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Breakout.py
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Breakout.py
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# A Q-learning Agent which plays breakout well (won't lose).
# from https://github.com/lincerely/breakout-Q
#
# The breakout game is based on CoderDojoSV/beginner-python's tutorial
#
# Adapted and updated for teaching purposes
# Luca Iocchi 2017
import pygame, sys
import numpy as np
import atexit
import random
import time
import math
from math import fabs
black = [0, 0, 0]
white = [255,255,255]
grey = [180,180,180]
orange = [180,100,20]
red = [180,0,0]
# game's constant variables
ball_radius = 10
paddle_width = 80
paddle_height = 10
block_width = 60
block_height = 12
block_xdistance = 20
resolutionx = 20
resolutiony = 10
class Brick(object):
def __init__(self, i, j):
self.i = i
self.j = j
self.x = (block_width+block_xdistance)*i+block_xdistance
self.y = 70+(block_height+8)*j
self.rect = pygame.Rect(self.x, self.y, block_width, block_height)
class Breakout(object):
def __init__(self, brick_rows=3, brick_cols=3, trainsessionname='test'):
self.agent = None
self.RA = None
self.isAuto = True
self.gui_visible = False
self.sound_enabled = True
self.fire_enabled = False
self.userquit = False
self.optimalPolicyUser = False # optimal policy set by user
self.evalBestPolicy = False
self.trainsessionname = trainsessionname
self.brick_rows = brick_rows
self.brick_cols = brick_cols
if (self.brick_cols<5):
self.block_xdistance = 50
self.STATES = {
'Init':0,
'Alive':0,
'Dead':0,
'PaddleNotMoving':0,
'Scores':10, # brick removed
'Hit':0, # paddle hit
'Goal':100, # level completed
}
# Configuration
self.deterministic = True # deterministic ball bouncing
self.simple_state = False # simple = do not consider paddle x
self.paddle_normal_bump = True # only left/right bounces
self.paddle_complex_bump = False # straigth/left/right complex bounces
self.pause = False # game is paused
self.debug = False
self.sleeptime = 0.0
self.init_ball_speed_x = 2
self.init_ball_speed_y = 5
self.accy = 1.00
self.score = 0
self.ball_hit_count = 0
self.brick_hit_count = 0
self.paddle_hit_count = 0
self.command = 0
self.iteration = 0
self.cumreward = 0
self.cumscore100 = 0 # cumulative score for statistics
self.cumreward100 = 0 # cumulative reward for statistics
self.ngoalreached = 0 # number of goals reached for stats
self.numactions = 0 # number of actions in this run
self.action_names = ['--','<-','->','o'] # stay, left, right, fire
# firing variables
self.fire_posx = 0
self.fire_posy = 0
self.fire_speedy = 0 # 0 = not firing, <0 firing up
self.hiscore = 0
self.hireward = -1000000
self.vscores = []
self.resfile = open("data/"+self.trainsessionname +".dat","a+")
self.elapsedtime = 0 # elapsed time for this experiment
self.win_width = int((block_width+block_xdistance) * self.brick_cols + block_xdistance )
self.win_height = 480
pygame.init()
pygame.display.set_caption('Breakout')
#allows for holding of key
pygame.key.set_repeat(1,0)
self.screen = pygame.display.set_mode([self.win_width,self.win_height])
self.myfont = pygame.font.SysFont("Arial", 30)
self.se_brick = None
self.se_wall = None
self.se_paddle = None
def init(self, agent): # init after creation (uses args set from cli)
print('init ', self.sound_enabled)
if (self.sound_enabled):
self.se_brick = pygame.mixer.Sound('brick_hit.wav')
print('self.se_brick loaded')
self.se_wall = pygame.mixer.Sound('sound/wall_hit.wav')
self.se_paddle = pygame.mixer.Sound('sound/paddle_hit.wav')
if (not self.gui_visible):
pygame.display.iconify()
self.agent = agent
self.setStateActionSpace()
self.agent.init(self.nstates, self.nactions)
self.agent.set_action_names(self.action_names)
def setRandomSeed(self,seed):
random.seed(seed)
np.random.seed(seed)
def savedata(self):
return [self.iteration, self.hiscore, self.hireward, self.elapsedtime, self.agent.SA_failure]
