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diff --git a/PTSSim/Assets/Scenes/PTS.unity b/PTSSim/Assets/Scenes/PTS.unity
index 5673699c0a35bfe103022c5104a8cc01eaa980f2..944031847004e86b22b8786ea1577767baf094cf 100644
--- a/PTSSim/Assets/Scenes/PTS.unity
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diff --git a/PTSSim/Assets/Scripts/Conveyor.cs b/PTSSim/Assets/Scripts/Conveyor.cs
index 4c09acd5d451686a171f4b88c851b6d67476e027..27e35ab690a8a06858a75c18ac680d0d1decebae 100644
--- a/PTSSim/Assets/Scripts/Conveyor.cs
+++ b/PTSSim/Assets/Scripts/Conveyor.cs
@@ -4,17 +4,8 @@ using UnityEngine;
public class Conveyor : MonoBehaviour
{
- public bool isOccupied = false;
+ [Tooltip("Control occupation.")]
+ public Palette occupier;
- // Start is called before the first frame update
- void Start()
- {
-
- }
-
- // Update is called once per frame
- void Update()
- {
-
- }
+ public bool IsOccupied { get => occupier != null; }
}
diff --git a/PTSSim/Assets/Scripts/PTS.cs b/PTSSim/Assets/Scripts/PTS.cs
index 8d9ed5f3b64b2c486467aa4b3e743f3765e2ebeb..f833d6f99d81ad04b292ba94754db6b3e886fa15 100644
--- a/PTSSim/Assets/Scripts/PTS.cs
+++ b/PTSSim/Assets/Scripts/PTS.cs
@@ -2,27 +2,38 @@
using System.Collections.Generic;
using UnityEngine;
using MLAgents;
+using System.Linq;
public class PTS : MonoBehaviour
{
public Conveyor[] conveyors;
+ public ShiftConveyor[] shiftConveyors;
public Palette[] palettes;
+
+ /*
+ * Reset is called on episodeBegin from Agent
+ */
public void Reset(){
- foreach(Conveyor conveyor in conveyors)
+ foreach (Conveyor conveyor in conveyors)
{
// Reset occupation
- conveyor.isOccupied = false;
+ conveyor.occupier = null;
+ }
+ foreach (ShiftConveyor shift in shiftConveyors)
+ {
+ // Set shift position
+ shift.SetRandomPosition();
}
- foreach(Palette palette in palettes)
+
+ // Get random palette positions
+ int[] randomPositions = Enumerable.Range(0, conveyors.Length - 1).OrderBy(x => System.Guid.NewGuid()).Take(palettes.Length).ToArray();
+ for (int i = 0; i < palettes.Length; i++)
{
// Place palette at random position
- int palettePos = Random.Range(0, conveyors.Length);
- palette.transform.position = conveyors[palettePos].transform.position + Vector3.up * 0.2f;
- // Pick random target
- int target = Random.Range(0, conveyors.Length);
- while(target == palettePos)
- target = Random.Range(0, conveyors.Length);
- palette.conveyorTarget = conveyors[target];
+ palettes[i].transform.position = conveyors[randomPositions[i]].transform.position + Vector3.up * 0.25f; //TODO move to Palette class
+
+ // Set exit as target for all palettes
+ palettes[i].target = conveyors[conveyors.Length-1]; // Hopefully this is the Exit
}
}
@@ -31,12 +42,7 @@ public class PTS : MonoBehaviour
{
conveyors = GetComponentsInChildren<Conveyor>();
palettes = GetComponentsInChildren<Palette>();
+ shiftConveyors = GetComponentsInChildren<ShiftConveyor>();
Reset();
}
-
- // Update is called once per frame
- void Update()
- {
-
- }
}
diff --git a/PTSSim/Assets/Scripts/Palette.cs b/PTSSim/Assets/Scripts/Palette.cs
index 3d74ac4902efe2f1d1223a3ace61da13dbb8dc3a..e17d3e8b992641811ca314212f5dd08ac0338ef9 100644
--- a/PTSSim/Assets/Scripts/Palette.cs
+++ b/PTSSim/Assets/Scripts/Palette.cs
@@ -2,18 +2,37 @@
using System.Collections.Generic;
using UnityEngine;
using MLAgents;
+using System;
+
+public enum PaletteOpMode {BSTATE, left, right, up, down, turn, heat};
+public enum ExecutionState {IDLE, EXECUTE};
-enum PaletteOpMode {BSTATE, left, right, up, down, turn, heat};
-enum ExecutionState {IDLE, EXECUTE};
public class Palette : Agent
-{
+{
+ [Tooltip("Current conveyer object.")]
