From a4e4082bc596f3fc9d833d8098af62f8001f159f Mon Sep 17 00:00:00 2001
From: DAAVVE <--global>
Date: Wed, 3 Jul 2019 17:13:28 +0200
Subject: [PATCH] Added ISaveHelper and SaveHelperDummy
---
.../src/fr/irit/smac/amak/ui/MainWindow.java | 6 +-
.../src/experiments/AdvancedMain.java | 8 +--
AMOEBAonAMAK/src/experiments/Benchmark.java | 2 +-
.../src/experiments/BenchmarkThreading.java | 4 +-
.../nDimensionsLaunchers/F_N_Launcher.java | 8 +--
AMOEBAonAMAK/src/gui/AmoebaWindow.java | 4 +-
.../src/gui/saveExplorer/SaveExplorer.java | 7 +-
AMOEBAonAMAK/src/kernel/AMOEBA.java | 8 ++-
.../src/kernel/{ => backup}/BackupSystem.java | 4 +-
.../kernel/{ => backup}/IBackupSystem.java | 2 +-
.../src/kernel/backup/ISaveHelper.java | 72 +++++++++++++++++++
.../src/kernel/backup/SaveHelperDummy.java | 61 ++++++++++++++++
.../SaveHelperImpl.java} | 70 +++++++++---------
AMOEBAonAMAK/tests/utils/TestSetup.java | 6 +-
documentation/py4j_demo/cart_pole.py | 52 +++++++++-----
documentation/py4j_demo/clean.sh | 2 +-
documentation/py4j_demo/lunar_lander.py | 18 +++--
documentation/py4j_demo/requirements.txt | 1 +
documentation/py4j_demo/setup.sh | 3 +-
documentation/ros_demo/clean.sh | 2 +-
documentation/ros_demo/setup.sh | 2 +-
documentation/ros_demo/start.sh | 2 +-
documentation/ros_demo/start_amoebas.sh | 2 +-
documentation/ros_demo/stop.sh | 2 +-
24 files changed, 250 insertions(+), 98 deletions(-)
rename AMOEBAonAMAK/src/kernel/{ => backup}/BackupSystem.java (99%)
rename AMOEBAonAMAK/src/kernel/{ => backup}/IBackupSystem.java (97%)
create mode 100644 AMOEBAonAMAK/src/kernel/backup/ISaveHelper.java
create mode 100644 AMOEBAonAMAK/src/kernel/backup/SaveHelperDummy.java
rename AMOEBAonAMAK/src/kernel/{SaveHelper.java => backup/SaveHelperImpl.java} (80%)
diff --git a/AMAKFX/src/fr/irit/smac/amak/ui/MainWindow.java b/AMAKFX/src/fr/irit/smac/amak/ui/MainWindow.java
index f8fe92a2..a38de7c2 100644
--- a/AMAKFX/src/fr/irit/smac/amak/ui/MainWindow.java
+++ b/AMAKFX/src/fr/irit/smac/amak/ui/MainWindow.java
@@ -149,14 +149,14 @@ public class MainWindow extends Application {
* The action to be executed when the window is closed
*/
public static void addOnCloseAction(Runnable onClose) {
- instance().closeActions.add(onClose);
+ Runtime.getRuntime().addShutdownHook(new Thread() {
+ public void run() { onClose.run(); }
+ });
}
- private List<Runnable> closeActions = new ArrayList<>();
@Override
public void stop() throws Exception {
super.stop();
- closeActions.forEach(Runnable::run);
System.exit(0);
}
diff --git a/AMOEBAonAMAK/src/experiments/AdvancedMain.java b/AMOEBAonAMAK/src/experiments/AdvancedMain.java
index da18909d..4cc23949 100644
--- a/AMOEBAonAMAK/src/experiments/AdvancedMain.java
+++ b/AMOEBAonAMAK/src/experiments/AdvancedMain.java
@@ -10,10 +10,10 @@ import javafx.beans.value.ChangeListener;
import javafx.beans.value.ObservableValue;
import javafx.scene.control.Slider;
import kernel.AMOEBA;
-import kernel.BackupSystem;
-import kernel.IBackupSystem;
-import kernel.SaveHelper;
import kernel.StudiedSystem;
+import kernel.backup.BackupSystem;
+import kernel.backup.IBackupSystem;
+import kernel.backup.SaveHelperImpl;
/**
* A more advanced and complete main.