def loaddata(self,data):
self.iteration = data[0]
self.hiscore = data[1]
self.hireward = data[2]
self.elapsedtime = data[3]
try:
self.agent.SA_failure = data[4]
except:
print('WARNING: Cannot load SA_failure data')
def initBricks(self):
self.bricks = []
self.bricksgrid = np.zeros((self.brick_cols,self.brick_rows))
for i in range(0,self.brick_cols):
for j in range(0,self.brick_rows):
temp = Brick(i,j)
self.bricks.append(temp)
self.bricksgrid[i][j]=1
def reset(self):
self.ball_x = self.win_width/2
self.ball_y = self.win_height-100-ball_radius
self.ball_speed_x = self.init_ball_speed_x
self.ball_speed_y = self.init_ball_speed_y
self.randomAngle('i')
self.paddle_x = self.win_width/2
self.paddle_y = self.win_height-20
self.paddle_speed = 10 # same as resolution
#self.paddle_vec = 0
self.com_vec = 0
self.score = 0
self.ball_hit_count = 0
self.paddle_hit_count = 0
self.brick_hit_count = 0
self.cumreward = 0
self.gamman = 1.0 # cumulative gamma over time
self.paddle_hit_without_brick = 0
self.current_reward = 0 # accumulate reward over all events happened during this action until next different state
self.prev_state = None # previous state
self.firstAction = True # first action of the episode
self.finished = False # episode finished
self.newstate = True # new state reached
self.numactions = 0 # number of actions in this run
self.iteration += 1
self.agent.optimal = self.optimalPolicyUser or (self.iteration%100)==0 # False #(random.random() < 0.5) # choose greedy action selection for the entire episode
self.initBricks()
# firing variables
self.fire_posx = 0
self.fire_posy = 0
self.fire_speedy = 0 # 0 = not firing, <0 firing up
def goal_reached(self):
return len(self.bricks) == 0
def update(self, a):
self.command = a
self.prev_state = self.getstate() # remember previous state
#print(" == Update start %d" %self.prev_state)
self.current_reward = 0 # accumulate reward over all events happened during this action until next different state
#print('self.current_reward = 0')
self.numactions += 1
self.last_brikcsremoved = []
while (self.prev_state == self.getstate()):
if (self.firstAction):
self.current_reward += self.STATES['Init']
self.firstAction = False
if self.command == 0: # not moving
# do nothing
self.current_reward += self.STATES['PaddleNotMoving']
pass
elif self.command == 1: # moving left
self.paddle_x -= self.paddle_speed
elif self.command == 2: # moving right
self.paddle_x += self.paddle_speed
if self.paddle_x < 0:
self.paddle_x = 0
if self.paddle_x > self.screen.get_width() - paddle_width:
self.paddle_x = self.screen.get_width() - paddle_width
if self.command == 3: # fire
if (self.fire_speedy==0):
self.fire_posx = self.paddle_x + paddle_width/2
self.fire_posy = self.paddle_y
if (self.init_ball_speed_y>0):
self.fire_speedy = -self.init_ball_speed_y*2
else:
self.fire_speedy = -10
self.current_reward += self.STATES['Alive']
##MOVE THE BALL
self.ball_y += self.ball_speed_y
self.ball_x += self.ball_speed_x
# firing
if (self.fire_speedy < 0):
self.fire_posy += self.fire_speedy
self.hitDetect()
#print(" ** Update end - state: %d prev: %d" %(self.getstate(),self.prev_state))
def randomAngle(self, ev):
if (ev=='i'): # init
self.randomAngle1()
if (ev=='b'): # brick hit
self.randomAngle2()
if (ev=='i'): # paddle hit
self.randomAngle3()
def randomAngle1(self):
if (not self.deterministic):
ran = random.uniform(0.75, 1.5)
self.ball_speed_x *= ran
#print("random ball_speed_x = %.2f" %self.ball_speed_x)
def randomAngle2(self):
if (not self.deterministic):
ran = random.uniform(0.0, 1.0)
if (random.uniform(0.0, 1.0) < 0.5):
self.ball_speed_x *= -1
#print("random ball_speed_x = %.2f" %self.ball_speed_x)
def randomAngle3(self):
if (not self.deterministic):
ran = random.uniform(0.0, 1.0)
if (random.uniform(0.0, 1.0) < 0.1):
self.ball_speed_x *= 0.75
elif (random.uniform(0.0, 1.0) > 0.9):
