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Base platform

Air Force Research Laboratory (AFRL) Autonomous Capabilities Team (ACT3) Reinforcement Learning (RL) Core.

This is a US Government Work not subject to copyright protection in the US.

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Base Platform Abstract Class Object

BasePlatform (ABC) ¤

BasePlatform base abstraction for a platform object. Platforms can be aircraft, land vehicles, ground radar, satellites etc. Platforms have platform properties that describe the platform, for example position, velocity, etc. Platforms have platform parts which consist of controls, or sensors.

Source code in corl/simulators/base_platform.py 
class BasePlatform(abc.ABC):
    """
    BasePlatform base abstraction for a platform object. Platforms can be aircraft, land vehicles,
    ground radar, satellites etc.
    Platforms have platform properties that describe the platform, for example position, velocity, etc.
    Platforms have platform parts which consist of controls, or sensors.
    """

    def __init__(self, **kwargs):

        self.config: BasePlatformValidator = self.get_validator(**kwargs)

        # set default parts and mutually exclusive parts
        if self.config.exclusive_part_dict is None or self.config.disable_exclusivity_check:
            self.config.exclusive_part_dict = {
                BaseController: MutuallyExclusiveParts(set(), allow_other_keys=self.config.disable_exclusivity_check),
                BaseSensor: MutuallyExclusiveParts(set(), allow_other_keys=self.config.disable_exclusivity_check),
            }

        self._exclusive_parts = self.config.exclusive_part_dict
        #        self._platform = plaform
        self._name = self.config.platform_name
        self._sensors = self._get_part_list(self.config.parts_list, BaseSensor)
        self._controllers = self._get_part_list(self.config.parts_list, BaseController)

        self.verify_unique_parts()

    @property
    def get_validator(self) -> typing.Type[BasePlatformValidator]:
        """
        get validator for this BasePlatform

        Returns:
            BasePlatformValidator -- validator the platform will use to generate a configuration
        """
        return BasePlatformValidator

    def _get_part_list(self, part_class_list, part_base_class):
        """
        Get a list of the platform parts after being wrapped in the base integration classes.
        This will do the mapping from an SimSensor to a type of BaseSensor for example.
        Some parts have no matching sim counterpart and will not have None in the map instead
        of the part name

        Parameters
        ----------
        part_class_map: mapping of the part name to the pairs of base classes and config for that part
        parts: the parts we will wrap with the above mapping

        Returns
        -------
        A list of the wrapped platform parts
        """
        part_list = [
            part_class(self, part_config) for part_class, part_config in part_class_list if issubclass(part_class, part_base_class)
        ]

        if not self._exclusive_parts[part_base_class].are_platform_parts_mutually_exclusive(*part_list):
            lister = self._exclusive_parts[part_base_class].get_duplicate_parts(*part_list)
            fail_string = "\n".join([str(temp_var) for temp_var in lister])
            raise ValueError(f"Tried to use mutually exclusive controller platform parts:\n{fail_string} ")

        return part_list

    def verify_unique_parts(self):
        """
        Verify all parts have a unique name
        """
        for parts in [self._sensors, self._controllers]:
            part_names = list()
            for part in parts:
                if part.name in part_names:
                    raise RuntimeError("The " + part.name + " part has a unique name, but it already exists")
                part_names.append(part.name)

    @property
    def name(self) -> str:
        """
        name the name of this object

        Returns
        -------
        str
            The name of this object
        """
        return self._name

    @property
    @abc.abstractmethod
    def operable(self) -> bool:
        """Is the platform operable?

        Returns
        -------
        bool
            Is the platform operable?
        """

    @property
    def sensors(self):
        """
        Sensors attached to this platform

        Returns
        ------
        List
            list of all sensors attached to this platform
        """
        return self._sensors

    @property
    def controllers(self):
        """
        Controllers attached to this platform

        Returns
        ------
        List
            list of all controllers attached to this platform
        """
        return self._controllers

controllers property readonly ¤

Controllers attached to this platform

Returns¤

List list of all controllers attached to this platform

get_validator: Type[corl.simulators.base_platform.BasePlatformValidator] property readonly ¤

get validator for this BasePlatform

Returns:

Type Description
Type[corl.simulators.base_platform.BasePlatformValidator]

BasePlatformValidator -- validator the platform will use to generate a configuration

name: str property readonly ¤

name the name of this object

Returns¤

str The name of this object

operable: bool property readonly ¤

Is the platform operable?

Returns¤

bool Is the platform operable?

sensors property readonly ¤

Sensors attached to this platform

Returns¤

List list of all sensors attached to this platform

verify_unique_parts(self) ¤

Verify all parts have a unique name

Source code in corl/simulators/base_platform.py 
def verify_unique_parts(self):
    """
    Verify all parts have a unique name
    """
    for parts in [self._sensors, self._controllers]:
        part_names = list()
        for part in parts:
            if part.name in part_names:
                raise RuntimeError("The " + part.name + " part has a unique name, but it already exists")
            part_names.append(part.name)

BasePlatformValidator (BaseModel) pydantic-model ¤

BasePlatformValidator

Parameters¤

!!! platform_name "str"
    name of platform
!!! parts_list "typing.List[typing.Tuple]"
    list of parts the agent uses to interact with the platform
!!! exclusive_part_dict "typing.Optional[typing.Dict] = None"
    list of mutually exlusive parts for platform
!!! disable_exclusivity_check "bool = False"
    bool determine if part exclusivity should be check
Source code in corl/simulators/base_platform.py 
class BasePlatformValidator(BaseModel):
    """BasePlatformValidator

    Parameters
    ----------
        platform_name: str
            name of platform
        parts_list: typing.List[typing.Tuple]
            list of parts the agent uses to interact with the platform
        exclusive_part_dict: typing.Optional[typing.Dict] = None
            list of mutually exlusive parts for platform
        disable_exclusivity_check: bool = False
            bool determine if part exclusivity should be check
    """
    platform_name: str
    parts_list: typing.List[typing.Tuple]
    exclusive_part_dict: typing.Optional[typing.Dict] = None
    disable_exclusivity_check: bool = False

    class Config:
        """Allow arbitrary types for Parameter"""
        arbitrary_types_allowed = True

Config ¤

Allow arbitrary types for Parameter

Source code in corl/simulators/base_platform.py 
class Config:
    """Allow arbitrary types for Parameter"""
    arbitrary_types_allowed = True