@@ -59,7 +59,7 @@ public class AdvancedMain {
// We add an optional saver, allowing us to autosave the amoeba at each cycle.
// The SaveHelper also add graphical tools to save and load AMOEBA's state.
- amoeba.saver = new SaveHelper(amoeba);
+ amoeba.saver = new SaveHelperImpl(amoeba);
// Autosave slow execution, if you want fast training, set saver to null,
// or saver.autoSave = false.
diff --git a/AMOEBAonAMAK/src/experiments/Benchmark.java b/AMOEBAonAMAK/src/experiments/Benchmark.java
index 42eeca65..17c5376e 100644
--- a/AMOEBAonAMAK/src/experiments/Benchmark.java
+++ b/AMOEBAonAMAK/src/experiments/Benchmark.java
@@ -6,8 +6,8 @@ import java.util.ArrayList;
import fr.irit.smac.amak.Configuration;
import fr.irit.smac.amak.tools.Log;
import kernel.AMOEBA;
-import kernel.BackupSystem;
import kernel.StudiedSystem;
+import kernel.backup.BackupSystem;
public class Benchmark {
diff --git a/AMOEBAonAMAK/src/experiments/BenchmarkThreading.java b/AMOEBAonAMAK/src/experiments/BenchmarkThreading.java
index 668b75cd..58529462 100644
--- a/AMOEBAonAMAK/src/experiments/BenchmarkThreading.java
+++ b/AMOEBAonAMAK/src/experiments/BenchmarkThreading.java
@@ -9,10 +9,10 @@ import java.util.function.DoubleBinaryOperator;
import fr.irit.smac.amak.Configuration;
import fr.irit.smac.amak.tools.Log;
import kernel.AMOEBA;
-import kernel.BackupSystem;
import kernel.IAMOEBA;
-import kernel.IBackupSystem;
import kernel.StudiedSystem;
+import kernel.backup.BackupSystem;
+import kernel.backup.IBackupSystem;
public class BenchmarkThreading {
diff --git a/AMOEBAonAMAK/src/experiments/nDimensionsLaunchers/F_N_Launcher.java b/AMOEBAonAMAK/src/experiments/nDimensionsLaunchers/F_N_Launcher.java
index bd8c2737..c185726d 100644
--- a/AMOEBAonAMAK/src/experiments/nDimensionsLaunchers/F_N_Launcher.java
+++ b/AMOEBAonAMAK/src/experiments/nDimensionsLaunchers/F_N_Launcher.java
@@ -11,10 +11,10 @@ import experiments.XmlConfigGenerator;
import fr.irit.smac.amak.Configuration;
import gui.AmoebaWindow;
import kernel.AMOEBA;
-import kernel.BackupSystem;
-import kernel.IBackupSystem;
-import kernel.SaveHelper;
import kernel.StudiedSystem;
+import kernel.backup.BackupSystem;
+import kernel.backup.IBackupSystem;
+import kernel.backup.SaveHelperImpl;
// TODO: Auto-generated Javadoc
@@ -66,7 +66,7 @@ public class F_N_Launcher implements Serializable {
File file = new File("resources/twoDimensionsLauncher.xml");
backupSystem.load(file);
- amoeba.saver = new SaveHelper(amoeba);
+ amoeba.saver = new SaveHelperImpl(amoeba);
amoeba.allowGraphicalScheduler(true);
amoeba.setRenderUpdate(true);
amoeba.data.learningSpeed = learningSpeed;
diff --git a/AMOEBAonAMAK/src/gui/AmoebaWindow.java b/AMOEBAonAMAK/src/gui/AmoebaWindow.java
index 25d83511..ba30d2de 100644
--- a/AMOEBAonAMAK/src/gui/AmoebaWindow.java
+++ b/AMOEBAonAMAK/src/gui/AmoebaWindow.java
@@ -24,7 +24,7 @@ import javafx.scene.control.ToggleButton;
import javafx.scene.control.Tooltip;
import javafx.scene.paint.Color;
import kernel.AMOEBA;
-import kernel.SaveHelper;
+import kernel.backup.SaveHelperImpl;
/**
* The main window for AMOEBA GUI.
