Pacman demo #63

orzechow · 2024-10-29T12:07:48Z

Finally, we're very close to merge the long-awaited demo.

Update Readme

> Split headers from source files for a clean install

This uses the submodule version of EnTT instead of the installed version as a workaround since the installed version gave me compile errors.

.

Update positions in separate function and move to cpp

…nit test Remove unnecessary class member

… accordingly

Implement a wrapper class for the pacman game that handles all the SDL stuff, the game loop etc. This simplifies the main.cpp by quite a bit and allows to see whats actually important.

Co-authored-by: Piotr Spieker <[email protected]> - Remove MRT leftovers - Remove unnecesseary doxygen string - Do not track isActive in runAwayFromGhostBehavior - Undo feedback commit: Position operator+ cannot return a reference - Rename PacmanArbitrator to PacmanAgent - Rename Direction::NONE to Direction::LAST - Consider the tunnel when computen the distance in A* - Replace global variable possibleMoves by static function - Fix tests where aStar was not properly initialized - Remove mounting of /dev/dri - Fix some includes

…ults - Function returns both the distance and the position to remove unecessary recompute - Cache closestGhost computation using util_caching

Optionally render planned path

Improve docker images (versioning, cleanup)

orzechow · 2024-10-30T13:37:30Z

Alright, I've updated the Readme a bit.

Regarding the feature list, this could be an alternative formatting (a bit cleaner, but longer):

Details

Bottom-up 🌱
Combine simple atomic behavior components to generate complex behaviors.
Functional decomposition 🧩
Behavior components define the How to do it? and Can we do it?, while Arbitrators take the decision on What to do?
Meta-framework 🧠
Integrate diverse methods in one decision-making framework. Why not combine optimization-based planning, probabilistic approaches (POMDPs), and machine learning (RL)? Use any approach where it performs best!
Scalability 📈
Stack behavior components in arbitrators to create hierarchical behavior models.
Maintainability 🛠️
Add new behaviors without having to touch others – did we mention strict modularity and functional decomposition?
Transparency 💡
Easily follow and understand the decision-making process.
Behavior Verification 🛡️
Use tightly integrated verifiers to ensure only valid and safe behavior commands are executed.
Graceful Degradation 🪂
Your behavior is unreliable or unsafe? Arbitrators will gracefully fall back to the next-best option.

ll-nick

Looking really good, thanks for the readme update!

I added a couple of points but feel free to merge without them.

README.md

ll-nick · 2024-10-30T14:26:34Z

demo/docker-compose.yaml

+      args:
+        - VERSION=$VERSION
+      target: tutorial
+    profiles: ["tutorial"]


Nice, didn't know this one yet. But with the demo service not having a profile, wouldn't that just launch both services if you add --profile tutorial?

Yes, so I'm bit of misusing the profile thing in order to get the demo ad in the Readme as catchy as possible 🙈

In the proposed setup, I'd suggest not to use --profile at all.
Instead,

docker compose up will run the demo service (only)

docker compose run --rm --service-ports tutorial will be used for the tutorial (only)

In order to avoid docker compose up --profile tutorial from launching the demo service as well, w'd have to assign a demo profile to the latter.
But, docker compose up wouldn't run anything then and we'd have to advertise the demo with docker compose up demo

Not a big deal, rather opinionated perfectionism 🤓

What do you prefer?

Ah, I get it now. I like the simplified version for launching the demo but maybe we should add an explanatory comment somewhere? I guess it is a bit of a hack and without knowing the context it is not very obvious why the profiles: setting is there.

Alright, see 729b1fe for the docs comment.

Very nice, thanks 💯

Damn, I just realized that this affects building the images as well:
arbitration_graphs/demo ❯ docker compose build
now only builds the demo service, not the tutorial – that's a bit confusing 🤦

On the other hand, I guess the end users won't run into this (only relevant when changing the service definition) 🤷

Also we can promote using the --build flag on docker compose run

Co-authored-by: ll-nick <[email protected]>

orzechow · 2024-10-30T16:12:52Z

See also a45bea0 for a tiny rephrasing based on ChatGPT feedback

ll-nick · 2024-10-31T08:58:33Z

Oh, and one more thing: The README.md inside the demo directory could then be updated to also use docker compose up to run the demo. Or do we even need the additional README file? If launching the demo is explained in the main readme and the tutorial is explained on our fancy tutorial website (#51) we could also think about just removing it.

orzechow · 2024-10-31T10:16:20Z

Oh, and one more thing: The README.md inside the demo directory could then be updated to also use docker compose up to run the demo. Or do we even need the additional README file? If launching the demo is explained in the main readme and the tutorial is explained on our fancy tutorial website (#51) we could also think about just removing it.

