Episodic manager

examples/QTable/model/new_runner.py

@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import argparse
+import time
+
+from mivp_agent.episodic_manager import EpisodicManager
+from mivp_agent.util.math import dist
+#from mivp_agent.util.display import ModelConsole
+from mivp_agent.aquaticus.const import FIELD_BLUE_FLAG
+from constants import DEFAULT_RUN_MODEL
+from model import load_model
+
+class Agent:
+  def __init__(self, own_id, opponent_id, model) -> None:
+    self.own_id = own_id
+    self.opponent_id = opponent_id
+    self.q, self.attack_actions, self.retreat_actions = load_model(model)
+    self.current_action = None
+
+  def id(self):
+      return self.own_id
+
+  def obs_to_rpr(self, observation): 
+    model_representation = self.q.get_state(
+      observation['NAV_X'],
+      observation['NAV_Y'],
+      observation['NODE_REPORTS'][self.opponent_id]['NAV_X'],
+      observation['NODE_REPORTS'][self.opponent_id]['NAV_Y'],
+      observation['HAS_FLAG']
+    )
+    #console.tick(observation) #needs full msg, obervation is an msg.state
+
+    return model_representation
+
+  def rpr_to_act(self, rpr, observation): #why rpr and observation? we talked about this but can't remember
+    self.current_action = self.q.get_action(rpr)
+
+    # Determine action set
+    if observation['HAS_FLAG']:
+      current_action_set = self.retreat_actions
+    else:
+      current_action_set = self.attack_actions
+
+    # Construct instruction for BHV_Agent
+    action = {
+      'speed': current_action_set[self.current_action]['speed'],
+      'course': current_action_set[self.current_action]['course']
+    }
+
+    flag_dist = abs(dist((observation['NAV_X'], observation['NAV_Y']), FIELD_BLUE_FLAG))
+
+    if flag_dist < 10:
+      action['posts']= {
+        'FLAG_GRAB_REQUEST': f'vname={self.own_id}'
+      }
+
+    return action
+
+
+if __name__ == '__main__':
+  # Create agents required
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--model', default=DEFAULT_RUN_MODEL)
+  args = parser.parse_args()
+
+  agents = []
+  wait_for = []
+  for i in [1, 2, 3]:
+    agents.append(Agent(f'agent_1{i}', f'drone_2{i}', args.model))
+    wait_for.append(f'agent_1{i}')
+
+  #console = ModelConsole() #where will this live? Do we care? Needs a full msg instead of msg.state
+  mgr = EpisodicManager(agents, 13, wait_for=wait_for) #13 for 10 full episodes... not ideal
+  mgr.start('runner')
+

examples/QTable/model/runner.py

@@ -2,79 +2,73 @@
 import argparse
 import time
 
-from mivp_agent.manager import MissionManager
+from mivp_agent.episodic_manager import EpisodicManager
 from mivp_agent.util.math import dist
-from mivp_agent.util.display import ModelConsole
+#from mivp_agent.util.display import ModelConsole
 from mivp_agent.aquaticus.const import FIELD_BLUE_FLAG
-
 from constants import DEFAULT_RUN_MODEL
 from model import load_model
 
+class Agent:
+  def __init__(self, own_id, opponent_id, model) -> None:
+    self.own_id = own_id
+    self.opponent_id = opponent_id
+    self.q, self.attack_actions, self.retreat_actions = load_model(model)
+    self.current_action = None
+
+  def id(self):
+    return self.own_id
+
+
+  def obs_to_rpr(self, observation): 
+    model_representation = self.q.get_state(
+      observation['NAV_X'],
+      observation['NAV_Y'],
+      observation['NODE_REPORTS'][self.opponent_id]['NAV_X'],
+      observation['NODE_REPORTS'][self.opponent_id]['NAV_Y'],
+      observation['HAS_FLAG']
+    )
+    #console.tick(observation) #needs full msg, obervation is an msg.state
+
+    return model_representation
+
+  def rpr_to_act(self, rpr, observation):
+    self.current_action = self.q.get_action(rpr)
+
+    # Determine action set
+    if observation['HAS_FLAG']:
+      current_action_set = self.retreat_actions
+    else:
+      current_action_set = self.attack_actions
 
-def run(args):
-  q, attack_actions, retreat_actions = load_model(args.model)
-
-  with MissionManager('runner', log=False) as mgr:
-    print('Waiting for sim vehicle connections...')
-    while mgr.get_vehicle_count() < 1:
-      time.sleep(0.1)
-    # ---------------------------------------
-    # Part 1: Asserting simulation state
-
-    last_state = None
-    current_action = None
-    current_action_set = None
-    console = ModelConsole()
-
-    while True:
-      # Listen for state
-      msg = mgr.get_message()
-      while False:
-        print('-------------------------------------------')
-        print(f"({msg.vname}) {msg.state['HAS_FLAG']}")  
-        print('-------------------------------------------')
-        msg.request_new()
-        msg = mgr.get_message()
-
-      console.tick(msg)
-
-      # Detect state transitions
-      model_state = q.get_state(
-        msg.state['NAV_X'],
-        msg.state['NAV_Y'],
-        msg.state['NODE_REPORTS'][args.enemy]['NAV_X'],
-        msg.state['NODE_REPORTS'][args.enemy]['NAV_Y'],
-        msg.state['HAS_FLAG']
-      )
-
-      # Detect state transition
-      if model_state != last_state:
-        current_action = q.get_action(model_state)
-        last_state = model_state
-
-      # Determine action set
-      if msg.state['HAS_FLAG']:
-        current_action_set = retreat_actions
-      else:
-        current_action_set = attack_actions
-
-      # Construct instruction for BHV_Agent
-      action = {
-        'speed': current_action_set[current_action]['speed'],
-        'course': current_action_set[current_action]['course']
+    # Construct instruction for BHV_Agent
+    action = {
+      'speed': current_action_set[self.current_action]['speed'],
+      'course': current_action_set[self.current_action]['course']
+    }
+
+    flag_dist = abs(dist((observation['NAV_X'], observation['NAV_Y']), FIELD_BLUE_FLAG))
+
+    if flag_dist < 10:
+      action['posts']= {
+        'FLAG_GRAB_REQUEST': f'vname={self.own_id}'
       }
 
-      flag_dist = abs(dist((msg.state['NAV_X'], msg.state['NAV_Y']), FIELD_BLUE_FLAG))
-      if flag_dist < 10:
-        action['posts']= {
-          'FLAG_GRAB_REQUEST': f'vname={msg.vname}'
-        }
-
-      msg.act(action)
+    return action
+
 
 if __name__ == '__main__':
+  # Create agents required
   parser = argparse.ArgumentParser()
   parser.add_argument('--model', default=DEFAULT_RUN_MODEL)
-  parser.add_argument('--enemy', default='drone_21')
   args = parser.parse_args()
-  run(args)
+
+  agents = []
+  wait_for = []
+  for i in [1, 2, 3]:
+    agents.append(Agent(f'agent_1{i}', f'drone_2{i}', args.model))
+
+  #console = ModelConsole() #where will this live? Do we care? Needs a full msg instead of msg.state
+  mgr = EpisodicManager(agents, 13, wait_for=wait_for) #13 for 10 full episodes... not ideal
+  mgr.start('runner')
+