@@ -172,7 +172,7 @@ public class AmoebaWindow extends MainWindow {
* @param amoeba
* @return
* @see AMOEBA#saver
- * @see SaveHelper#newManualSave(String)
+ * @see SaveHelperImpl#newManualSave(String)
*/
public Button newManualSaveButton(AMOEBA amoeba) {
Button button = new Button("Quick save");
diff --git a/AMOEBAonAMAK/src/gui/saveExplorer/SaveExplorer.java b/AMOEBAonAMAK/src/gui/saveExplorer/SaveExplorer.java
index 9504d645..1cb91054 100644
--- a/AMOEBAonAMAK/src/gui/saveExplorer/SaveExplorer.java
+++ b/AMOEBAonAMAK/src/gui/saveExplorer/SaveExplorer.java
@@ -26,12 +26,12 @@ import javafx.scene.layout.Priority;
import javafx.scene.layout.VBox;
import javafx.util.Callback;
import kernel.AMOEBA;
-import kernel.SaveHelper;
import kernel.StudiedSystem;
+import kernel.backup.SaveHelperImpl;
/**
* Graphical element to browse and load (auto)saves for a specific amoeba.
- * @see SaveHelper
+ * @see SaveHelperImpl
* @see AMOEBA
* @author Hugo
*
@@ -47,7 +47,7 @@ public class SaveExplorer extends VBox {
* create a SaveExplorer for an AMOEBA.
* The amoeba MUST have a working {@link AMOEBA#saver}.
* @param amoeba
- * @see SaveHelper
+ * @see SaveHelperImpl
*/
public SaveExplorer(AMOEBA amoeba) {
this.amoeba = amoeba;
@@ -258,7 +258,6 @@ public class SaveExplorer extends VBox {
public static void main(String[] args) throws ClassNotFoundException, IOException {
System.out.println("New AMOEBA launched.");
AMOEBA amoeba = new AMOEBA(args[0], (StudiedSystem)SerializeBase64.deserialize(args[1]));
- amoeba.saver.deleteFolderOnClose = false;
//amoeba.allowGraphicalScheduler(false);
for(Percept p : amoeba.getPercepts()) {
p.setValue(amoeba.getPerceptions(p.getName()));
diff --git a/AMOEBAonAMAK/src/kernel/AMOEBA.java b/AMOEBAonAMAK/src/kernel/AMOEBA.java
index b97bd82a..6e4903ed 100644
--- a/AMOEBAonAMAK/src/kernel/AMOEBA.java
+++ b/AMOEBAonAMAK/src/kernel/AMOEBA.java
@@ -25,6 +25,10 @@ import fr.irit.smac.amak.tools.RunLaterHelper;
import fr.irit.smac.amak.ui.AmakPlot;
import gui.AmoebaWindow;
import gui.DimensionSelector;
+import kernel.backup.IBackupSystem;
+import kernel.backup.ISaveHelper;
+import kernel.backup.SaveHelperDummy;
+import kernel.backup.SaveHelperImpl;
import ncs.NCS;
/**
@@ -36,7 +40,7 @@ public class AMOEBA extends Amas<World> implements IAMOEBA {
/**
* Utility to save, autosave, and load amoebas.
*/
- public SaveHelper saver;
+ public ISaveHelper saver = new SaveHelperDummy();
/**
* The system studied by the amoeba.