Right, deleted with e947286

orzechow · 2024-10-31T10:17:42Z

Merged! 🚀

orzechow and others added 30 commits April 12, 2024 10:52

Draft pacman demo

6e6222e

WIP Setup arbitrator pacman demo structure

b6138ea

Update EnTT-Pacman submodule to clean 0a1ce67:

f861fb5

> Split headers from source files for a clean install

Use public base image instead of locally built version

8fe71d7

Pass display device to fix docker display issues

2432031

Define main arbitrator class

75a3703

WIP: Copy main routine from EnTT and pass dummy command

453a297

This uses the submodule version of EnTT instead of the installed version as a workaround since the installed version gave me compile errors.

Add clang tidy and format to be able to use auto-formatting

3a9d6f8

Add environment model and extract entity positions from game engine

1a755b9

.

Temporary: Build demo using submodule

cb9078d

Environment model now stores maze

8e8d434

Update positions in separate function and move to cpp

Implement first draft of runAwayFromGhostBehavior and corresponding u…

0f59a3c

…nit test Remove unnecessary class member

Add first behavior to main arbitrator class

16fff70

Call getCommand from main.cpp

5ed8459

gitignore vscode files

f2cd6c7

Implement doNothingBehavior

17c7564

Add defined behaviors to arbitration graph

03a2616

Smarten up getCommand of run away behavior a little bit

fb290ac

Move mock environment into separate header

ac341ab

Define maze in mock environment model and adjust numbers in unit test…

98bea39

… accordingly

Consider walls in run away behavior

a90ebd6

Move possible moves into types header

33d6efc

Implement astar and use it as distance function inside run away behavior

85a7ec2

Replace submodule with installed pacman library

0997172

Name executable target _exe (analogous to EnTT_Pacman).

aff5a16

Create separate docker stages for demo and tutorial

5a0bd1e

Add documentation

99ad3b9

Refactor main.cpp to keep focus on the good stuff.

8fac205

Implement a wrapper class for the pacman game that handles all the SDL stuff, the game loop etc. This simplifies the main.cpp by quite a bit and allows to see whats actually important.

Replace closestGhost{Distance,Position} by closestGhost and cache res…

9707235

…ults - Function returns both the distance and the position to remove unecessary recompute - Cache closestGhost computation using util_caching

ll-nick and others added 10 commits October 29, 2024 15:44

Merge pull request #56 from KIT-MRT/render_path

c75f358

Optionally render planned path

Use explicit versions when building docker images

82b3f11

Merge docker-compose.yaml with docker-compose.devel.yaml

bdd22a4

Build demo with more threads

ffdc8f6

Avoid copying the whole repo into the docker image

68c648d

Merge pull request #64 from KIT-MRT/improve_docker

233d800

Improve docker images (versioning, cleanup)

Make sure to run only the demo service on docker compose up

882d5b6

Use cropped pacman screenshot in Readme

92c7157

Improve install and devel section of Readme

4d333c0

Add functionality teaser and brief arbitrator explanation to Readme

3c0352d

orzechow force-pushed the pacman-demo branch from 8c3f33b to 3c0352d Compare October 30, 2024 13:35

orzechow marked this pull request as ready for review October 30, 2024 13:37

orzechow requested review from ChristophBurger89 and ll-nick as code owners October 30, 2024 13:37

orzechow requested review from ll-nick and removed request for ChristophBurger89 and ll-nick October 30, 2024 13:37

ll-nick approved these changes Oct 30, 2024

View reviewed changes

orzechow and others added 3 commits October 30, 2024 16:47

Apply review suggestion by @ll-nick to Readme

c16ef52

Update README.md

f4244a8

Co-authored-by: ll-nick <[email protected]>

Improve language of feature list a bit

a45bea0

orzechow added 2 commits October 31, 2024 11:09

Remove the demo Readme (it is addressed in the main Readme)

e947286

Explain the docker compose profile in demo/docker-compose.yaml

729b1fe

orzechow merged commit c4bdd48 into main Oct 31, 2024

orzechow deleted the pacman-demo branch October 31, 2024 10:17

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Pacman demo #63

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Pacman demo #63

Pacman demo #63

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