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+ [Header("Crash Objects")] + public List CrashTags; //衝突判定対象のタグ public Rigidbody Rbody; + /**Events*/ + public delegate void OnReceiveMessage(string message); + public OnReceiveMessage onReceiveMsg; + public delegate void OnCrash(Vector3 crashPos); + public OnCrash onCrash; + public delegate void OnEmptyButtery(); + public OnEmptyButtery onEmptyBattery; + /***/ + public List CommunicateTargetTags; + private string Team; + void Start() { Rbody = GetComponent(); communicateArea.transform.localScale = new Vector3(communicationRange, communicationRange, communicationRange); + StartCoroutine(BatteryDrainCoroutine()); + } + + void OnTriggerEnter(Collider other) { + if (CrashTags.Contains(other.tag)) { + onCrash?.Invoke(other.transform.position); + FreeFall(); + } + } + + public void RegisterTeam(string team) { + Team = team; + } + public void AddCommunicateTarget(string target) { + CommunicateTargetTags.Add(target); + } + + public void InHeuristicCtrl(in ActionBuffers actionsOut) { + var action = actionsOut.ContinuousActions; + //WASD定義 + if(Input.GetKey(KeyCode.W)) { + //前進 + action[1] = 1f; + } else if (Input.GetKey(KeyCode.S)) { + //後退 + action[1] = -1f; + } + + if (Input.GetKey(KeyCode.A)) { + //左移動 + action[0] = -1f; + } else if (Input.GetKey(KeyCode.D)) { + //右移動 + action[0] = 1f; + } + + if (Input.GetKey(KeyCode.LeftArrow)) { + //左回転 + action[2] = -1f; + } else if (Input.GetKey(KeyCode.RightArrow)) { + //右回転 + action[2] = 1f; + } + + if (Input.GetKey(KeyCode.Space)) { + //上昇 + action[3] = 1f; + } else if (Input.GetKey(KeyCode.LeftShift)) { + //下降 + action[3] = -1f; + } } public void FlyingCtrl(ActionBuffers actions) { - float horInput = actions.ContinuousActions[0]; - float verInput = actions.ContinuousActions[1]; - float rotInput = actions.ContinuousActions[2]; + float horInput = actions.ContinuousActions[0]; //水平方向の入力(左右) + float verInput = actions.ContinuousActions[1]; //垂直方向の入力（前後） + float rotInput = actions.ContinuousActions[2]; //回転方向の入力 + float altInput = actions.ContinuousActions[3]; //高度方向の入力(上下) + + if (batteryLevel <= 0) { + return; + } - // 水平、垂直方向の移動計算 - Vector3 moveDirection = new Vector3(horInput, 0, verInput) * moveSpeed; - Rbody.AddForce(transform.TransformDirection(moveDirection)); + if(horInput > 0) { + Right(horInput); + } else { + Left(Mathf.Abs(horInput)); + } + if(verInput > 0) { + Forward(verInput); + } else { + Back(Mathf.Abs(verInput)); + } + //回転 + if(rotInput > 0) { + Cw(rotInput); + } else if (rotInput < 0) { + Ccw(Mathf.Abs(rotInput)); + } + //高度方向の移動 + if(altInput > 0) { + Up(altInput); + } else if (altInput < 0) { + Down(Mathf.Abs(altInput)); + } - // 入力に基づいて傾き・回転を計算 - sidewaysTiltAmount = Mathf.Lerp(sidewaysTiltAmount, -horInput * tiltAng, tiltVel * Time.fixedDeltaTime); - forwardTiltAmount = Mathf.Lerp(forwardTiltAmount, verInput * tiltAng, tiltVel * Time.fixedDeltaTime); - rotAmount += rotInput * rotSpeed * Time.fixedDeltaTime; - // 傾き・回転をドローンに適用 - Quaternion targetRot = Quaternion.Euler(forwardTiltAmount, rotAmount, sidewaysTiltAmount); - transform.rotation = targetRot; } /// @@ -54,7 +134,7 @@ 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 var result = false; foreach (var hitCollider in hitColliders) { - if (hitCollider.tag == "Drone") { //TODO:ハードコードを避ける + if (CommunicateTargetTags.Contains(hitCollider.tag)) { hitCollider.GetComponent().ReceiveMessage(message); result = true; } @@ -67,6 +147,101 @@ public bool Communicate(string message) { /// public void ReceiveMessage(string message) { Debug.Log("Message received: " + message); + onReceiveMsg?.Invoke(message); + } + + + private void FreeFall() { + Rbody.useGravity = true; + //FreezePosition,FreezeRotationを解除 + Rbody.constraints = RigidbodyConstraints.None; + } + + private IEnumerator BatteryDrainCoroutine() { + while (batteryLevel > 0) { + yield return new WaitForSeconds(1); + batteryLevel -= batteryDrainRate; + Debug.Log($"Battery Level: {batteryLevel}%"); + } + onEmptyBattery?.Invoke(); + FreeFall(); + } + + //NOTE：以下はTello SDKを参考 + private static Vector3 RenewPosLerp(Vector3 currentPos, Vector3 targetPos, float speed) { + return Vector3.Lerp(currentPos, targetPos, speed * Time.deltaTime); + } + /// + /// 機体を上昇させる + /// + /// どのくらいの座標上昇させるか + private void Up(float value) { + Vector3 newPos = new Vector3(transform.localPosition.x, transform.localPosition.y + value, transform.localPosition.z); + transform.localPosition = RenewPosLerp(transform.localPosition, newPos, moveSpeed); + } + + /// + /// 機体を下降させる + /// + /// どのくらいの座標下降させるか + private void Down(float value) { + Vector3 newPos = new Vector3(transform.localPosition.x, transform.localPosition.y - value, transform.localPosition.z); + transform.localPosition = RenewPosLerp(transform.localPosition, newPos, moveSpeed); + } + + /// + /// Moves the aircraft forward based on its current orientation. + /// + /// How much to move the aircraft forward. + private void Forward(float value) { + Vector3 newPos = transform.position + transform.forward * value; + transform.position = RenewPosLerp(transform.position, newPos, moveSpeed); + } + + /// + /// Moves the aircraft backward based on its current orientation. + /// + /// How much to move the aircraft backward. + private void Back(float value) { + Vector3 newPos = transform.position - transform.forward * value; + transform.position = RenewPosLerp(transform.position, newPos, moveSpeed); + } + + /// + /// Moves the aircraft to the left based on its current orientation. + /// + /// How much to move the aircraft to the left. + private void Left(float value) { + Vector3 newPos = transform.position - transform.right * value; + transform.position = RenewPosLerp(transform.position, newPos, moveSpeed); + } + + /// + /// Moves the aircraft to the right based on its current orientation. + /// + /// How much to move the aircraft to the right. + private void Right(float value) { + Vector3 newPos = transform.position + transform.right * value; + transform.position = RenewPosLerp(transform.position, newPos, moveSpeed); + } + + + /// + /// 時計回りに旋回 + /// + /// How much to rotate the aircraft clockwise. + private void Cw(float value) { + transform.Rotate(Vector3.up * rotSpeed * Time.deltaTime); + } + + /// + /// 反時計回りに機体を回転させる + /// + /// How much to rotate the aircraft counterclockwise. + private void Ccw(float value) { + transform.Rotate(Vector3.down * rotSpeed * Time.deltaTime); } + + } diff --git a/MAEasySimulator/Assets/ML-Agents.meta b/MAEasySimulator/Assets/ML-Agents.meta new file mode 100644 index 0000000..315d404 --- /dev/null +++ b/MAEasySimulator/Assets/ML-Agents.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: d91a052ca07602946b08ecd447c647e3 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/MAEasySimulator/Assets/NNParam.yaml b/MAEasySimulator/Assets/NNParam.yaml new file mode 100644 index 0000000..bab3241 --- /dev/null +++ b/MAEasySimulator/Assets/NNParam.yaml @@ -0,0 +1,49 @@ +behaviors: + Surpplier: + trainer_type: ppo + hyperparameters: + batch_size: 5120 + buffer_size: 10240 + learning_rate: 1e-4 + beta: 1e-4 + epsilon: 0.1 + lambd: 0.9 + num_epoch: 5 + learning_rate_schedule: linear + network_settings: + normalize: false + hidden_units: 512 + num_layers: 3 + vis_encode_type: simple + reward_signals: + extrinsic: + gamma: 0.8 + strength: 0.1 + keep_checkpoints: 5 + max_steps: 500000 + time_horizon: 120 + summary_freq: 1000 + Spy: + trainer_type: ppo + hyperparameters: + batch_size: 5120 + buffer_size: 10240 + learning_rate: 1e-4 + beta: 1e-4 + epsilon: 0.1 + lambd: 0.9 + num_epoch: 5 + learning_rate_schedule: linear + network_settings: + normalize: false + hidden_units: 512 + num_layers: 3 + vis_encode_type: simple + reward_signals: + extrinsic: + gamma: 0.8 + strength: 0.1 + keep_checkpoints: 5 + max_steps: 500000 + time_horizon: 120 + summary_freq: 1000 diff --git a/MAEasySimulator/Assets/NNParam.yaml.meta b/MAEasySimulator/Assets/NNParam.yaml.meta new file mode 100644 index 0000000..944c4ea --- /dev/null +++ b/MAEasySimulator/Assets/NNParam.yaml.