rework interactor

Source/drivesafe/Private/CarTrainingEnv.cpp

@@ -12,23 +12,21 @@ void UCarTrainingEnv::GatherAgentReward_Implementation(float& OutReward, const i
 		GEngine->AddOnScreenDebugMessage(INDEX_NONE, 15.0f, FColor::Red, FString::Printf(TEXT("ERROR UCarTrainingEnv Initialized GatherAgentReward_Implementation.")));
 		return;
 	}
-	else
+	/*else
 		GEngine->AddOnScreenDebugMessage(INDEX_NONE, 15.0f, FColor::Green, FString::Printf(TEXT("SUCCESS UCarTrainingEnv Initialized GatherAgentReward_Implementation.")));
-	 
+	 */
 	auto scored = PlayerCar->GetPlayerState<APlayerCarState>()->GetVehicleHit();
+	AgentHitCount.FindOrAdd(AgentId) += scored;
 	float weight = -1.0f;
 	OutReward = weight * scored;
-
 	PlayerCar->GetPlayerState<APlayerCarState>()->ResetVehicleHit();
 }
 
 void UCarTrainingEnv::GatherAgentCompletion_Implementation(ELearningAgentsCompletion& OutCompletion, const int32 AgentId)
 {
-	//on time out make this episode complete (timeout 30 seconds) <- idea: map of agentId associated with time of episode star
-	auto time = AgentTimeMap.Find(AgentId);
-	auto currentTime = GetWorld()->GetTimeSeconds();
-	if (time != nullptr && currentTime - *time > 30.0f) {
-		OutCompletion = ELearningAgentsCompletion::Truncation;
+	auto hitCount = AgentHitCount.Find(AgentId);
+	if (*hitCount>maxHitCount) {
+		OutCompletion = ELearningAgentsCompletion::Termination;
 	}
 	else {
 		OutCompletion = ELearningAgentsCompletion::Running;
@@ -38,7 +36,7 @@ void UCarTrainingEnv::GatherAgentCompletion_Implementation(ELearningAgentsComple
 void UCarTrainingEnv::ResetAgentEpisode_Implementation(const int32 AgentId)
 {
 	//reset the time of the agent
-	AgentTimeMap.Add(AgentId, GetWorld()->GetTimeSeconds());
+	AgentHitCount.FindOrAdd(AgentId, 0);
 
 	//reset environment
 	auto CustomGameState = GetWorld()->GetGameState<ACustomGameState>();

Source/drivesafe/Private/CustomGameMode.cpp

@@ -234,6 +234,8 @@ void ACustomGameMode::OnScoreCollisionBoxEndOverlap(UPrimitiveComponent* Overlap
 	// Get the game state
 	ACustomGameState* CustomGameState = GetGameState<ACustomGameState>();
 	CustomGameState->fSpeed *= 1.05;
+	//clamp the speed
+	CustomGameState->fSpeed = FMath::Clamp(CustomGameState->fSpeed, 100.0f, 3000.0f);
 }
 
 

Source/drivesafe/Private/CustomLearningInteractor.cpp

@@ -9,9 +9,19 @@ void UCustomLearningInteractor::SpecifyAgentObservation_Implementation(FLearning
 {
 	auto CustomGameState = GetWorld()->GetGameState<ACustomGameState>();
 	int numberOfLanes = CustomGameState->iNumberOfLane*2;
+	//TMap<FName, FLearningAgentsObservationSchemaElement> ObstaclesObservation;
+	//ObstaclesObservation.Add("ObstacleAngle", ULearningAgentsObservations::SpecifyAngleObservation(InObservationSchema, "ObstacleAngle"));
+	//ObstaclesObservation.Add("ObstacleDistance", ULearningAgentsObservations::SpecifyProportionAlongRayObservation(InObservationSchema, "ObstacleDistance"));
+
 	TMap<FName, FLearningAgentsObservationSchemaElement> ObstaclesObservation;
-	ObstaclesObservation.Add("ObstacleAngle", ULearningAgentsObservations::SpecifyAngleObservation(InObservationSchema, "ObstacleAngle"));
-	ObstaclesObservation.Add("ObstacleDistance", ULearningAgentsObservations::SpecifyProportionAlongRayObservation(InObservationSchema, "ObstacleDistance"));
+	ObstaclesObservation.Add("ObstacleAngles", 
+		ULearningAgentsObservations::SpecifyEitherObservation(InObservationSchema,
+			ULearningAgentsObservations::SpecifyArrayObservation(InObservationSchema, ULearningAgentsObservations::SpecifyAngleObservation(InObservationSchema, "ObstacleAngle"), 200, 32, 4, 32, "ObstacleAngles"),
+			ULearningAgentsObservations::SpecifyNullObservation(InObservationSchema, "ObstacleAngle"),128,"ObstacleAngles"));
+	ObstaclesObservation.Add("ObstacleDistances",
+		ULearningAgentsObservations::SpecifyEitherObservation(InObservationSchema, 
+			ULearningAgentsObservations::SpecifyArrayObservation(InObservationSchema, ULearningAgentsObservations::SpecifyProportionAlongRayObservation(InObservationSchema, "ObstacleDistance"), 200, 32, 4, 32, "ObstacleDistances"), 
+			ULearningAgentsObservations::SpecifyNullObservation(InObservationSchema, "ObstacleDistance"), 128, "ObstacleDistances"));
 
