#803

Committed 27 Oct 2025 11:45AM UTC coverage: 73.259% (-3.3%) from 76.593%

Build # #803

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push

github

Committed by

srs-mate

Commit Message

chore: format python

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91.3

/src/main/scala/io/github/srs/controller/RLControllerModule.scala

package io.github.srs.controller

import cats.effect.unsafe.implicits.global
import io.github.srs.model.ModelModule
import io.github.srs.config.SimulationConfig
import io.github.srs.model.environment.ValidEnvironment
import io.github.srs.utils.random.RNG
import io.github.srs.model.entity.dynamicentity.action.Action
import cats.Id
import io.github.srs.model.Simulation.simulation
import io.github.srs.model.logic.RLLogicsBundle
import io.github.srs.model.entity.dynamicentity.sensor.SensorReadings
import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
import io.github.srs.view.rendering.EnvironmentRenderer
import io.github.srs.model.entity.dynamicentity.agent.Agent
import io.github.srs.controller.message.DynamicEntityProposal
import cats.effect.IO
import io.github.srs.utils.random.SimpleRNG
import io.github.srs.model.entity.dynamicentity.action.NoAction
import io.github.srs.logger

object RLControllerModule:

  type Observations = Map[Agent, SensorReadings]
  type Infos = Map[Agent, String]
  type Rewards = Map[Agent, Double]
  type Terminateds = Map[Agent, Boolean]
  type Truncateds = Map[Agent, Boolean]

  /**
   * The resonse after each simulation step.
   */
  case class StepResponse private[RLControllerModule] (
      observations: Observations,
      rewards: Rewards,
      terminateds: Terminateds,
      truncateds: Truncateds,
      infos: Infos,
  )

  /**
   * Controller trait defines the interface for a Reinforcement Learning controller.
   */
  trait Controller[S <: ModelModule.BaseState]:

    /**
     * The type of the image used for rendering the simulation on the RL client.
     */
    type Image = Array[Byte]

    /**
     * The initial state of the controller.
     */
    def initialState: S

    /**
     * The current state of the controller.
     */
    def state: S

    /**
     * Initializes the controller with the given simulation configuration.
     *
     * @param config
     *   the simulation configuration to initialize the controller.
     */
    def init(config: SimulationConfig[ValidEnvironment]): Unit

    /**
     * Resets the controller to its initial state using the provided random number generator.
     *
     * @param rng
     *   the random number generator to use for reproducibility in the next run.
     */
    def reset(rng: RNG): (Observations, Infos)

    /**
     * Performs a simulation step using the provided actions for each agent.
     *
     * @param actions
     *   a map of agents to their corresponding actions to be performed in this step.
     * @return
     *   a response containing the results of the simulation step.
     */
    def step(actions: Map[Agent, Action[IO]]): StepResponse

    /**
     * Renders the current state of the simulation to an image for the RL client.
     *
     * @param width
     *   the width of the rendered image.
     * @param height
     *   the height of the rendered image.
     *
     * @return
     *   an image representing the current state of the simulation.
     */
    def render(width: Int, height: Int): Image
  end Controller

  trait Provider[S <: ModelModule.BaseState]:
    val controller: Controller[S]

  type Requirements[S <: ModelModule.BaseState] = ModelModule.Provider[S]

  trait Component[S <: ModelModule.BaseState]:
    context: Requirements[S] =>

    object Controller:
      def apply()(using bundle: RLLogicsBundle[S]): Controller[S] = new ControllerImpl

      private class ControllerImpl(using bundle: RLLogicsBundle[S]) extends Controller[S]:

        var _initialState: S =
          bundle.stateLogic.createState(SimulationConfig(simulation, ValidEnvironment.empty))

        var _state: S = initialState

        override def initialState: S = _initialState

        override def state: S = _state

        override def init(config: SimulationConfig[ValidEnvironment]): Unit =
          _initialState = bundle.stateLogic.createState(config)
          _state = _initialState
          logger.debug(s"new config, state = \n $state")

