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Commit f10136c6 authored by fheinrich's avatar fheinrich
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Fix reference only usage of graph, needed copy.

parent 7e2b9783
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1 merge request!89Resolve "simple pathfinding"
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cooperative_cuisine/configs/agents/random_agent.py
+ 38
− 25
View file @ f10136c6
...@@ -22,6 +22,8 @@ from cooperative_cuisine.utils import custom_asdict_factory ...@@ -22,6 +22,8 @@ from cooperative_cuisine.utils import custom_asdict_factory
TIME_TO_STOP_ACTION = 3.0 TIME_TO_STOP_ACTION = 3.0
ADD_RANDOM_MOVEMENTS = True
def get_free_neighbours( def get_free_neighbours(
state: dict, counter_pos: list[float] | tuple[float, float] | npt.NDArray state: dict, counter_pos: list[float] | tuple[float, float] | npt.NDArray
...@@ -49,7 +51,7 @@ async def agent(): ...@@ -49,7 +51,7 @@ async def agent():
args = parser.parse_args() args = parser.parse_args()
async with connect(args.uri) as websocket: async with (connect(args.uri) as websocket):
await websocket.send( await websocket.send(
json.dumps({"type": "ready", "player_hash": args.player_hash}) json.dumps({"type": "ready", "player_hash": args.player_hash})
) )
...@@ -58,6 +60,7 @@ async def agent(): ...@@ -58,6 +60,7 @@ async def agent():
ended = False ended = False
counters = None counters = None
all_counters = None
movement_graph = None movement_graph = None
...@@ -89,10 +92,12 @@ async def agent(): ...@@ -89,10 +92,12 @@ async def agent():
if movement_graph is None: if movement_graph is None:
movement_graph = create_movement_graph(state, diagonal=True) movement_graph = create_movement_graph(state, diagonal=True)
if counters is None: if counters is None:
counters = defaultdict(list) counters = defaultdict(list)
for counter in state["counters"]: for counter in state["counters"]:
counters[counter["type"]].append(counter) counters[counter["type"]].append(counter)
all_counters = state["counters"]
for player in state["players"]: for player in state["players"]:
if player["id"] == args.player_id: if player["id"] == args.player_id:
...@@ -166,7 +171,7 @@ async def agent(): ...@@ -166,7 +171,7 @@ async def agent():
for free in target_free_spaces: for free in target_free_spaces:
try: try:
modified_graph = restrict_movement_graph( modified_graph = restrict_movement_graph(
graph=movement_graph, graph=movement_graph.copy(),
player_positions=[ player_positions=[
p["pos"] p["pos"]
for p in state["players"] for p in state["players"]
...@@ -195,29 +200,32 @@ async def agent(): ...@@ -195,29 +200,32 @@ async def agent():
movement = node_diff / node_dist movement = node_diff / node_dist
else: else:
movement = target_diff / target_dist movement = target_diff / target_dist
do_movement = True
else: else:
movement = np.array([0, 0]) # no paths available
task_type = None # task_type = None
task_args = None # task_args = None
do_movement = False
if target_dist > 1.2: if target_dist > 1.2 and do_movement:
if target_dist != 0: if target_dist != 0:
# random_small_rotation_angle = ( if ADD_RANDOM_MOVEMENTS:
# np.random.random() * np.pi * 0.1 random_small_rotation_angle = (
# ) np.random.random() * np.pi * 0.1
# rotation_matrix = np.array( )
# [ rotation_matrix = np.array(
# [ [
# np.cos(random_small_rotation_angle), [
# -np.sin(random_small_rotation_angle), np.cos(random_small_rotation_angle),
# ], -np.sin(random_small_rotation_angle),
# [ ],
# np.sin(random_small_rotation_angle), [
# np.cos(random_small_rotation_angle), np.sin(random_small_rotation_angle),
# ], np.cos(random_small_rotation_angle),
# ] ],
# ) ]
# movement = rotation_matrix @ movement )
movement = rotation_matrix @ movement
await websocket.send( await websocket.send(
json.dumps( json.dumps(
...@@ -238,6 +246,7 @@ async def agent(): ...@@ -238,6 +246,7 @@ async def agent():
) )
await websocket.recv() await websocket.recv()
else: else:
# Target reached here.
task_type = None task_type = None
task_args = None task_args = None
case "INTERACT": case "INTERACT":
...@@ -299,9 +308,13 @@ async def agent(): ...@@ -299,9 +308,13 @@ async def agent():
# task_type = random.choice(["GOTO", "PUT", "INTERACT"]) # task_type = random.choice(["GOTO", "PUT", "INTERACT"])
threshold = datetime.now() + timedelta(seconds=TIME_TO_STOP_ACTION) threshold = datetime.now() + timedelta(seconds=TIME_TO_STOP_ACTION)
if task_type == "GOTO": if task_type == "GOTO":
counter_type = random.choice(list(counters.keys())) # counter_type = random.choice(list(counters.keys()))
task_args = random.choice(counters[counter_type])["pos"] # task_args = random.choice(counters[counter_type])["pos"]
print(args.player_hash, args.player_id, task_type, counter_type)
random_counter = random.choice(all_counters)
counter_type = random_counter["type"]
task_args = random_counter["pos"]
print(args.player_hash, args.player_id, task_type, counter_type, task_args)
else: else:
print(args.player_hash, args.player_id, task_type) print(args.player_hash, args.player_id, task_type)
task_args = None task_args = None
......
cooperative_cuisine/state_representation.py
+ 2
− 1
View file @ f10136c6
...@@ -193,7 +193,8 @@ class StateRepresentation(BaseModel): ...@@ -193,7 +193,8 @@ class StateRepresentation(BaseModel):
def astar_heuristic(x, y): def astar_heuristic(x, y):
return np.linalg.norm(np.array(list(x)) - np.array((y))) """Heuristic distance function used in astart algorithm."""
return np.linalg.norm(np.array(x) - np.array(y))
def create_movement_graph(state: StateRepresentation, diagonal=True) -> Graph: def create_movement_graph(state: StateRepresentation, diagonal=True) -> Graph:
......
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