@@ -87,7 +91,7 @@ public class AMOEBA extends Amas<World> implements IAMOEBA {
super(new World(), Scheduling.HIDDEN);
this.studiedSystem = studiedSystem;
setRenderUpdate(true);
- saver = new SaveHelper(this);
+ saver = new SaveHelperImpl(this);
saver.load(path);
}
diff --git a/AMOEBAonAMAK/src/kernel/BackupSystem.java b/AMOEBAonAMAK/src/kernel/backup/BackupSystem.java
similarity index 99%
rename from AMOEBAonAMAK/src/kernel/BackupSystem.java
rename to AMOEBAonAMAK/src/kernel/backup/BackupSystem.java
index ecdd06de..d2cf9a8e 100644
--- a/AMOEBAonAMAK/src/kernel/BackupSystem.java
+++ b/AMOEBAonAMAK/src/kernel/backup/BackupSystem.java
@@ -1,4 +1,4 @@
-package kernel;
+package kernel.backup;
import java.io.File;
import java.io.FileWriter;
@@ -29,6 +29,8 @@ import agents.context.localModel.LocalModelMillerRegression;
import agents.context.localModel.TypeLocalModel;
import agents.head.Head;
import agents.percept.Percept;
+import kernel.AMOEBA;
+import kernel.AmoebaData;
import utils.XMLSerialization;
/**
diff --git a/AMOEBAonAMAK/src/kernel/IBackupSystem.java b/AMOEBAonAMAK/src/kernel/backup/IBackupSystem.java
similarity index 97%
rename from AMOEBAonAMAK/src/kernel/IBackupSystem.java
rename to AMOEBAonAMAK/src/kernel/backup/IBackupSystem.java
index 0151a0b1..ec388ff9 100644
--- a/AMOEBAonAMAK/src/kernel/IBackupSystem.java
+++ b/AMOEBAonAMAK/src/kernel/backup/IBackupSystem.java
@@ -1,4 +1,4 @@
-package kernel;
+package kernel.backup;
import java.io.File;
diff --git a/AMOEBAonAMAK/src/kernel/backup/ISaveHelper.java b/AMOEBAonAMAK/src/kernel/backup/ISaveHelper.java
new file mode 100644
index 00000000..6b9c17d3
--- /dev/null
+++ b/AMOEBAonAMAK/src/kernel/backup/ISaveHelper.java
@@ -0,0 +1,72 @@
+package kernel.backup;
+
+import java.io.File;
+import java.nio.file.Path;
+import java.util.List;
+
+/**
+ * An helper class that handle save, autosave, and load needs of an AMOEBA.
+ * @see SaveHelperImpl
+ * @see SaveHelperDummy
+ * @author Hugo
+ *
+ */
+public interface ISaveHelper {
+
+ /**
+ * Load a save pointed by path.
+ * @param path path to the save.
+ */
+ public void load(String path);
+
+ /**
+ * Load a save from file.
+ * @param path path to the save.
+ */
+ public void load(File file);
+
+ /**
+ * Create a save at path.
+ * @param path path of the new save
+ */
+ public void save(String path);
+
+ /**
+ * Create a save in file.
+ * @param path path of the new save
+ */
+ public void save(File file);
+
+ /**
+ * Add a new save in {@link SaveHelperImpl#dirManual}.
+ * @param name
+ */
+ public void newManualSave(String name);
+
+ /**
+ * Add a new save in {@link SaveHelperImpl#dirAuto}.
+ */
+ public void autosave();
+
+ /**
+ * List saves in {@link SaveHelperImpl#dirAuto}.
+ */
+ public List<Path> listAutoSaves();
+
+ /**
+ * List saves in {@link SaveHelperImpl#dirManual}.
+ */
+ public List<Path> listManualSaves();
+
+ /**
+ * Activate or deactivate the automatic save system.
+ * @param value
+ */
+ public void setAutoSave(boolean value);
+
+ /**
+ * Tell if the automatic save system is activated.
+ * @return
+ */
+ public boolean getAutoSave();
+}
diff --git a/AMOEBAonAMAK/src/kernel/backup/SaveHelperDummy.java b/AMOEBAonAMAK/src/kernel/backup/SaveHelperDummy.java
new file mode 100644
index 00000000..9166f265
--- /dev/null
+++ b/AMOEBAonAMAK/src/kernel/backup/SaveHelperDummy.java
@@ -0,0 +1,61 @@
+package kernel.backup;
+
+import java.io.File;
+import java.nio.file.Path;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * A save helper that does nothing. Useful when one wish to deactivate an amoeba save system.