        override def reset(rng: RNG): (Observations, Infos) =
          _state = context.model.update(state)(using _ => bundle.stateLogic.updateState(initialState, rng))
          logger.debug("resetting controller")
          (state.environment.getObservations, state.environment.getInfos)

        override def step(actions: Map[Agent, Action[IO]]): StepResponse =
          logger.debug("sending step command to controller")
          logger.debug(s"actions: $actions")
          _state = context.model.update(state)(using s => bundle.tickLogic.tick(s, state.dt)).unsafeRunSync()
          val actionsList =
            actions.map { (agent, action) =>
              DynamicEntityProposal(agent.copy(lastAction = Some(action), aliveSteps = agent.aliveSteps + 1), action)
            }.toList.sortBy(_.entity.id)
          val prevState = state
          _state = context.model
            .update(state)(using
              s => bundle.dynamicEntityActionsLogic.handleDynamicEntityActionsProposals(s, actionsList),
            )
            .unsafeRunSync()
          _state = context.model
            .update(state)(using s => bundle.randomLogic.random(s, SimpleRNG(s.simulationRNG.nextLong._1)))
            .unsafeRunSync()
          val observations = state.environment.getObservations
          val rewards = state.getRewards(prevState)
          val terminateds = state.getTerminations(prevState)
          val truncateds = state.getTruncations(prevState)
          val infos = state.environment.getInfos
          logger.debug(s"step completed, state = \n $state")
          logger.debug(s"observations: $observations")
          logger.debug(s"rewards: $rewards")
          logger.debug(s"terminateds: $terminateds")
          logger.debug(s"truncateds: $truncateds")
          logger.debug(s"infos: $infos")
          StepResponse(
            observations,
            rewards,
            terminateds,
            truncateds,
            infos,
          )

        end step

        override def render(width: Int, height: Int): Image =
          EnvironmentRenderer.renderToPNG(state.environment, width, height)
      end ControllerImpl
    end Controller

    extension (s: ModelModule.BaseState)

      def getTerminations(prev: ModelModule.BaseState): Terminateds =
        s.environment.entities.collect { case a: Agent =>
          a -> a.termination.evaluate(prev, s, a, a.lastAction.getOrElse(NoAction[IO]()))
        }.toMap

      def getTruncations(prev: ModelModule.BaseState): Truncateds =
        s.environment.entities.collect { case a: Agent =>
          a -> a.truncation.evaluate(prev, s, a, a.lastAction.getOrElse(NoAction[IO]()))
        }.toMap

      def getRewards(prev: ModelModule.BaseState): Rewards =
        s.environment.entities.collect { case a: Agent =>
          a -> a.reward.evaluate(prev, s, a, a.lastAction.getOrElse(NoAction[IO]()))
        }.toMap

    extension (env: ValidEnvironment)

      def getObservations: Observations =
        env.entities.collect { case a: Agent =>
          a -> a.senseAll[Id](env)
        }.toMap

      def getInfos: Infos =
        env.entities.collect { case a: Agent =>
          a -> ""
        }.toMap
  end Component

  trait Interface[S <: ModelModule.BaseState] extends Provider[S] with Component[S]:
    self: Requirements[S] =>
end RLControllerModule