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: e64e07d733205e1428ea3b77b5ec7304 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/MAEasySimulator/Assets/Scenes/test0.4.unity b/MAEasySimulator/Assets/Scenes/test0.4.unity index 9c76b10..cb24b43 100644 --- a/MAEasySimulator/Assets/Scenes/test0.4.unity +++ b/MAEasySimulator/Assets/Scenes/test0.4.unity @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8c9b5c1630a9653391cdc6535b34cfb2a14a1bfaf33f51898a71427078e79849 -size 62510 +oid sha256:81f2128db5ad367cb171244bfd49f161c8892a399e98f3642b102ae932c0bbb1 +size 78389 diff --git a/MAEasySimulator/Assets/Shelter.prefab b/MAEasySimulator/Assets/Shelter.prefab index 4ef521e..123a63c 100644 --- a/MAEasySimulator/Assets/Shelter.prefab +++ b/MAEasySimulator/Assets/Shelter.prefab @@ -12,7 +12,7 @@ GameObject: - 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//public GameObject FieldFloor; // フィールド public GameObject FieldArea; [Header("State of Drone")] @@ -22,20 +21,31 @@ public class SurpplieAgent : Agent { private DroneController Ctrl; private EnvManager env; private int GetSupplieCount = 0; + private Vector3 shelterPosition = Vector3.zero; + private string LogPrefix = "[Agent Surpplier]"; + private Vector3 StartPosition; + void Start() { Ctrl = GetComponent(); env = GetComponentInParent(); + Ctrl.onReceiveMsg += OnReceiveMessage; + Ctrl.onCrash += OnCrash; + Ctrl.onEmptyBattery += OnEmpty; + Ctrl.RegisterTeam(gameObject.tag); + StartPosition = transform.localPosition; } public override void OnEpisodeBegin() { env.InitializeRandomPositions(); + StartPosition = transform.localPosition; + Reset(); } public override void CollectObservations(VectorSensor sensor) { - //状態を観測 + //自身の状態・速度を観測 sensor.AddObservation(isGetSupplie); - //速度を観測 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); } public override void OnActionReceived(ActionBuffers actions) { @@ -43,11 +53,11 @@ public override void OnActionReceived(ActionBuffers actions) { var doRelease = actions.DiscreteActions[0] == 2 ? true : false; var doGetSupplie = actions.DiscreteActions[0] == 1 ? true : false; - var doSaving = actions.DiscreteActions[0] == 0 ? true : false; + var doNothing = actions.DiscreteActions[0] == 0 ? true : false; if (doRelease) { ReleaseSupplie(); - } else if (doGetSupplie) { + } else if (doGetSupplie && !isGetSupplie) { //TODO:物資が近くにあるかどうかの判定 GetSupplie(); } @@ -55,17 +65,53 @@ public override void OnActionReceived(ActionBuffers actions) { } public override void Heuristic(in ActionBuffers actionsOut) { - //todo: implement + Ctrl.InHeuristicCtrl(actionsOut); + if(Input.GetKey(KeyCode.R)) { + actionsOut.DiscreteActions.Array[0] = 2; + } else if (Input.GetKey(KeyCode.G)) { + actionsOut.DiscreteActions.Array[0] = 1; + } else { + actionsOut.DiscreteActions.Array[0] = 0; + } } /// - /// 報酬設計とエピソード終了定義 + /// TODO:報酬設計とエピソード終了定義 /// private void RewardDefinition() { } + + /// + /// 他のドローンからメッセージを受信した時のイベントハンドラー + /// + /// + /// ShelterのXYZ座標 + /// 例：(10.0, 0.0, 10.0) + /// + private void OnReceiveMessage(string message) { + //Vector3に変換 + var shelterPos = message.Trim('(', ')').Split(','); + var x = float.Parse(shelterPos[0]); + var y = float.Parse(shelterPos[1]); + var z = float.Parse(shelterPos[2]); + + //観察に追加 + shelterPosition = new Vector3(x, y, z); + } + + private void OnCrash(Vector3 position) { + Debug.Log(LogPrefix + "Crash at " + position); + EndEpisode(); + } + + private void OnEmpty() { + Debug.Log(LogPrefix + "Battery is empty"); + //EndEpisode(); + } + private void GetSupplie() { Debug.Log("[Agent] Get Supplie"); //物資の重力を無効化 @@ -75,9 +121,9 @@ private void GetSupplie() { // 物資の位置をドローンの下部に設定 Supplie.transform.localPosition = new Vector3(0, -4f, 0); Supplie.transform.localRotation = Quaternion.Euler(0, 0, 0); + Supplie.transform.localRotation = Quaternion.Euler(0, 0, 0); //位置を固定 Supplie.GetComponent().constraints = RigidbodyConstraints.FreezeAll; - 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