+ *
+ * @see SaveHelperImpl
+ * @author Hugo
+ *
+ */
+public class SaveHelperDummy implements ISaveHelper {
+
+ @Override
+ public void load(String path) {
+ }
+
+ @Override
+ public void load(File file) {
+ }
+
+ @Override
+ public void save(String path) {
+ }
+
+ @Override
+ public void save(File file) {
+ }
+
+ @Override
+ public void newManualSave(String name) {
+ }
+
+ @Override
+ public void autosave() {
+ }
+
+ @Override
+ public List<Path> listAutoSaves() {
+ return new ArrayList<Path>();
+ }
+
+ @Override
+ public List<Path> listManualSaves() {
+ return new ArrayList<Path>();
+ }
+
+ @Override
+ public void setAutoSave(boolean value) {
+
+ }
+
+ @Override
+ public boolean getAutoSave() {
+ return false;
+ }
+
+}
diff --git a/AMOEBAonAMAK/src/kernel/SaveHelper.java b/AMOEBAonAMAK/src/kernel/backup/SaveHelperImpl.java
similarity index 80%
rename from AMOEBAonAMAK/src/kernel/SaveHelper.java
rename to AMOEBAonAMAK/src/kernel/backup/SaveHelperImpl.java
index 6544059e..b2258c51 100644
--- a/AMOEBAonAMAK/src/kernel/SaveHelper.java
+++ b/AMOEBAonAMAK/src/kernel/backup/SaveHelperImpl.java
@@ -1,4 +1,4 @@
-package kernel;
+package kernel.backup;
import java.io.File;
import java.io.IOException;
@@ -9,20 +9,23 @@ import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.List;
+import fr.irit.smac.amak.Configuration;
import fr.irit.smac.amak.ui.MainWindow;
import gui.AmoebaWindow;
import gui.saveExplorer.SaveExplorer;
import javafx.event.ActionEvent;
import javafx.event.EventHandler;
import javafx.stage.FileChooser;
+import kernel.AMOEBA;
import utils.DeleteDirectory;
/**
- * An helper class that handle save, autosave, and load needs of an AMOEBA.
+ * The standard implementation of {@link ISaveHelper}
+ * @see SaveHelperDummy
* @author Hugo
*
*/
-public class SaveHelper {
+public class SaveHelperImpl implements ISaveHelper{
/**
* Path to the saves' root directory. Default is 'saves'.
*/
@@ -36,12 +39,13 @@ public class SaveHelper {
public IBackupSystem backupSystem;
/**
- * If false {@link SaveHelper#autosave()} will do nothing.
+ * If false {@link SaveHelperImpl#autosave()} will do nothing.<br/>
+ * Default at not( {@link Configuration#commandLineMode} ).
*/
public boolean autoSave = true;
/**
- * Will the SaveHelper delete {@link SaveHelper#dir} when closing the MainWindow ?
+ * Will the SaveHelper delete {@link SaveHelperImpl#dir} when closing the MainWindow ?
*/
public boolean deleteFolderOnClose = true;
@@ -64,12 +68,13 @@ public class SaveHelper {
/**
* Create a SaveHelper for an amoeba.<br/>
- * Saves are stored in {@link SaveHelper#savesRoot}, under a directory named after the amoeba and creation time of the SaveHelper.<br/>
- * Autosave for this SaveHelper can be deactivated with {@link SaveHelper#autoSave}.<br/>
- * By default, the save folder for this amoeba is deleted when the application is closed, this can be changed with {@link SaveHelper#deleteFolderOnClose}.
+ * Saves are stored in {@link SaveHelperImpl#savesRoot}, under a directory named after the amoeba and creation time of the SaveHelper.<br/>
+ * Autosave for this SaveHelper can be deactivated with {@link SaveHelperImpl#autoSave}.<br/>
+ * By default, the save folder for this amoeba is deleted when the application is closed, this can be changed with {@link SaveHelperImpl#deleteFolderOnClose}.
* @param amoeba
*/
- public SaveHelper(AMOEBA amoeba) {
+ public SaveHelperImpl(AMOEBA amoeba) {
+ autoSave = !Configuration.commandLineMode;
this.amoeba = amoeba;
backupSystem = new BackupSystem(amoeba);
String dirName = amoeba.toString() + "_" + System.currentTimeMillis();
@@ -112,45 +117,30 @@ public class SaveHelper {
}
}
- /**
- * Load a save pointed by path.
- * @param path path to the save.
- */
+ @Override
public void load(String path) {
File f = new File(path);
load(f);
}
- /**
- * Load a save from file.
- * @param path path to the save.
- */
+ @Override
public void load(File file) {
backupSystem.load(file);
}
- /**
- * Create a save at path.
- * @param path path of the new save
- */
+ @Override
public void save(String path) {
File f = new File(path);
save(f);
}
- /**
- * Create a save in file.
- * @param path path of the new save
- */
+ @Override
public void save(File file) {
backupSystem.setLoadPresetContext(true);
backupSystem.save(file);
}
- /**
- * Add a new save in {@link SaveHelper#dirManual}.
- * @param name
- */
+ @Override
public void newManualSave(String name) {
String c = (name == null || "".equals(name)) ? "" : ("_" + name);
c.replace('/', '-');
@@ -160,9 +150,7 @@ public class SaveHelper {
backupSystem.save(p.toFile());
}
- /**
- * Add a new save in {@link SaveHelper#dirAuto}.