1	package io.github.srs.controller
2
3	import cats.effect.unsafe.implicits.global
4	import io.github.srs.model.ModelModule
5	import io.github.srs.config.SimulationConfig
6	import io.github.srs.model.environment.ValidEnvironment
7	import io.github.srs.utils.random.RNG
8	import io.github.srs.model.entity.dynamicentity.action.Action
9	import cats.Id
10	import io.github.srs.model.Simulation.simulation
11	import io.github.srs.model.logic.RLLogicsBundle
12	import io.github.srs.model.entity.dynamicentity.sensor.SensorReadings
13	import io.github.srs.model.entity.dynamicentity.sensor.Sensor.senseAll
14	import io.github.srs.view.rendering.EnvironmentRenderer
15	import io.github.srs.model.entity.dynamicentity.agent.Agent
16	import io.github.srs.controller.message.DynamicEntityProposal
17	import cats.effect.IO
18	import io.github.srs.utils.random.SimpleRNG
19	import io.github.srs.model.entity.dynamicentity.action.NoAction
20	import io.github.srs.logger
21
22	object RLControllerModule:
23		×
24	type Observations = Map[Agent, SensorReadings]
25	type Infos = Map[Agent, String]	5✔
26	type Rewards = Map[Agent, Double]
27	type Terminateds = Map[Agent, Boolean]
28	type Truncateds = Map[Agent, Boolean]
29
30	/**
31	* The resonse after each simulation step.
32	*/
33	case class StepResponse private[RLControllerModule] (
34	observations: Observations,	35✔
35	rewards: Rewards,	×
36	terminateds: Terminateds,	×
37	truncateds: Truncateds,	×
38	infos: Infos,	×
39	)	×
40
41	/**
42	* Controller trait defines the interface for a Reinforcement Learning controller.
43	*/
44	trait Controller[S <: ModelModule.BaseState]:
45
46	/**
47	* The type of the image used for rendering the simulation on the RL client.
48	*/
49	type Image = Array[Byte]
50
51	/**
52	* The initial state of the controller.
53	*/
54	def initialState: S
55
56	/**
57	* The current state of the controller.
58	*/
59	def state: S
60
61	/**
62	* Initializes the controller with the given simulation configuration.
63	*
64	* @param config
65	* the simulation configuration to initialize the controller.
66	*/
67	def init(config: SimulationConfig[ValidEnvironment]): Unit
68
69	/**
70	* Resets the controller to its initial state using the provided random number generator.
71	*
72	* @param rng
73	* the random number generator to use for reproducibility in the next run.
74	*/
75	def reset(rng: RNG): (Observations, Infos)
76
77	/**
78	* Performs a simulation step using the provided actions for each agent.
79	*
80	* @param actions
81	* a map of agents to their corresponding actions to be performed in this step.
82	* @return
83	* a response containing the results of the simulation step.
84	*/
85	def step(actions: Map[Agent, Action[IO]]): StepResponse
86
87	/**
88	* Renders the current state of the simulation to an image for the RL client.
89	*
90	* @param width
91	* the width of the rendered image.
92	* @param height
93	* the height of the rendered image.
94	*
95	* @return
96	* an image representing the current state of the simulation.
97	*/
98	def render(width: Int, height: Int): Image
99	end Controller
100
101	trait Provider[S <: ModelModule.BaseState]:
102	val controller: Controller[S]
103
104	type Requirements[S <: ModelModule.BaseState] = ModelModule.Provider[S]
105
106	trait Component[S <: ModelModule.BaseState]:
107	context: Requirements[S] =>	23✔
108
109	object Controller:
110	def apply()(using bundle: RLLogicsBundle[S]): Controller[S] = new ControllerImpl	5✔
111		9✔
112	private class ControllerImpl(using bundle: RLLogicsBundle[S]) extends Controller[S]:
113		8✔
114	var _initialState: S =
115	bundle.stateLogic.createState(SimulationConfig(simulation, ValidEnvironment.empty))	4✔
