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import gym
from gym import spaces
import numpy as np
import param_
from settings import Settings
from playground import Playground
from team import BlueTeam, RedTeam
class SwarmEnv(gym.Env):
"""
Custom 3D-Environment that follows gym interface.
This is a 3D-env where the blue drones defend a circular GROUNDZONE from a red drones attack
"""
def __init__(self, blues=Settings.blues, reds=Settings.reds):
"""
:param distance: the distance to the other rim
"""
super(SwarmEnv, self).__init__()
self.nb_blues = blues
self.nb_reds = reds
self.blue_team = BlueTeam(number_of_drones=self.nb_blues)
self.red_team = RedTeam(number_of_drones=self.nb_reds)
self.playground = Playground(env=self, blue_drones=self.blue_team.drones, red_drones=self.red_team.drones)
self.steps = 0
self.observation_space = spaces.Tuple((
spaces.Box(low=0, high=1, shape=(self.nb_blues, 6), dtype=np.float32),
spaces.Box(low=0, high=1, shape=(self.nb_reds, 6), dtype=np.float32),
spaces.Box(low=0, high=1, shape=(self.nb_blues, self.nb_reds), dtype=np.float32),
spaces.Box(low=0, high=1, shape=(self.nb_reds, self.nb_blues), dtype=np.float32),
spaces.MultiBinary(self.nb_blues),
spaces.MultiBinary(self.nb_reds),
))
self.action_space = spaces.Tuple((
spaces.Box(low=0, high=1, shape=(self.nb_blues, 3), dtype=np.float32),
spaces.Box(low=0, high=1, shape=(self.nb_reds, 3), dtype=np.float32)))
def reset(self, obs=None):
"""
resets the environment as part of Gym interface
"""
if obs:
blue_obs, red_obs, blues_fire, reds_fire, blue_deads, red_deads = obs
else:
blue_obs, red_obs, blues_fire, reds_fire, blue_deads, red_deads = None, None, None, None, None, None
self.blue_team.reset(obs=blue_obs)
self.red_team.reset(obs=red_obs)
self.playground.reset()
self.steps = 0
# get observations from blue and red teams
blue_obs, blue_deads = self.blue_team.get_observation()
red_obs, red_deads = self.red_team.get_observation()
blues_fire, reds_fire = self.playground.get_observation()
return blue_obs, red_obs, blues_fire, reds_fire, blue_deads, red_deads
def render(self, mode='human'):
pass
def step(self, action):
self.steps += 1
blue_action, red_action = action
blue_obs, blue_reward, blue_done, blue_info = self.blue_team.step(blue_action)
red_obs, red_reward, red_done, red_info = self.red_team.step(red_action)
bf_obs, bf_reward, remaining_blues, blue_shots, rf_obs, rf_reward, remaining_reds, red_shots = \
self.playground.step()
_, blue_deads = self.blue_team.get_observation()
_, red_deads = self.red_team.get_observation()
obs = blue_obs, red_obs, bf_obs, rf_obs, blue_deads, red_deads
reward = blue_reward + red_reward + bf_reward + rf_reward
done = False
info = {}
info['red_oob'] = red_info['oob']
info['blue_oob'] = blue_info['oob']
info['hits_target'] = red_info['hits_target']
info['blue_shots'] = blue_shots
info['red_shots'] = red_shots
info['weighted_red_distance'] = red_info['delta_distance']
info['remaining blues'] = len(blue_deads)-sum(blue_deads)
info['remaining reds'] = len(red_deads)-sum(red_deads)
info['ttl'] = red_info['ttl']
info['distance_to_straight_action'] = red_info['distance_to_straight_action']
if red_info['oob'] + blue_info['oob'] + red_info['hits_target'] + blue_shots + red_shots > 0:
print('something happened')
return obs, reward, done, info
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