 
 	TMap<FName, FLearningAgentsObservationSchemaElement> SelfObservation;
@@ -38,10 +48,10 @@ void UCustomLearningInteractor::GatherAgentObservation_Implementation(FLearningA
 	if (!PlayerCarState) PlayerCarState = GetWorld()->SpawnActor<APlayerCarState>();
 	TMap<FName, FLearningAgentsObservationObjectElement> ObstaclesObservations;
 	TMap<FName, FLearningAgentsObservationObjectElement> SelfObservations;
-	if (Obstacles.Num() == 0)
+	TArray<FLearningAgentsObservationObjectElement> AngleObservations;
+	TArray<FLearningAgentsObservationObjectElement> DistanceObservations;
+	if (Obstacles.Num() != 0)
 	{
-		return;
-	}
 		for (auto Obstacle : Obstacles)
 		{
 			// Get the angle between the player car and the obstacle & distance
@@ -51,8 +61,15 @@ void UCustomLearningInteractor::GatherAgentObservation_Implementation(FLearningA
 			float Angle = FMath::RadiansToDegrees(FMath::Acos(FVector::DotProduct(Direction.GetSafeNormal(), FVector(1.0f, 0.0f, 0.0f))));
 			auto AngleObservation = ULearningAgentsObservations::MakeAngleObservation(InObservationObject, Angle, 0.0f, "ObstacleAngle"); // add logger possible
 			auto DistanceObservation = ULearningAgentsObservations::MakeProportionAlongRayObservation(InObservationObject, PlayerCarLocation, ObstacleLocation, FTransform(), ECC_WorldStatic, "ObstacleDistance"); // add logger possible
-		ObstaclesObservations.Add("ObstacleAngle", AngleObservation); 
-		ObstaclesObservations.Add("ObstacleDistance", DistanceObservation);
+			AngleObservations.Add(AngleObservation);
+			DistanceObservations.Add(DistanceObservation);
+		}
+		ObstaclesObservations.Add("ObstacleAngles", ULearningAgentsObservations::MakeEitherAObservation(InObservationObject,ULearningAgentsObservations::MakeArrayObservation(InObservationObject, AngleObservations, 200, "ObstacleAngles"), "ObstacleAngles"));
+		ObstaclesObservations.Add("ObstacleDistances", ULearningAgentsObservations::MakeEitherAObservation(InObservationObject, ULearningAgentsObservations::MakeArrayObservation(InObservationObject, DistanceObservations, 200, "ObstacleDistances"), "ObstacleDistances"));
+	}
+	else {
+		ObstaclesObservations.Add("ObstacleAngles", ULearningAgentsObservations::MakeEitherBObservation(InObservationObject, ULearningAgentsObservations::MakeNullObservation(InObservationObject, "ObstacleAngle"), "ObstacleAngles"));
+		ObstaclesObservations.Add("ObstacleDistances", ULearningAgentsObservations::MakeEitherBObservation(InObservationObject, ULearningAgentsObservations::MakeNullObservation(InObservationObject, "ObstacleDistance"), "ObstacleDistances"));
 	}
 	// Get available lane observation
 	int Currentlane = PlayerCarState->GetPlayerLane();
@@ -76,9 +93,15 @@ void UCustomLearningInteractor::SpecifyAgentAction_Implementation(FLearningAgent
 
 void UCustomLearningInteractor::PerformAgentAction_Implementation(const ULearningAgentsActionObject* InActionObject, const FLearningAgentsActionObjectElement& InActionObjectElement, const int32 AgentId)
 {
+	static float lastActionTime = 0.0f;
+
+	if (GetWorld()->GetTimeSeconds() - lastActionTime < 0.4f)
+	{
+		return;
+	}
+
 	auto PlayerCar = Cast<APlayerCar>(Manager->GetAgent(AgentId));
 	auto PlayerCarState = Cast<APlayerCarState>(PlayerCar->GetPlayerState());
-	int CurrentLane = PlayerCarState->GetPlayerLane();
 	TMap<FName, FLearningAgentsActionObjectElement> ActionMap;
 	if (!ULearningAgentsActions::GetStructAction(ActionMap, InActionObject, InActionObjectElement)) {
 		return;
@@ -98,19 +121,18 @@ void UCustomLearningInteractor::PerformAgentAction_Implementation(const ULearnin
 	{
 		UE_LOG(LogTemp, Warning, TEXT("Steering: %d"), Steering);
 	}
-	int TargetLane = CurrentLane;
+
 	switch (Steering)
 	{
 		case 0:
 			PlayerCar->EnhancedInputMoveLeft(FInputActionInstance());
-			TargetLane = CurrentLane - 1;
 			break;
 		case 1:
-			TargetLane = CurrentLane;
 			break;
 		case 2:
 			PlayerCar->EnhancedInputMoveRight(FInputActionInstance());
-			TargetLane = CurrentLane +1;
 			break;
 	}
+	lastActionTime = GetWorld()->GetTimeSeconds();
+
 }

Source/drivesafe/Public/CarTrainingEnv.h

@@ -16,8 +16,13 @@ class DRIVESAFE_API UCarTrainingEnv : public ULearningAgentsTrainingEnvironment
 
 private: 
 	//map of timecreation for id of agent
-	TMap<int32, float> AgentTimeMap;
+	TMap<int32, int64> AgentHitCount;
+
 public:
+
+	UPROPERTY(EditAnywhere, Category = "Trainer Env Settings")
+	int64 maxHitCount = 2;
+
 	virtual void GatherAgentReward_Implementation(float& OutReward, const int32 AgentId) override;
 	virtual void GatherAgentCompletion_Implementation(ELearningAgentsCompletion& OutCompletion, const int32 AgentId) override;
 	virtual void ResetAgentEpisode_Implementation(const int32 AgentId) override;