BachelorarbeitCozmo/Assets/Scripts/ML Cozmo/CozmoAgent.cs

using MLAgents;
using OpenCvSharp;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class CozmoAgent : Agent
{
    // Possible Actions
    private const int STOP = 0;
    private const int FORWARD = 1;
    private const int RIGHT = 2;
    private const int LEFT = 3;

    // Used to determine different areas in the image (near to the center, far away)
    private const float NEAR_AREA_PERCENTAGE_OFFSET = 0.2f;
    private const float FAR_AREA_PERCENTAGE_OFFSET = 0.3f;

    [Tooltip("The virtual Cozmo camera")]
    public Camera renderCamera;
    [Tooltip("Reference to the CozmoMovement script")]
    public CozmoMovement movement;
    public float timeBetweenDecisionsAtInference;

    private Academy academy;                        // CozmoAcademy
    private float timeSinceDecision;                // time since last decision
    private ImageProcessor onRenderImageTest;       // reference to the ImageProcessor
    private int nearAreaLimit = 0;                  // X coordinate limit for the near to the imagecenter area 
    private int farAreaLimit = 0;                   // X coordinate limit for the far away to the imagecenter area

    // for testing
    //private float[] floats = { 1.0f, 2.0f, 3.0f };

    private void Start()
    {
        academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
        onRenderImageTest = renderCamera.GetComponent<ImageProcessor>();
        nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
        farAreaLimit = (int)(renderCamera.targetTexture.width / 2 * FAR_AREA_PERCENTAGE_OFFSET);
    }

    public void FixedUpdate()
    {
        WaitTimeInference();
        // for testing
        //AgentAction(floats, "ActionText");
    }


    // to be implemented by the developer
    public override void AgentAction(float[] vectorAction, string textAction)
    {

        int action = Mathf.FloorToInt(vectorAction[0]);
        Point centerOfGravity = onRenderImageTest.CenterOfGravity;
        Vector3 targetPos = transform.position;

        AddReward(-0.01f);

        switch (action)
        {
            case STOP:
                movement.Move(0);
                break;
            case FORWARD:
                movement.Move(1);
                break;
            case RIGHT:
                movement.Turn(1);
                break;
            case LEFT:
                movement.Turn(-1);
                break;
            default:
                movement.Move(0);
                throw new ArgumentException("Invalid action value. Stop movement.");
        }

        // Render new image after movement in order to update the centerOfGravity
        if (renderCamera != null)
        {
            renderCamera.Render();
        }


        // If centerOfGravity lies near to the center of the image horizontally
        if (centerOfGravity.X > renderCamera.targetTexture.width / 2 - nearAreaLimit && centerOfGravity.X < renderCamera.targetTexture.width / 2 + nearAreaLimit)
        {
            Done();
            SetReward(1);
            print("Reward: +1");
        }
        else if (centerOfGravity.X > renderCamera.targetTexture.width / 2 - farAreaLimit && centerOfGravity.X < renderCamera.targetTexture.width / 2 + farAreaLimit)
        {
            Done();
            SetReward(-1);
            print("Reward: -1");
        }
        else
        {
            Done();
            SetReward(-2);
            print("Reward: -2");
        }
    }

    // to be implemented by the developer
    public override void AgentReset()
    {
        academy.AcademyReset();
    }


    private void WaitTimeInference()
    {
        if (renderCamera != null)
        {
            renderCamera.Render();
        }

        if (!academy.GetIsInference())
        {
            RequestDecision();
        }
        else
        {
            if (timeSinceDecision >= timeBetweenDecisionsAtInference)
            {
                timeSinceDecision = 0f;
                RequestDecision();
            }
            else
            {
                timeSinceDecision += Time.fixedDeltaTime;
            }
        }
    }

}