Added shift functionality

aa8d1333 · Julian Grothoff · 170732b4 · aa8d1333 · aa8d1333 · aa8d1333
Commit aa8d1333 authored Apr 19, 2020 by Julian Grothoff
--- a/PTSSim/Assets/ML-Agents/Timers/PTS_timers.json
+++ b/PTSSim/Assets/ML-Agents/Timers/PTS_timers.json
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\ No newline at end of file
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@@ -1338,7 +1551,7 @@ PrefabInstance:
    - target: {fileID: 8770740007255297387, guid: 1d9169e55f0cc40c88783fd142df404e,
        type: 3}
      propertyPath: m_LocalPosition.z
-      value: -2
+      value: 0
      objectReference: {fileID: 0}
    - target: {fileID: 8770740007255297387, guid: 1d9169e55f0cc40c88783fd142df404e,
        type: 3}

--- a/PTSSim/Assets/Prefabs/Palette.prefab
+++ b/PTSSim/Assets/Prefabs/Palette.prefab
@@ -108,9 +108,9 @@ MonoBehaviour:
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 21
+    vectorObservationSize: 41
    numStackedVectorObservations: 1
-    vectorActionSize: 03000000
+    vectorActionSize: 050000000300000003000000
    vectorActionDescriptions: []
    vectorActionSpaceType: 0
  m_Model: {fileID: 0}
@@ -135,5 +135,5 @@ MonoBehaviour:
    maxStep: 0
  hasUpgradedFromAgentParameters: 1
  maxStep: 0
-  conveyorPosition: {fileID: 0}
+  conveyor: {fileID: 0}
-  conveyorTarget: {fileID: 0}
+  target: {fileID: 0}
--- a/PTSSim/Assets/Scenes/PTS.unity
+++ b/PTSSim/Assets/Scenes/PTS.unity
--- 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
+    public bool IsOccupied { get => occupier != null; }
-    void Start()
-    {
-    }
-    // Update is called once per frame
-    void Update()
-    {
-    }
 }
--- 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)
        {
            // Reset occupation
-            conveyor.isOccupied = false;
+            conveyor.occupier = null;
        }
-        foreach(Palette palette in palettes)
+        foreach (ShiftConveyor shift in shiftConveyors)
+        {
+            // Set shift position
+            shift.SetRandomPosition();
+        }
+        // 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);
+            palettes[i].transform.position = conveyors[randomPositions[i]].transform.position + Vector3.up * 0.25f; //TODO move to Palette class
-            palette.transform.position = conveyors[palettePos].transform.position + Vector3.up * 0.2f;
-            // Pick random target
+            // Set exit as target for all palettes
-            int target = Random.Range(0, conveyors.Length);
+            palettes[i].target = conveyors[conveyors.Length-1]; // Hopefully this is the Exit
-            while(target == palettePos)
-                target = Random.Range(0, conveyors.Length);
-            palette.conveyorTarget = conveyors[target];
        }
    }
@@ -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()
-    {
-    }
 }
--- 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();
+        conveyor = GetCurrentConveyor();
-        targetDistance = calculateTargetDistance();
+        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
+        // Move shifts
-        return new float[] { (float) opMode };
+        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>
+    /// <param name="actions">The list of actions to take</param>
+    public override void OnActionReceived(float[] actions)
-    public override void OnActionReceived(float[] vectorAction)
    {
        // Apply a tiny negative reward every step to encourage action
        if (maxStep > 0) AddReward(-1f / maxStep);
-        // Execute an operation mode
+        // Execute palette action
-        ExecuteOpMode((PaletteOpMode)vectorAction[0]);
+        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);
+        sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, target), pts.conveyors.Length);
+        // Shift positions
-        // --> State Space is 3 times active conveyor count
+        foreach (ShiftConveyor shift in pts.shiftConveyors)
-    }
-    // Start is called before the first frame update
-    void Start()
        {
+            sensor.AddObservation(shift.Position);
+        }
+        // --> State Space is 3 times active conveyor count + count of shift conveyors
    }
    // Update is called once per frame
@@ -129,33 +184,23 @@ 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 &&
+        if (OPMODE == PaletteOpMode.BSTATE &&
-            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)
@@ -166,53 +211,158 @@ public class Palette : Agent
            opModeProgress = 0;
            // Simulate the update of the postion
-            conveyorPosition.isOccupied = false;
+            conveyor.occupier = null;
-            conveyorPosition = getCurrentConveyor();
+            conveyor = GetCurrentConveyor();
-            if(conveyorPosition == null)
+            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(){
+    private float TargetDistance
-        return Vector3.Distance(conveyorPosition.transform.position, conveyorTarget.transform.position);
+    {
+        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;
+    }
 }
--- 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;
-    public int shiftPos = -1;
+    [Tooltip("Z value for each possible shift position (have to be ordered by size).")]
+    // Todo order on set accessor
+    public List<float> possiblePositions;
-    // 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
+    public void SetRandomPosition()
-    void Update()
    {
+        Position = Random.Range(0, possiblePositions.Count);
    }
 }