+ public Conveyor conveyor;
+ [Tooltip("Target conveyer object.")]
+ public Conveyor target;
+
+ public ExecutionState EXST { get; private set; }
+ public PaletteOpMode OPMODE { get; private set; }
+
private PTS pts;
- public Conveyor conveyorPosition;
- public Conveyor conveyorTarget;
private float opModeProgress;
private float targetDistance;
- private ExecutionState EXST;
- private PaletteOpMode OPMODE;
+
+ private static KeyCode[] AlphaNumber = {
+ KeyCode.Alpha0,
+ KeyCode.Alpha1,
+ KeyCode.Alpha2,
+ KeyCode.Alpha3,
+ KeyCode.Alpha4,
+ KeyCode.Alpha5,
+ KeyCode.Alpha6,
+ KeyCode.Alpha7,
+ KeyCode.Alpha8,
+ KeyCode.Alpha9,
+ };
/// <summary>
/// Initial setup, called when the agent is enabled
@@ -30,8 +49,14 @@ public class Palette : Agent
public override void OnEpisodeBegin()
{
pts.Reset();
- conveyorPosition = getCurrentConveyor();
- targetDistance = calculateTargetDistance();
+ conveyor = GetCurrentConveyor();
+ while(conveyor == null) //FIXME: Bad detection of conveyer
+ {
+ Debug.LogWarning("Need to reset PTS because of bad conveyer detection of palette.");
+ pts.Reset();
+ conveyor = GetCurrentConveyor();
+ }
+ targetDistance = TargetDistance;
EXST = ExecutionState.IDLE;
OPMODE = PaletteOpMode.BSTATE;
@@ -46,11 +71,19 @@ public class Palette : Agent
/// Behavior Type to "Heuristic Only" in the Behavior Parameters inspector.
/// </summary>
/// <returns>A vectorAction array of floats that will be passed into <see cref="AgentAction(float[])"/></returns>
-
public override float[] Heuristic()
{
PaletteOpMode opMode = PaletteOpMode.BSTATE;
+ float[] actions = new float[pts.shiftConveyors.Length+1];
+ // Reset
+ if (Input.GetKey(KeyCode.R))
+ {
+ EndEpisode();
+ return actions;
+ }
+
+ // Move pallette
if (Input.GetKey(KeyCode.W))
{
opMode = PaletteOpMode.up;
@@ -75,23 +108,45 @@ public class Palette : Agent
{
opMode = PaletteOpMode.heat;
}
+ actions[0] = (float)opMode;
- // Put the actions into an array and return
- return new float[] { (float) opMode };
+ // Move shifts
+ for (int i = 1; i < actions.Length && i < 10; i++)
+ {
+ if (Input.GetKey(AlphaNumber[i]))
+ {
+ if (Input.GetKey(KeyCode.UpArrow))
+ actions[i] = 1;
+ else if (Input.GetKey(KeyCode.DownArrow))
+ actions[i] = 2;
+ else
+ actions[i] = 0;
+ }
+ }
+ return actions;
}
/// <summary>
/// Perform actions based on a vector of numbers
/// </summary>
- /// <param name="vectorAction">The list of actions to take</param>
-
- public override void OnActionReceived(float[] vectorAction)
+ /// <param name="actions">The list of actions to take</param>
+ public override void OnActionReceived(float[] actions)
{
// Apply a tiny negative reward every step to encourage action
if (maxStep > 0) AddReward(-1f / maxStep);
- // Execute an operation mode
- ExecuteOpMode((PaletteOpMode)vectorAction[0]);
+ // Execute palette action
+ ExecuteOpMode((PaletteOpMode)actions[0]);
+
+ // Execute shift actions
+ for (int i = 1; i < actions.Length; i++)
+ {
+ if (actions[i] == 1)
+ ExecuteShift(i - 1, true);
+ else if (actions[i] == 2)
+ ExecuteShift(i - 1, false);