self.ball_speed_x *= 1.5
sign = self.ball_speed_x/abs(self.ball_speed_x)
self.ball_speed_x = min(self.ball_speed_x,6)*sign
self.ball_speed_x = max(self.ball_speed_x,0.5)*sign
#print("random ball_speed_x = %.2f" %self.ball_speed_x)
def hitDetect(self):
##COLLISION DETECTION
ball_rect = pygame.Rect(self.ball_x-ball_radius, self.ball_y-ball_radius, ball_radius*2,ball_radius*2) #circles are measured from the center, so have to subtract 1 radius from the x and y
paddle_rect = pygame.Rect(self.paddle_x, self.paddle_y, paddle_width, paddle_height)
fire_rect = pygame.Rect(self.fire_posx-1, self.fire_posy-1, 3, 3)
# print("fire pos %d %d - spd %d" %(self.fire_posx, self.fire_posy, self.fire_speedy))
# TERMINATION OF EPISODE
if (not self.finished):
#check if the ball is off the bottom of the self.screen
end1 = self.ball_y > self.screen.get_height() - ball_radius
end2 = self.goal_reached()
end3 = self.paddle_hit_without_brick == 30
end3b = self.numactions > 500 * self.brick_cols
end4 = len(self.bricks) == 0
if (end1 or end2 or end3 or end3b or end4):
if (pygame.display.get_active() and (not self.se_wall is None)):
self.se_wall.play()
if (end1):
self.current_reward += self.STATES['Dead']
if (end2):
self.ngoalreached += 1
self.current_reward += self.STATES['Goal']
self.finished = True # game will be reset at the beginning of next iteration
return
#for screen border
if self.ball_y < ball_radius:
self.ball_y = ball_radius
self.ball_speed_y = -self.ball_speed_y
if (pygame.display.get_active() and (not self.se_wall is None)):
self.se_wall.play()
if self.ball_x < ball_radius:
self.ball_x = ball_radius
self.ball_speed_x = -self.ball_speed_x
if (pygame.display.get_active() and (not self.se_wall is None)):
self.se_wall.play()
if self.ball_x > self.screen.get_width() - ball_radius:
self.ball_x = self.screen.get_width() - ball_radius
self.ball_speed_x = -self.ball_speed_x
if (pygame.display.get_active() and (not self.se_wall is None)):
self.se_wall.play()
#for paddle
if ball_rect.colliderect(paddle_rect):
if (self.paddle_complex_bump):
dbp = math.fabs(self.ball_x-(self.paddle_x+paddle_width/2))
if (dbp<20):
#print 'straight'
if (self.ball_speed_x<-5):
self.ball_speed_x += 2
elif (self.ball_speed_x>5):
self.ball_speed_x -= 2
elif (self.ball_speed_x<=-0.5):
self.ball_speed_x += 0.5
elif (self.ball_speed_x>=0.5):
self.ball_speed_x -= 0.5
dbp = math.fabs(self.ball_x-(self.paddle_x+0))
if (dbp<10):
#print 'left'
self.ball_speed_x = -abs(self.ball_speed_x)-1
dbp = math.fabs(self.ball_x-(self.paddle_x+paddle_width))
if (dbp<10):
#print 'right'
self.ball_speed_x = abs(self.ball_speed_x)+1
elif (self.paddle_normal_bump):
dbp = math.fabs(self.ball_x-(self.paddle_x+paddle_width/2))
if (dbp<20):
#print 'straight'
if (self.ball_speed_x!=0):
self.ball_speed_x = 2*abs(self.ball_speed_x)/self.ball_speed_x
dbp = math.fabs(self.ball_x-(self.paddle_x+0))
if (dbp<20):
#print 'left'
self.ball_speed_x = -5
self.randomAngle('p')
dbp = math.fabs(self.ball_x-(self.paddle_x+paddle_width))
if (dbp<20):
#print 'right'
self.ball_speed_x = 5
self.randomAngle('p')
self.ball_speed_y = - abs(self.ball_speed_y)
self.current_reward += self.STATES['Hit']
self.ball_hit_count +=1
self.paddle_hit_count +=1
self.paddle_hit_without_brick += 1
if (pygame.display.get_active() and (not self.se_wall is None)):
self.se_paddle.play()
# reset after paddle hits the ball
if len(self.bricks) == 0:
# print(" -- %6d *** New level ***" %(self.iteration) )
self.initBricks()
self.ball_speed_y = self.init_ball_speed_y
#for bricks
#hitbrick = False
for brick in self.bricks:
if brick.rect.colliderect(ball_rect):
#print 'brick hit ',brick.i,brick.j
if ((not self.se_brick is None)): #pygame.display.get_active() and
self.se_brick.play()
#print('self.se_brick.play()')
self.score = self.score + 1
self.brick_hit_count += 1
self.bricks.remove(brick)
self.last_brikcsremoved.append(brick)
