml",
+ "pygame-gui",
+ "websockets",
+]
test_requirements = [
"pytest>=3",
--
GitLab