+ }
+
}
/// <summary>
@@ -102,19 +157,19 @@ public class Palette : Agent
//TODO mask possible actions: https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Learning-Environment-Design-Agents.md#masking-discrete-actions
// Occupation states of conveyors
foreach(Conveyor conveyor in pts.conveyors)
- sensor.AddObservation(conveyor.isOccupied);
+ {
+ sensor.AddObservation(conveyor.IsOccupied);
+ }
// Current position
- sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, conveyorPosition), pts.conveyors.Length);
+ sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, conveyor), pts.conveyors.Length);
// Target position
- sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, conveyorTarget), pts.conveyors.Length);
-
- // --> State Space is 3 times active conveyor count
- }
-
- // Start is called before the first frame update
- void Start()
- {
-
+ sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, target), pts.conveyors.Length);
+ // Shift positions
+ foreach (ShiftConveyor shift in pts.shiftConveyors)
+ {
+ sensor.AddObservation(shift.Position);
+ }
+ // --> State Space is 3 times active conveyor count + count of shift conveyors
}
// Update is called once per frame
@@ -129,36 +184,26 @@ public class Palette : Agent
/// <param name="opMode">The operation mode to execute in palette</param>
private void ExecuteOpMode(PaletteOpMode opMode)
{
+ if (opMode == PaletteOpMode.BSTATE)
+ return;
+
// Select new OpMode
- if(opMode != PaletteOpMode.BSTATE &&
- OPMODE == PaletteOpMode.BSTATE &&
+ if (OPMODE == PaletteOpMode.BSTATE &&
EXST == ExecutionState.IDLE)
{
+ Debug.Log("Selected operation mode: " + opMode);
OPMODE = opMode;
EXST = ExecutionState.EXECUTE;
opModeProgress = 0;
+ // Reward for selecting an opmode
AddReward(0.1f);
- }
- // Simulate opMode execution
- if(OPMODE == PaletteOpMode.BSTATE)
- return;
- else if(OPMODE == PaletteOpMode.right)
- {
- opModeProgress += Time.deltaTime/2f;
- transform.Translate(-Time.deltaTime, 0, 0);
- }
- else if(OPMODE == PaletteOpMode.left)
- {
- opModeProgress += Time.deltaTime/2f;
- transform.Translate(Time.deltaTime, 0, 0);
- }else {
- // Not implemented yet
- opModeProgress = 1;
}
+ SimulateOperationMode();
+
// Check if opMode simulation is completed
- if(opModeProgress >= 1)
+ if (opModeProgress >= 1)
{
// Simulate update of states
OPMODE = PaletteOpMode.BSTATE;
@@ -166,53 +211,158 @@ public class Palette : Agent
opModeProgress = 0;
// Simulate the update of the postion
- conveyorPosition.isOccupied = false;
- conveyorPosition = getCurrentConveyor();
- if(conveyorPosition == null)
+ conveyor.occupier = null;
+ conveyor = GetCurrentConveyor();
+ if(conveyor == null)
{
SetReward(-10f);
EndEpisode();
+ return;
}
+ //Snap to exact conveyor position
+ transform.position = conveyor.transform.position + (Vector3.up * 0.25f);
+
// Check if target is reached
- if(conveyorPosition == conveyorTarget)
+ if (conveyor == target)
{
- SetReward(10f);
+ AddReward(10f);
EndEpisode();
}else{
// Add reward if closer to target
- float newTargetDistance = calculateTargetDistance();