116		14✔
117	var _state: S = initialState
118		12✔
119	override def initialState: S = _initialState
120		3✔
121	override def state: S = _state
122		3✔
123	override def init(config: SimulationConfig[ValidEnvironment]): Unit =
124	_initialState = bundle.stateLogic.createState(config)
125	_state = _initialState	7✔
126	logger.debug(s"new config, state = \n $state")	4✔
127		8✔
128	override def reset(rng: RNG): (Observations, Infos) =
129	_state = context.model.update(state)(using _ => bundle.stateLogic.updateState(initialState, rng))
130	logger.debug("resetting controller")	13✔
131	(state.environment.getObservations, state.environment.getInfos)	7✔
132		17✔
133	override def step(actions: Map[Agent, Action[IO]]): StepResponse =
134	logger.debug("sending step command to controller")
135	logger.debug(s"actions: $actions")	7✔
136	_state = context.model.update(state)(using s => bundle.tickLogic.tick(s, state.dt)).unsafeRunSync()	7✔
137	val actionsList =	16✔
138	actions.map { (agent, action) =>
139	DynamicEntityProposal(agent.copy(lastAction = Some(action), aliveSteps = agent.aliveSteps + 1), action)	5✔
140	}.toList.sortBy(_.entity.id)
141	val prevState = state	8✔
142	_state = context.model	3✔
143	.update(state)(using	6✔
144	s => bundle.dynamicEntityActionsLogic.handleDynamicEntityActionsProposals(s, actionsList),	2✔
145	)	4✔
146	.unsafeRunSync()
147	_state = context.model	5✔
148	.update(state)(using s => bundle.randomLogic.random(s, SimpleRNG(s.simulationRNG.nextLong._1)))	6✔
149	.unsafeRunSync()	5✔
150	val observations = state.environment.getObservations	5✔
151	val rewards = state.getRewards(prevState)	8✔
152	val terminateds = state.getTerminations(prevState)	8✔
153	val truncateds = state.getTruncations(prevState)	8✔
154	val infos = state.environment.getInfos	8✔
155	logger.debug(s"step completed, state = \n $state")	8✔
156	logger.debug(s"observations: $observations")	7✔
157	logger.debug(s"rewards: $rewards")	7✔
158	logger.debug(s"terminateds: $terminateds")	7✔
159	logger.debug(s"truncateds: $truncateds")	7✔
160	logger.debug(s"infos: $infos")	7✔
161	StepResponse(	7✔
162	observations,	1✔
163	rewards,	1✔
164	terminateds,	1✔
165	truncateds,	1✔
166	infos,	1✔
167	)	3✔
168
169	end step
170
171	override def render(width: Int, height: Int): Image =
172	EnvironmentRenderer.renderToPNG(state.environment, width, height)
173	end ControllerImpl	2✔
174	end Controller
175
176	extension (s: ModelModule.BaseState)
177
178	def getTerminations(prev: ModelModule.BaseState): Terminateds =
179	s.environment.entities.collect { case a: Agent =>
180	a -> a.termination.evaluate(prev, s, a, a.lastAction.getOrElse(NoAction[IO]()))	22✔
181	}.toMap	38✔
182		4✔
183	def getTruncations(prev: ModelModule.BaseState): Truncateds =
184	s.environment.entities.collect { case a: Agent =>
185	a -> a.truncation.evaluate(prev, s, a, a.lastAction.getOrElse(NoAction[IO]()))	22✔
186	}.toMap	38✔
187		4✔
188	def getRewards(prev: ModelModule.BaseState): Rewards =
189	s.environment.entities.collect { case a: Agent =>
190	a -> a.reward.evaluate(prev, s, a, a.lastAction.getOrElse(NoAction[IO]()))	22✔
191	}.toMap	38✔
192		4✔
193	extension (env: ValidEnvironment)
194
195	def getObservations: Observations =
196	env.entities.collect { case a: Agent =>
197	a -> a.senseAll[Id](env)	18✔
198	}.toMap	29✔
199		4✔
200	def getInfos: Infos =
201	env.entities.collect { case a: Agent =>
202	a -> ""	15✔
203	}.toMap	18✔
204	end Component	4✔
205
206	trait Interface[S <: ModelModule.BaseState] extends Provider[S] with Component[S]:
207	self: Requirements[S] =>
208	end RLControllerModule

Scala-Robotics-Simulator / PPS-22-srs / #803

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