- */
+ @Override
public void autosave() {
if (autoSave) {
Path p = Paths.get(dirAuto.toString(), amoeba.getCycle() + "." + backupSystem.getExtension());
@@ -171,9 +159,7 @@ public class SaveHelper {
}
}
- /**
- * List saves in {@link SaveHelper#dirAuto}.
- */
+ @Override
public List<Path> listAutoSaves() {
List<Path> l = new ArrayList<>();
try (DirectoryStream<Path> d = Files.newDirectoryStream(dirAuto)){
@@ -185,9 +171,7 @@ public class SaveHelper {
return l;
}
- /**
- * List saves in {@link SaveHelper#dirManual}.
- */
+ @Override
public List<Path> listManualSaves() {
List<Path> l = new ArrayList<>();
try (DirectoryStream<Path> d = Files.newDirectoryStream(dirManual)){
@@ -233,4 +217,14 @@ public class SaveHelper {
};
MainWindow.addOptionsItem("Save", eventSave);
}
+
+ @Override
+ public void setAutoSave(boolean value) {
+ autoSave = value;
+ }
+
+ @Override
+ public boolean getAutoSave() {
+ return autoSave;
+ }
}
diff --git a/AMOEBAonAMAK/tests/utils/TestSetup.java b/AMOEBAonAMAK/tests/utils/TestSetup.java
index d2bc1106..2a234298 100644
--- a/AMOEBAonAMAK/tests/utils/TestSetup.java
+++ b/AMOEBAonAMAK/tests/utils/TestSetup.java
@@ -11,8 +11,8 @@ import org.junit.jupiter.api.BeforeEach;
import experiments.F_XY_System;
import fr.irit.smac.amak.Configuration;
import kernel.AMOEBA;
-import kernel.SaveHelper;
import kernel.StudiedSystem;
+import kernel.backup.SaveHelperImpl;
public class TestSetup {
protected AMOEBA amoeba;
@@ -43,7 +43,7 @@ public class TestSetup {
Configuration.commandLineMode = true;
StudiedSystem studiedSystem = new F_XY_System(50.0);
amoeba = new AMOEBA("resources/twoDimensionsLauncher.xml", studiedSystem);
- amoeba.saver.autoSave = false;
+ amoeba.saver.setAutoSave(false);
for (int i = 0; i < train.length; i++) {
studiedSystem.playOneStep();
amoeba.learn(train[i]);
@@ -53,7 +53,7 @@ public class TestSetup {
@AfterAll
public static void clean() {
try {
- DeleteDirectory.deleteDirectoryRecursion(Paths.get(SaveHelper.savesRoot));
+ DeleteDirectory.deleteDirectoryRecursion(Paths.get(SaveHelperImpl.savesRoot));
} catch (IOException e) {
e.printStackTrace();
}
diff --git a/documentation/py4j_demo/cart_pole.py b/documentation/py4j_demo/cart_pole.py
index 974a0ce3..9a325ee1 100644
--- a/documentation/py4j_demo/cart_pole.py
+++ b/documentation/py4j_demo/cart_pole.py
@@ -2,36 +2,52 @@ import gym
import subprocess
import time
import numpy as np
+import matplotlib.pyplot as plt
from py4j.java_gateway import JavaGateway, GatewayParameters, set_field
+def msg_obj(obs:list, act:list, oracle) -> dict:
+ msg = dict()
+ for i, o in enumerate(obs):
+ msg["p%d" % i] = float(o*1000.0)
+ for i, a in enumerate(act):
+ msg["a%d" % i] = float(a)
+ msg["oracle"] = float(oracle)
+ return msg
+
+
def chose_next_action(amoeba, state):
- proposition = [
- amoeba.request({"p0": state[0]*100, "p1": state[1]*100, "p2": state[2]*100, "p3": state[3]*100, "a0": 1.0, "a1": 0.0, "oracle": 0.0}),
- amoeba.request({"p0": state[0]*100, "p1": state[1]*100, "p2": state[2]*100, "p3": state[3]*100, "a0": 0.0, "a1": 1.0, "oracle": 0.0})
- ]
+ proposition = []
+ for i in range(env.action_space.n):
+ act = [0.0]*env.action_space.n
+ act[i] = 1
+ proposition.append(amoeba.request(msg_obj(state, act, 0)))
