public override Option <List <float> > FloatListObs(BaseAgent agent)
{
List <float> observations = new List <float>();
foreach (GameObject targetObj in area.FindGameObjectsWithTagInChildren(Tag))
{
ObservableFields target = targetObj.GetComponent <ObservableFields>();
if (target.gameObject == agent.gameObject)
{
continue;
}
for (int i = 0; i < NumFields; i++)
{
float f = 0;
target.FieldsHash.TryGetValue(String.Concat(FieldName, i), out f);
if (ShowFields)
{
var level = new List <string>()
{
".", ".", ".", "."
};
level[(int)(f * 4)] = "|";
//TAG: MakeEvent area.Logger.Log(Logger.CreateMessage(LogMessageType.Agent, String.Join("", level)), agent);
}
observations.Add(f);
}
}
return(observations.SomeNotNull());
}
public override void Initialize(BaseAgent agent)
{
Fields = agent.gameObject.GetComponent <ObservableFields>();
if (Fields.FieldsHash == null)
{
Fields.FieldsHash = new Dictionary <string, float>();
}
for (int i = 0; i < NumFields; i++)
{
Fields.FieldsHash.Add(String.Concat(FieldName, i), 0);
}
}
public override void AddReward(BaseAgent agent, float[] vectorActions)
{
List <ObservableFields> LabelObjects = new List <ObservableFields>();
List <GameObject> objs = new List <GameObject>();
foreach (string tag in Tags)
{
objs.AddRange(myArea.FindGameObjectsWithTagInChildren(tag));
}
foreach (GameObject obj in objs)
{
ObservableFields lobj = obj.GetComponent <ObservableFields>();
if (lobj != null)
{
LabelObjects.Add(lobj);
}
}
Reward = AcademyParameters.Update(academy, RewardKeyVal, Reward);
if (AddedLastRound.Contains(agent.gameObject.GetInstanceID()))
{
AddedLastRound.Remove(agent.gameObject.GetInstanceID());
if (AreaReset)
{
myArea.ResetArea();
}
return;
}
bool allHaveTag = true;
foreach (ObservableFields labels in LabelObjects)
{
foreach (string label in Labels)
{
allHaveTag &= labels.LabelsHash.Contains(label);
}
}
if (allHaveTag)
{
// TAG: MakeEvent myArea.Logger.Log(String.Concat("All ", String.Join(",", Tags), " have labels ", String.Join(",", Labels), " Adding reward: ", Reward));
AddedLastRound.Add(agent.gameObject.GetInstanceID());
agent.AddReward(Reward * (MultRewardByTagCount ? objs.Count : 1));
if (Remove)
{
foreach (ObservableFields labels in LabelObjects)
{
foreach (string label in Labels)
{
labels.LabelsHash.Remove(label);
}
}
}
if (Reset)
{
agent.Done();
agent.Reset();
}
}
}
public override void AddReward(BaseAgent agent, float[] vectorActions)
{
Reward = AcademyParameters.Update(academy, RewardKeyVal, Reward);
ContinuousReward = AcademyParameters.Update(academy, ContinuousRewardKeyVal, ContinuousReward);
Penalty = AcademyParameters.Update(academy, PenaltyKeyVal, Penalty);
float labelValue;
switch (LabelValue)
{
case LabelValueType.Boolean: labelValue = 1; break;
case LabelValueType.Time: labelValue = Time.time; break;
default: labelValue = 0; break;
}
Option <GameObject> triggerColCont =
agent.TriggerCollider
.Filter(tc => tc != null)
.Map(tc => tc.gameObject)
.Filter(gob => gob.tag == Tag);
Option <Collider> prevFrame = PreviousFrame.Filter(p => p != null);
Option <GameObject> triggerCol =
triggerColCont
.Filter(tc => !tc.SomeNotNull().Equals(prevFrame.Map(p => p.gameObject)));
triggerCol
.MatchSome(_ => {
if (AgentCollisionMessage != "")
{
//TAG: MakeEvent myArea.Logger.Log(Logger.CreateMessage(LogMessageType.Agent, AgentCollisionMessage), agent);
}
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Tagged ", agent.transform.position.y));
});
triggerColCont.MatchSome(_ => {
agent.AddReward(ContinuousReward);
});
prevFrame
.Filter(pc => triggerColCont.HasValue)
.FlatMap(pc => pc.GetComponent <ObservableFields>().SomeNotNull())
.MatchSome(lc => {
if (RemoveOnLeave)
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Removing label on leave ", Label));
lc.FieldsHash.Remove(Label);
}
});
triggerCol
.Map(tc => tc.gameObject)
.MatchSome(go => {
ObservableFields lc = go.GetComponent <ObservableFields>();
if ((lc == null || !lc.FieldsHash.ContainsKey(LabelPrevents)) && NewTag != "")
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Adding tag ", NewTag));
go.tag = NewTag;
agent.area.EventSystem.RaiseEvent(TagEvent.Create(go));
agent.area.EventSystem.RaiseEvent(TaggingEvent.Create(agent.gameObject, NewTag));
}
});
ObservableFields selfFields = agent.gameObject.GetComponent <ObservableFields>();
triggerCol
.FlatMap(tc => tc.GetComponent <ObservableFields>().SomeNotNull())
.MatchSome(lc => {
if (lc.FieldsHash.ContainsKey(Label) && Time.time - lc.FieldsHash[Label] < Cooldown
)
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("already there ", Label));
if (Toggle)
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Removing label ", Label));
lc.FieldsHash.Remove(Label);
}
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Penalizing already there ", Penalty));
agent.AddReward(Penalty);
if (DoneIfAlreadyThere)
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Done already there ", agent.gameObject.tag));
agent.Done();
}
if (ResetAreaIfAlreadyThere)
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Resetting already there ", agent.gameObject.tag));
myArea.ResetArea();
}
}
else if (!lc.FieldsHash.ContainsKey(LabelPrevents) && !lc.FieldsHash.ContainsKey(Label) &&
(CooldownSelfTag == "" || selfFields == null || !selfFields.FieldsHash.ContainsKey(CooldownSelfTag) ||
Time.time - selfFields.FieldsHash[CooldownSelfTag] < Cooldown))
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Adding reward ", Reward));
agent.AddReward(Reward);
if (Label != "")
{
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Adding label ", Label));
lc.FieldsHash.Add(Label, labelValue);
}
}
});
triggerCol
.Filter((GameObject go) => Remove)
.MatchSome(tc => GameObject.Destroy(tc));
triggerCol
.Filter((GameObject go) => Done)
.MatchSome(_ => agent.Done());
triggerCol
.Filter((GameObject go) => Reset)
.MatchSome(_ => {
//TAG: MakeEvent myArea.Logger.Log(String.Concat("Reset on collide ", Tag));
agent.Reset();
});
triggerCol
.Filter((GameObject go) => ResetArea)
.MatchSome(_ => myArea.ResetArea());
PreviousFrame = agent.TriggerCollider;
PreviousFrameTag = agent.gameObject.tag;
}