self.bricksgrid[(brick.i,brick.j)] = 0
self.ball_speed_y = -self.ball_speed_y
self.current_reward += self.STATES['Scores']
self.paddle_hit_without_brick = 0
#print("bricks left: %d" %len(self.bricks))
break
#firing
if (self.fire_posy < 5):
#reset
self.fire_posx = 0
self.fire_posy = 0
self.fire_speedy = 0
for brick in self.bricks:
if brick.rect.colliderect(fire_rect):
#print 'brick hit with fire ',brick.i,brick.j
if (pygame.display.get_active() and (not self.se_wall is None)):
self.se_brick.play()
self.score = self.score + 1
self.bricks.remove(brick)
self.last_brikcsremoved.append(brick)
self.bricksgrid[(brick.i,brick.j)] = 0
self.current_reward += self.STATES['Scores']
self.paddle_hit_without_brick = 0
#print("bricks left: %d" %len(self.bricks))
# reset firing
self.fire_posx = 0
self.fire_posy = 0
self.fire_speedy = 0
break
if self.brick_hit_count > 0:
self.randomAngle('b')
self.brick_hit_count = 0
def input(self):
self.isPressed = False
for event in pygame.event.get():
if event.type == pygame.QUIT:
print('pygame quit event')
return False
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT:
self.command = 1
self.isPressed = True
elif event.key == pygame.K_RIGHT:
self.command = 2
self.isPressed = True
elif event.key == pygame.K_x: # Fire
self.command = 3
self.isPressed = True
elif event.key == pygame.K_SPACE:
self.pause = not self.pause
print("Game paused: %d" %self.pause)
elif event.key == pygame.K_a:
self.isAuto = not self.isAuto
elif event.key == pygame.K_s:
self.sleeptime = 1.0
#self.agent.debug = False
elif event.key == pygame.K_d:
self.sleeptime = 0.07
#self.agent.debug = False
elif event.key == pygame.K_f:
self.sleeptime = 0.005
self.agent.debug = False
elif event.key == pygame.K_g:
self.sleeptime = 0.0
self.agent.debug = False
elif event.key == pygame.K_o:
self.optimalPolicyUser = not self.optimalPolicyUser
print("Best policy: %d" %self.optimalPolicyUser)
elif event.key == pygame.K_q:
self.userquit = True
print("User quit !!!")
if not self.isPressed:
self.command = 0
return True
def getUserAction(self):
return self.command
def getreward(self):
r = self.current_reward
failed = self.RA is not None and self.RA.current_node==self.RA.RAFail # FAIL RA state
if (self.current_reward>0 and failed):
r = 0
self.cumreward += self.gamman * r
self.gamman *= self.agent.gamma
return r
def print_report(self, printall=False):
toprint = printall
ch = ' '
if (self.agent.optimal):
ch = '*'
toprint = True
s = 'Iter %6d, sc: %3d, p_hit: %3d, na: %4d, r: %5d %c' %(self.iteration, self.score, self.paddle_hit_count,self.numactions, self.cumreward, ch)
if self.score > self.hiscore:
self.hiscore = self.score
s += ' HISCORE '
toprint = True
if self.cumreward > self.hireward:
self.hireward = self.cumreward
s += ' HIREWARD '
toprint = True
if (toprint):
print(s)
self.cumreward100 += self.cumreward
self.cumscore100 += self.score
numiter = 100
pgoal = 0
if (self.iteration%numiter==0):
#self.doSave()
pgoal = float(self.ngoalreached*100)/numiter
print('-----------------------------------------------------------------------')
print("%s %6d/%4d avg last 100: reward %.1f | score %.2f | p goals %.1f %%" %(self.trainsessionname, self.iteration, self.elapsedtime, float(self.cumreward100/100), float(self.cumscore100)/100, pgoal))
print('-----------------------------------------------------------------------')
self.cumreward100 = 0
self.cumscore100 = 0
self.ngoalreached = 0
sys.stdout.flush()
self.vscores.append(self.score)
self.resfile.write("%d,%d,%d,%d\n" % (self.score, self.cumreward, self.goal_reached(),self.numactions))
self.resfile.flush()
def draw(self):
self.screen.fill(white)
score_label = self.myfont.render(str(self.score), 100, pygame.color.THECOLORS['black'])
self.screen.blit(score_label, (20, 10))
#count_label = self.myfont.render(str(self.paddle_hit_count), 100, pygame.color.THECOLORS['brown'])
#self.screen.blit(count_label, (70, 10))