+
return np.argmax(proposition)
def learn_amoeba(amoeba, state, action, reward):
- a0 = 1.0 if action == 0 else 0.0
- a1 = 1.0 if action == 1 else 0.0
- #a2 = 1.0 if action == 2 else 0.0
- amoeba.learn({"p0": state[0]*100, "p1": state[1]*100, "p2": state[2]*100, "p3": state[3]*100, "a0": a0, "a1": a1, "oracle": reward})
+ act = [0.0]*env.action_space.n
+ act[action] = 1
+ amoeba.learn(msg_obj(state, act, reward))
if __name__ == '__main__':
- # Make sure to run setup.sh at least once before running this script
+ plt.ion()
+
+ # Make sure to run setup.sh at least once before running this script
subprocess.Popen(["java", "-jar", "amoeba.jar"])
time.sleep(2)
gateway = JavaGateway(gateway_parameters=GatewayParameters(auto_convert=True, auto_field=True))
gateway.jvm.py4j.Main.Control.setComandLine(True)
- amoeba = gateway.jvm.kernel.AMOEBA("/home/daavve/AMOEBA3/documentation/py4j_demo/cart_pole.xml", None)
- set_field(amoeba.saver, "autoSave", False)
+ amoeba = gateway.jvm.kernel.AMOEBA()
+ backup_sys = gateway.jvm.kernel.backup.BackupSystem(amoeba)
+ file = gateway.jvm.java.io.File("cart_pole.xml")
+ backup_sys.load(file)
env = gym.make('CartPole-v1')
env.reset()
@@ -41,7 +57,7 @@ if __name__ == '__main__':
ave_reward_list = []
episodes = 1000
- epsilon = 0.3
+ epsilon = 0
min_eps = 0
reduction = 0.01
for i in range(episodes):
@@ -54,7 +70,7 @@ if __name__ == '__main__':
while not done:
# Render environment for last five episodes
- env.render()
+ #env.render()
#if i >= (episodes - 20):
# env.render()
@@ -85,12 +101,16 @@ if __name__ == '__main__':
# Track rewards
reward_list.append(tot_reward)
- if (i + 1) % 10 == 0:
+ print_delta = 10
+ if (i + 1) % print_delta == 0:
ave_reward = np.mean(reward_list)
+ ave_reward_list.append(ave_reward)
reward_list = []
+ print(
+ 'Episode {}-{} Average Reward: {} Epsilon: {}'.format(i - print_delta + 1, i + 1, ave_reward, epsilon))
+ plt.plot(ave_reward_list)
+ plt.pause(0.1)
- if (i + 1) % 10 == 0:
- print('Episode {} Average Reward: {} Epsilon: {}'.format(i + 1, ave_reward, epsilon))
env.close()
diff --git a/documentation/py4j_demo/clean.sh b/documentation/py4j_demo/clean.sh
index 188e0edd..a11acd9c 100755
--- a/documentation/py4j_demo/clean.sh
+++ b/documentation/py4j_demo/clean.sh
@@ -1,4 +1,4 @@
-#/bin/sh
+#!/bin/sh
rm amoeba.jar
rm ./*.log
diff --git a/documentation/py4j_demo/lunar_lander.py b/documentation/py4j_demo/lunar_lander.py
index b2a2045a..18703cee 100644
--- a/documentation/py4j_demo/lunar_lander.py
+++ b/documentation/py4j_demo/lunar_lander.py
@@ -39,10 +39,12 @@ if __name__ == '__main__':
time.sleep(2)
gateway = JavaGateway(gateway_parameters=GatewayParameters(auto_convert=True, auto_field=True))
- gateway.jvm.py4j.Main.Control.setComandLine(True)
+ #gateway.jvm.py4j.Main.Control.setComandLine(True)
- amoeba = gateway.jvm.kernel.AMOEBA("/home/daavve/AMOEBA3/documentation/py4j_demo/bipedal_walker.xml", None)
- set_field(amoeba.saver, "autoSave", False)
+ amoeba = gateway.jvm.kernel.AMOEBA()
+ backup_sys = gateway.jvm.kernel.backup.BackupSystem(amoeba)
+ file = gateway.jvm.java.io.File("lunar_lander.xml")
+ backup_sys.load(file)
env = gym.make('LunarLander-v2')
env.reset()