+ float newTargetDistance = TargetDistance;
AddReward((targetDistance - newTargetDistance) > 0 ? -0.01f : 0.01f);
- targetDistance = calculateTargetDistance();
+ targetDistance = TargetDistance;
}
}
-
// Negative reward for illegal opMode
- if(opModeProgress == -1)
+ else if (opModeProgress == -1)
{
- AddReward(-0.1f);
+ // Simulate update of states
+ OPMODE = PaletteOpMode.BSTATE;
+ EXST = ExecutionState.IDLE;
+ opModeProgress = 0;
+
+ // Compensate reward and punish for choosing unnecessary operation mode
+ AddReward(-0.2f);
}
-
}
- private float calculateTargetDistance(){
- return Vector3.Distance(conveyorPosition.transform.position, conveyorTarget.transform.position);
+ private float TargetDistance
+ {
+ get
+ {
+ if (conveyor != null && target != null)
+ return Vector3.Distance(conveyor.transform.position, target.transform.position);
+ return float.MaxValue;
+ }
}
- private Conveyor getCurrentConveyor()
+ private Conveyor GetCurrentConveyor()
{
- Collider[] hitColliders = Physics.OverlapSphere(gameObject.transform.position + 0 * Vector3.down, transform.localScale.y / 2f);
+ Collider[] hitColliders = Physics.OverlapSphere(gameObject.transform.position + 0.2f * Vector3.down, transform.localScale.y / 2f);
if(hitColliders.Length < 1)
return null;
foreach (Collider collider in hitColliders){
if (collider.transform.CompareTag("Conveyor"))
{
- Debug.Log(name + " positioned on Conveyor: " + collider.name);
Conveyor conveyor = collider.gameObject.GetComponent<Conveyor>();
- conveyor.isOccupied = true;
+ conveyor.occupier = this;
return conveyor;
}
}
return null;
}
+
+ private Conveyor GetNextConveyor(bool directionRight)
+ {
+ Collider[] hitColliders = Physics.OverlapSphere(
+ transform.position + 0.2f * Vector3.down + 2f * (directionRight ? Vector3.left : Vector3.right),
+ transform.localScale.y / 2f);
+ if (hitColliders.Length < 1)
+ return null;
+ foreach (Collider collider in hitColliders)
+ {
+ if (collider.transform.CompareTag("Conveyor"))
+ {
+ Conveyor conveyor = collider.gameObject.GetComponent<Conveyor>();
+ conveyor.occupier = this;
+ return conveyor;
+ }
+ }
+ return null;
+ }
+
+ private void SimulateOperationMode()
+ {
+ // Simulate operation mode
+ if (OPMODE == PaletteOpMode.BSTATE)
+ return;
+ else if (OPMODE == PaletteOpMode.right || OPMODE == PaletteOpMode.left)
+ {
+ // Occupy next conveyor first
+ if(opModeProgress == 0)
+ {
+ Conveyor nextConveyor = GetNextConveyor(OPMODE == PaletteOpMode.right);
+ if (nextConveyor == null || nextConveyor.occupier != this)
+ {
+ opModeProgress = -1;
+ return;
+ }
+ nextConveyor.occupier = this;
+ }
+ // Move left or right
+ opModeProgress += Time.deltaTime / 2f;
+ transform.Translate(OPMODE == PaletteOpMode.right ? -Time.deltaTime : Time.deltaTime, 0, 0);
+ }
+ else if (OPMODE == PaletteOpMode.up || OPMODE == PaletteOpMode.down)
+ {
+ if (conveyor.TryGetComponent(out ShiftConveyor shift))
+ {
+ opModeProgress = shift.Shift(OPMODE == PaletteOpMode.up);
+ transform.position = new Vector3(
+ transform.position.x,
