【MA基礎開発】ドローンの送受信データ形式で、任意のJSONデータを渡せるように変更。アルゴリズムをpocaに設定 #1

MAEasySimulator/Assets/DroneController.cs

@@ -139,12 +139,13 @@ public void FlyingCtrl(ActionBuffers actions) {
     /// <summary>
     /// 他のドローンにメッセージを送信する。
     /// </summary>
-    public bool Communicate(string message) {
-        Collider[] hitColliders = Physics.OverlapSphere(transform.position, communicationRange); //範囲内にあるコライダーを取得
+    public bool Communicate(Types.MessageData messageData) {
+        Collider[] hitColliders = Physics.OverlapSphere(transform.position, communicationRange);
         var result = false;
         foreach (var hitCollider in hitColliders) {
             if (CommunicateTargetTags.Contains(hitCollider.tag)) {
-                hitCollider.GetComponent<DroneController>().ReceiveMessage(message);
+                var json = messageData.ToJson();
+                hitCollider.GetComponent<DroneController>().ReceiveMessage(json);
                 result = true;
             }
         }
@@ -154,9 +155,10 @@ public bool Communicate(string message) {
     /// <summary>
     /// 他のドローンからメッセージを受信する（させる）。
     /// </summary>
-    public void ReceiveMessage(string message) {
-        Debug.Log("Message received: " + message);
-        onReceiveMsg?.Invoke(message);
+    public void ReceiveMessage(string json) {
+        var messageData = Types.MessageData.FromJson(json);
+        Debug.Log($"Message received: Type={messageData.type}, Content={messageData.content}");
+        onReceiveMsg?.Invoke(json);
     }
 
 

MAEasySimulator/Assets/NNParam.yaml

@@ -1,6 +1,6 @@
 behaviors:
   Surpplier:
-    trainer_type: ppo
+    trainer_type: poca
     hyperparameters:
       batch_size: 5120
       buffer_size: 10240
@@ -24,7 +24,7 @@ behaviors:
     time_horizon: 120
     summary_freq: 1000
   Spy:
-    trainer_type: ppo
+    trainer_type: poca
     hyperparameters:
       batch_size: 5120
       buffer_size: 10240

MAEasySimulator/Assets/SpyAgent.cs

@@ -12,6 +12,7 @@ public class SpyAgent : Agent {
     //TODO:以下複数の避難所を検出する場合の対応
     private string targetTag = "Shelter";
     private Vector3 targetPos = Vector3.zero;
+    private bool isFindTarget = false;
 
     private DroneController _controller;
     private EnvManager _env;
@@ -35,6 +36,7 @@ void Start() {
 
     public override void OnEpisodeBegin() {
         _env.InitializeRandomPositions();
+        Reset();
     }
 
     /// <summary>
@@ -54,6 +56,7 @@ public override void CollectObservations(VectorSensor sensor) {
             }
         }
         sensor.AddObservation(targetPos);
+        sensor.AddObservation(isFindTarget);
     }
 
     public override void OnActionReceived(ActionBuffers actions) {
@@ -96,8 +99,13 @@ public override void Heuristic(in ActionBuffers actionsOut) {
     private void _OnFindShelter(Vector3 pos) {
         //検出情報を発信
         _findCount++;
-        _controller.Communicate(pos.ToString());
+        var data = new Types.MessageData {
+            type = "Shelter",
+            content = pos.ToString()
+        };
+        _controller.Communicate(data);
         Debug.Log(LogPrefix + "Find shelter at " + pos.ToString());
+        isFindTarget = true; //TODO:この情報を観測に追加するように
     }
 
 

MAEasySimulator/Assets/SurpplieAgent.cs

@@ -24,6 +24,7 @@ public class SurpplieAgent : Agent {
     private EnvManager env;
     private int GetSupplieCount = 0;
     private Vector3 shelterPosition = Vector3.zero;
+    private bool isGetShelterPos = false;
     private string LogPrefix = "[Agent Surpplier]";
     private Vector3 StartPosition;
 
@@ -53,6 +54,7 @@ public override void CollectObservations(VectorSensor sensor) {
         sensor.AddObservation(Ctrl.Rbody.velocity);
         //偵察エージェントから受け取った情報を観測
         sensor.AddObservation(shelterPosition);
+        sensor.AddObservation(isGetShelterPos);
     }
 
     public override void OnActionReceived(ActionBuffers actions) {
@@ -96,6 +98,7 @@ private void OnReceiveMessage(string message) {
 
         //観察に追加
         shelterPosition = new Vector3(x, y, z);
+        isGetShelterPos = true;
     }
 
     /// <summary>

MAEasySimulator/Assets/Types.cs

@@ -0,0 +1,20 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Types : MonoBehaviour {
+
+    [System.Serializable]
+    public class MessageData {
+        public string type;
+        public string content;
+
+        public string ToJson() {
+            return JsonUtility.ToJson(this);
+        }
+
+        public static MessageData FromJson(string json) {
+            return JsonUtility.FromJson<MessageData>(json);
+        }
+    }
+}