@@ -79,9 +81,6 @@ if __name__ == '__main__':
env.step(action)
env.step(action)
env.step(action)
- env.step(action)
- env.step(action)
- env.step(action)
state2, reward, done, info = env.step(action)
state_action_list.append((state, action))
@@ -102,12 +101,11 @@ if __name__ == '__main__':
# Track rewards
reward_list.append(tot_reward)
- if (i + 1) % 10 == 0:
+ print_delta = 10
+ if (i + 1) % print_delta == 0:
ave_reward = np.mean(reward_list)
reward_list = []
-
- if (i + 1) % 10 == 0:
- print('Episode {} Average Reward: {} Epsilon: {}'.format(i + 1, ave_reward, epsilon))
+ print('Episode {}-{} Average Reward: {} Epsilon: {}'.format(i - print_delta + 1, i + 1, ave_reward, epsilon))
env.close()
diff --git a/documentation/py4j_demo/requirements.txt b/documentation/py4j_demo/requirements.txt
index 22f62fa4..9b4cb9d6 100644
--- a/documentation/py4j_demo/requirements.txt
+++ b/documentation/py4j_demo/requirements.txt
@@ -1,3 +1,4 @@
py4j==0.10.8.1
gym
numpy
+matplotlib
diff --git a/documentation/py4j_demo/setup.sh b/documentation/py4j_demo/setup.sh
index b10c6c08..2f4285d2 100755
--- a/documentation/py4j_demo/setup.sh
+++ b/documentation/py4j_demo/setup.sh
@@ -1,4 +1,5 @@
-#/bin/sh
+#!/bin/sh
+sh clean.sh
(cd ../.. && mvn clean compile assembly:single -Dmain.class=py4j.Main && cp AMOEBAonAMAK/target/AMOEBAonAMAK-1.0-jar-with-dependencies.jar documentation/py4j_demo/amoeba.jar)
echo "Done. If there's no error."
diff --git a/documentation/ros_demo/clean.sh b/documentation/ros_demo/clean.sh
index dc89b978..25c18588 100755
--- a/documentation/ros_demo/clean.sh
+++ b/documentation/ros_demo/clean.sh
@@ -1,4 +1,4 @@
-#/bin/sh
+#!/bin/sh
rm amoeba.jar
rm ./*.log
diff --git a/documentation/ros_demo/setup.sh b/documentation/ros_demo/setup.sh
index 40e42afd..1b5b7dd7 100755
--- a/documentation/ros_demo/setup.sh
+++ b/documentation/ros_demo/setup.sh
@@ -1,4 +1,4 @@
-#/bin/sh
+#!/bin/sh
(cd ../.. && mvn clean compile assembly:single -Dmain.class=ros.Main && cp AMOEBAonAMAK/target/AMOEBAonAMAK-1.0-jar-with-dependencies.jar documentation/ros_demo/amoeba.jar)
(cd catkin_ws/ && catkin_make)
diff --git a/documentation/ros_demo/start.sh b/documentation/ros_demo/start.sh
index 71c11df0..47b64389 100755
--- a/documentation/ros_demo/start.sh
+++ b/documentation/ros_demo/start.sh
@@ -1,4 +1,4 @@
-#/bin/sh
+#!/bin/sh
. ./catkin_ws/devel/setup.sh
roslaunch amoeba_demo turtle_demo.launch &
diff --git a/documentation/ros_demo/start_amoebas.sh b/documentation/ros_demo/start_amoebas.sh
index cf9a3680..3f0316c9 100755
--- a/documentation/ros_demo/start_amoebas.sh
+++ b/documentation/ros_demo/start_amoebas.sh
@@ -1,4 +1,4 @@
-#/bin/sh
+#!/bin/sh
java -jar amoeba.jar ws://localhost:9090 Amoeba_ros_demo.xml /amoeba_lin /amoeba_lin_res amoeba_demo/Amoeba_msg &
java -jar amoeba.jar ws://localhost:9090 Amoeba_ros_demo.xml /amoeba_rot /amoeba_rot_res amoeba_demo/Amoeba_msg &
diff --git a/documentation/ros_demo/stop.sh b/documentation/ros_demo/stop.sh
index ddea5577..acbecfe7 100755
--- a/documentation/ros_demo/stop.sh
+++ b/documentation/ros_demo/stop.sh
@@ -1,4 +1,4 @@
-#/bin/sh
+#!/bin/sh
for p in $(ps -A | grep ros | awk '{print $1;}')
do
--
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