+ transform.position.y,
+ shift.transform.position.z);
+ }
+ else
+ // Palette is not on a shift conveyor
+ opModeProgress = -1;
+ }
+ else
+ {
+ // Not implemented yet or not possible
+ opModeProgress = -1;
+ }
+ }
+
+ private void ExecuteShift(int shiftNumber, bool directionUp)
+ {
+ Conveyor conveyor = pts.shiftConveyors[shiftNumber].GetComponent<Conveyor>();
+ if (!conveyor.IsOccupied)
+ {
+ StartCoroutine(SimulateShift(conveyor, pts.shiftConveyors[shiftNumber], directionUp));
+ }
+ else
+ {
+ return;
+ }
+ }
+
+ private IEnumerator SimulateShift(Conveyor conveyor, ShiftConveyor shift, bool directionUp)
+ {
+ // Occupy shift
+ conveyor.occupier = this;
+ // Shift up or down
+ float progress = 0;
+ while(progress < 1)
+ {
+ progress = shift.Shift(directionUp);
+ if (progress == -1)
+ break;
+ yield return null;
+ }
+ // Free shift
+ conveyor.occupier = null;
+ }
}
diff --git a/PTSSim/Assets/Scripts/ShiftConveyor.cs b/PTSSim/Assets/Scripts/ShiftConveyor.cs
index 3b8678b9e30fc9dc71171bc4d3668088f58d343b..90d6248c08cb3aa608fa0ab03899251938008fb3 100644
--- a/PTSSim/Assets/Scripts/ShiftConveyor.cs
+++ b/PTSSim/Assets/Scripts/ShiftConveyor.cs
@@ -2,19 +2,58 @@
using System.Collections.Generic;
using UnityEngine;
+// Todo make generic shifter, that can shift (and rotate) to different positions (and roations)
public class ShiftConveyor : MonoBehaviour
{
+ [Tooltip("Current position (index of possiblePositions starting from 0)")]
+ private int _position;
+ public int Position
+ {
+ get { return _position; }
+ set { if(value >= 0 && value < possiblePositions.Count)
+ transform.localPosition = new Vector3(
+ transform.localPosition.x,
+ transform.localPosition.y,
+ possiblePositions[value]);
+ _position = value;
+ }
+ }
+ [Tooltip("Speed of the shift movement.")]
+ public float shiftSpeed = 1f;
+ [Tooltip("Moves the shift to the exact position, if distance is smaller than value")]
+ public float snapToTarget = 0.01f;
+
+ [Tooltip("Z value for each possible shift position (have to be ordered by size).")]
+ // Todo order on set accessor
+ public List<float> possiblePositions;
- public int shiftPos = -1;
- // Start is called before the first frame update
- void Start()
+ public float Shift(bool directionUp)
{
-
+ // Check if direction is possible
+ if (Position == -1
+ || (directionUp && Position == 0)
+ || (!directionUp && Position == possiblePositions.Count - 1))
+ {
+ return -1;
+ }
+ // Move into direction
+ transform.Translate(0, 0, Time.deltaTime * shiftSpeed * (directionUp? -1 : 1));
+
+ // Check distance to target
+ int targetPosition = Position + (directionUp ? -1 : 1);
+ float distance = System.Math.Abs(transform.localPosition.z - possiblePositions[targetPosition]);
+ if (distance <= snapToTarget)
+ {
+ Position = targetPosition;
+ return 1;
+ }
+
+ return 1 - (distance / (System.Math.Abs(possiblePositions[targetPosition] - possiblePositions[Position])));
}
- // Update is called once per frame
- void Update()
+ public void SetRandomPosition()
{
+ Position = Random.Range(0, possiblePositions.Count);
}
}