x = self.getstate()
cmd = ' '
if self.command==1:
cmd = '<'
elif self.command==2:
cmd = '>'
elif self.command==3:
cmd = 'o'
#s = '%d %s' %(x,cmd)
s = '%s' %(cmd)
count_label = self.myfont.render(s, 100, pygame.color.THECOLORS['brown'])
self.screen.blit(count_label, (60, 10))
#count_label = self.myfont.render(str(self.ball_speed_y), 100, pygame.color.THECOLORS['brown'])
#self.screen.blit(count_label, (160, 10))
if self.isAuto is True:
auto_label = self.myfont.render("Auto", 100, pygame.color.THECOLORS['red'])
self.screen.blit(auto_label, (self.win_width-200, 10))
if (self.agent.optimal):
opt_label = self.myfont.render("Best", 100, pygame.color.THECOLORS['red'])
self.screen.blit(opt_label, (self.win_width-100, 10))
for brick in self.bricks:
pygame.draw.rect(self.screen,grey,brick.rect,0)
pygame.draw.circle(self.screen, orange, [int(self.ball_x), int(self.ball_y)], ball_radius, 0)
pygame.draw.rect(self.screen, grey, [self.paddle_x, self.paddle_y, paddle_width, paddle_height], 0)
# print("fire %d %d %d" %(self.fire_posx, self.fire_posy,self.fire_speedy))
if (self.fire_speedy<0):
pygame.draw.rect(self.screen, red, [self.fire_posx, self.fire_posy, 5, 5], 0)
pygame.display.update()
def quit(self):
self.resfile.close()
pygame.quit()
# To be implemented by sub-classes
def setStateActionSpace(self):
print('ERROR: this function must be overwritten by subclasses')
sys.exit(1)
def getstate(self):
print('ERROR: this function must be overwritten by subclasses')
sys.exit(1)
#
# Breakout with standard definition of states
#
class BreakoutN(Breakout):
def __init__(self, brick_rows=3, brick_cols=3, trainsessionname='test'):
Breakout.__init__(self,brick_rows, brick_cols, trainsessionname)
def setStateActionSpace(self):
self.n_ball_x = int(self.win_width/resolutionx)+1
self.n_ball_y = int(self.win_height/resolutiony)+1
self.n_ball_dir = 10 # ball going up (0-5) or down (6-9)
# ball going left (1,2) straight (0) right (3,4)
self.n_paddle_x = int(self.win_width/resolutionx)+1
self.nactions = 3 # 0: not moving, 1: left, 2: right
if (self.fire_enabled):
self.nactions = 4 # 3: fire
self.nstates = self.n_ball_x * self.n_ball_y * self.n_ball_dir * self.n_paddle_x
print('Number of states: %d' %self.nstates)
print('Number of actions: %d' %self.nactions)
def getstate(self):
#diff_paddle_ball = (int(self.ball_x)-self.paddle_x+self.win_width)/resolution
resx = resolutionx # highest resolution
resy = resolutiony # highest resolution
if (self.ball_y<self.win_height/3): # upper part, lower resolution
resx *= 3
resy *= 3
elif (self.ball_y<2*self.win_height/3): # lower part, medium resolution
resx *= 2
resy *= 2
ball_x = int(self.ball_x)/resx
ball_y = int(self.ball_y)/resy
ball_dir=0
if self.ball_speed_y > 0: # down
ball_dir += 5
if self.ball_speed_x < -2.5: # quick-left
ball_dir += 1
elif self.ball_speed_x < 0: # left
ball_dir += 2
elif self.ball_speed_x > 2.5: # quick-right
ball_dir += 3
elif self.ball_speed_x > 0: # right
ball_dir += 4
if self.simple_state:
paddle_x = 0
else:
paddle_x = int(self.paddle_x)/resx
x = ball_x + self.n_ball_x * ball_y + (self.n_ball_x*self.n_ball_y) * ball_dir + (self.n_ball_x*self.n_ball_y*self.n_ball_dir) * paddle_x
return int(x)
#
# Breakout with simplified definition of states
#
class BreakoutS(Breakout):
def __init__(self, brick_rows=3, brick_cols=3, trainsessionname='test'):
Breakout.__init__(self,brick_rows, brick_cols, trainsessionname)
def setStateActionSpace(self):
self.n_diff_paddle_ball = int(2*self.win_width/resolutionx)+1
self.nactions = 3 # 0: not moving, 1: left, 2: right
if (self.fire_enabled):
self.nactions = 4 # 3: fire
self.nstates = self.n_diff_paddle_ball
print('Number of states: %d' %self.nstates)
print('Number of actions: %d' %self.nactions)
def getstate(self):
resx = resolutionx
diff_paddle_ball = int((self.ball_x-self.paddle_x+self.win_width)/resx)
return diff_paddle_ball