adversary handling

1 year ago · d41ba6258f
2 changed files with 68 additions and 20 deletions
--- a/examples/shields/rl/helpers.py
+++ b/examples/shields/rl/helpers.py
@ -37,7 +37,7 @@ def extract_keys(env):
    
    if env.carrying and env.carrying.type == "key":
        keys.append((env.carrying, -1, -1))
-    
+    # TODO Maybe need to add ordering of keys so it matches the order in the shield
    return keys

 def extract_doors(env):
@ -51,6 +51,18 @@ def extract_doors(env):
                
    return doors

+def extract_adversaries(env):
+    adv = []
+    
+    if not hasattr(env, "adversaries"):
+        return []
+    
+    for color, adversary in env.adversaries.items():
+        adv.append(adversary)
+    
+    
+    return adv
+
 def create_log_dir(args):
    return F"{args.log_dir}sh:{args.shielding}-env:{args.env}"

@ -87,6 +99,7 @@ def parse_arguments(argparse):
                        help="gym environment to load", 
                        default="MiniGrid-LavaCrossingS9N1-v0", 
                        choices=[
+                                "MiniGrid-Adv-8x8-v0",
                                "MiniGrid-LavaCrossingS9N1-v0",
                                "MiniGrid-LavaCrossingS9N3-v0",
                                "MiniGrid-LavaSlipperyS12-v0",
@ -94,10 +107,10 @@ def parse_arguments(argparse):
                                "MiniGrid-LavaSlipperyS12-v2",
                                "MiniGrid-LavaSlipperyS12-v3",
                                "MiniGrid-DoorKey-8x8-v0",
-                                "MiniGrid-DoubleDoor-16x16-v0",
-                                "MiniGrid-DoubleDoor-12x12-v0",
-                                "MiniGrid-DoubleDoor-10x8-v0",
-                                "MiniGrid-SingleDoor-7x6-v0",
+                                # "MiniGrid-DoubleDoor-16x16-v0",
+                                # "MiniGrid-DoubleDoor-12x12-v0",
+                                # "MiniGrid-DoubleDoor-10x8-v0",
+                                # "MiniGrid-SingleDoor-7x6-v0",
                                # "MiniGrid-LockedRoom-v0",
                                # "MiniGrid-FourRooms-v0", 
                                # "MiniGrid-LavaGapS7-v0",
--- a/examples/shields/rl/shieldhandlers.py
+++ b/examples/shields/rl/shieldhandlers.py
@ -9,11 +9,11 @@ import stormpy.examples
 import stormpy.examples.files


-from helpers import extract_doors, extract_keys
+from helpers import extract_doors, extract_keys, extract_adversaries
 from abc import ABC

 import os
-
+import time
 class Action():
    def __init__(self, idx, prob=1, labels=[]) -> None:
        self.idx = idx
@ -40,7 +40,7 @@ class MiniGridShieldHandler(ShieldHandler):

    
    def __create_prism(self):
-        result = os.system(F"{self.grid_to_prism_path} -v 'agent' -i {self.grid_file} -o {self.prism_path}")
+        result = os.system(F"{self.grid_to_prism_path} -v 'Agent,Blue' -i {self.grid_file} -o {self.prism_path}")
    
        assert result == 0, "Prism file could not be generated"
    
@ -67,19 +67,18 @@ class MiniGridShieldHandler(ShieldHandler):
        assert result.has_shield
        shield = result.shield
        stormpy.shields.export_shield(model, shield, "Grid.shield")
-        
        action_dictionary = {}
        shield_scheduler = shield.construct()
+        state_valuations = model.state_valuations
+        choice_labeling = model.choice_labeling
        
        for stateID in model.states:
            choice = shield_scheduler.get_choice(stateID)
            choices = choice.choice_map
-            state_valuation = model.state_valuations.get_string(stateID)
-
-            actions_to_be_executed = [Action(idx= choice[1], prob=choice[0], labels=model.choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
-
+            state_valuation = state_valuations.get_string(stateID)
+            actions_to_be_executed = [Action(idx= choice[1], prob=choice[0], labels=choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
            action_dictionary[state_valuation] = actions_to_be_executed
-
+            
        return action_dictionary
    
    
@ -93,15 +92,16 @@ class MiniGridShieldHandler(ShieldHandler):
 def create_shield_query(env):
    coordinates = env.env.agent_pos
    view_direction = env.env.agent_dir
-    
+        
    keys = extract_keys(env)
    doors = extract_doors(env)
+    adversaries = extract_adversaries(env)
    
    
    if env.carrying:
-        carrying = F"Agent_is_carrying_object\t"
+        agent_carrying = F"Agent_is_carrying_object\t"
    else:
-        carrying = "!Agent_is_carrying_object\t"
+        agent_carrying = "!Agent_is_carrying_object\t"
    
    key_positions = []
    agent_key_status = []
@ -110,7 +110,6 @@ def create_shield_query(env):
        key_color = key[0].color
        key_x = key[1]
        key_y = key[2]
-       # '[!Agent_is_carrying_object\t& !Agent_has_yellow_key\t& !AgentDone\t& Dooryellowlocked\t& !Dooryellowopen\t& xAgent=1\t& yAgent=1\t& viewAgent=0\t& xKeyyellow=2\t& yKeyyellow=2]'
        if env.carrying and env.carrying.type == "key":
            agent_key_text = F"Agent_has_{env.carrying.color}_key\t& "
            key_position = F"xKey{key_color}={key_x}\t& yKey{key_color}={key_y}\t"
@ -121,7 +120,8 @@ def create_shield_query(env):
        key_positions.append(key_position)            
        agent_key_status.append(agent_key_text)
    
-    key_positions[-1] = key_positions[-1].strip()
+    if key_positions:
+        key_positions[-1] = key_positions[-1].strip()
    
    door_status = []
    for door in doors:
@ -134,11 +134,46 @@ def create_shield_query(env):
            status = F"!Door{door.color}locked\t& !Door{door.color}open\t&"
            
        door_status.append(status)
+    
+    adv_status = []
+    adv_positions = []
+    
+    for adversary in adversaries:
+        status = ""
+        position = ""
        
+        if adversary.carrying:
+            carrying = F"{adversary.name}_is_carrying_object\t"
+        else:
+            carrying = F"!{adversary.name}_is_carrying_object\t"
+            
+        status = F"{carrying}& !{adversary.name}Done\t& "
+        position = F"x{adversary.name}={adversary.cur_pos[1]}\t& y{adversary.name}={adversary.cur_pos[0]}\t& view{adversary.name}={adversary.adversary_dir}"
+        adv_status.append(status)
+        adv_positions.append(position)

+    door_status_text = ""
+
+    if door_status:
+        door_status_text = F"& {''.join(door_status)}\t"
+    
+    adv_status_text = ""
+    
+    if adv_status:    
+        adv_status_text = F"& {''.join(adv_status)}"
+        
+    adv_positions_text = ""
+    
+    if adv_positions:
+        adv_positions_text = F"\t& {''.join(adv_positions)}"
+        
+    key_positions_text = ""
+    
+    if key_positions:
+        key_positions_text = F"\t& {''.join(key_positions)}"
    
    agent_position = F"xAgent={coordinates[0]}\t& yAgent={coordinates[1]}\t& viewAgent={view_direction}"    
-    query = f"[{carrying}& {''.join(agent_key_status)}!AgentDone\t& {''.join(door_status)} {agent_position}\t& {''.join(key_positions)}]"
+    query = f"[{agent_carrying}& {''.join(agent_key_status)}!AgentDone\t{adv_status_text}{door_status_text}{agent_position}{adv_positions_text}{key_positions_text}]"

    return query