public void DisableLand()
{
autoMode = AutoMode.Off;
if (_track_obj != null)
{
Destroy(_track_obj); _track_obj = null;
}
if (_thrusts_obj != null)
{
Destroy(_thrusts_obj); _thrusts_obj = null;
}
if (_align_obj != null)
{
Destroy(_align_obj); _align_obj = null;
}
if (_steer_obj != null)
{
Destroy(_steer_obj); _steer_obj = null;
}
_traj = null;
LogStop();
if (vessel != null)
{
if (vessel.OnFlyByWire != null)
{
vessel.OnFlyByWire -= new FlightInputCallback(Fly);
}
if (vessel.Autopilot != null)
{
vessel.Autopilot.Disable();
}
}
Events["ToggleGuidance"].guiName = "Enable guidance";
}
public static void AdjustYLimit(AutoMode __instance, ref float gage)
{
gage = 0f;
var instance = Traverse.Create(__instance);
instance.Field("strokeMin").SetValue(-1f);
instance.Field("strokeMax").SetValue(1f);
}
public void Fly(FlightCtrlState state)
{
if ((vessel == null) || (vessel.checkLanded() && checkingLanded))
{
ScreenMessages.PostScreenMessage("Landed!", 3.0f, ScreenMessageStyle.UPPER_CENTER);
DisableLand();
// Shut-off throttle
FlightCtrlState ctrl = new FlightCtrlState();
vessel.GetControlState(ctrl);
ctrl.mainThrottle = 0;
// Necessary on Realism Overhaul to shutdown engine as at throttle=0 the engine may still have
// a lot of thrust
if (_keepIgnited)
{
ShutdownAllEngines();
}
autoMode = AutoMode.Off;
return;
}
// Only start checking if landed when taken off
if (!vessel.checkLanded())
{
checkingLanded = true;
}
Vector3 r = vessel.GetWorldPos3D();
Vector3 v = vessel.GetSrfVelocity();
Vector3 tr = _transform.InverseTransformPoint(r);
Vector3 tv = _transform.InverseTransformVector(v);
float g = (float)FlightGlobals.getGeeForceAtPosition(r).magnitude;
Vector3d dr, dv, da;
double desired_t; // closest time in trajectory (desired)
_traj.FindClosest(tr, tv, out dr, out dv, out da, out desired_t, 0.5f, 0.5f);
// Uses transformed positions and vectors
// sets throttle and desired attitude based on targets
// F is the inital force (acceleration) vector
AutopilotStepToTarget(state, tr, tv, dr, dv, da, g);
}
// Use this for initialization
void Start()
{
m_flgMatched = false;
m_flgStart = false;
m_flgFirst = false;
m_time_elapsed = 0;
m_turn = 0;
GoodPiece = (GameObject)Resources.Load("GoodPrefab");
EvilPiece = (GameObject)Resources.Load("EvilPrefab");
UnknownPiece = (GameObject)Resources.Load("UnknownPrefab");
field = GameObject.Find("Canvas/Panel/Image_field/Panel_piece");
field_rect = field.GetComponent <RectTransform>();
Pieces = new GameObject[PIECE_NUM];
waiting = GameObject.Find("Canvas/Panel/Image_wait");
my_case = GameObject.Find("Canvas/Panel/Image_case_my/Panel").GetComponent <RectTransform>();
enemy_case = GameObject.Find("Canvas/Panel/Image_case_en/Panel").GetComponent <RectTransform>();
win_panel = GameObject.Find("Canvas/Panel/Image_Win");
lose_panel = GameObject.Find("Canvas/Panel/Image_Lose");
auto = GameObject.Find("Canvas/Panel/Toggle_Auto").GetComponent <AutoMode>();
win_panel.SetActive(false);
lose_panel.SetActive(false);
UserInfo.game_user_id = UserInfo.user_id;
if (UserInfo.flg_spectator)
{
waiting.SetActive(false);
}
GetRoomInfo();
// Debug
//InitPieces();
}
static void Main(string[] args)
{
// TODO: Use ComputeSharp to run code on GPU
/*
* using ReadWriteBuffer<float> buffer = Gpu.Default.AllocateReadWriteBuffer<float>(1000);
* Gpu.Default.For(1000, id => buffer[id.X] = id.X);
* float[] array = buffer.GetData();
*/
var dataPath = FileHelper.FindAppFolder("Data");
int imageWidth, imageHeight;
byte[][] images;
byte[] labels;
{
var bytes = File.ReadAllBytes(Path.Combine(dataPath, "MNIST", "train-images.idx3-ubyte"));
var reader = new PacketReader();
reader.Open(bytes);
var magic = reader.ReadInt();
if (magic != 0x00000803)
{
throw new Exception("Wrong magic number");
}
var imageCount = reader.ReadInt();
Trace.WriteLine($"Found {imageCount} images.");
imageHeight = reader.ReadInt();
imageWidth = reader.ReadInt();
images = new byte[imageCount][];
for (var i = 0; i < imageCount; i++)
{
images[i] = reader.ReadBytes(imageHeight * imageWidth).ToArray();
}
}
{
var bytes = File.ReadAllBytes(Path.Combine(dataPath, "MNIST", "train-labels.idx1-ubyte"));
var reader = new PacketReader();
reader.Open(bytes);
var magic = reader.ReadInt();
if (magic != 0x00000801)
{
throw new Exception("Wrong magic number");
}
var itemCount = reader.ReadInt();
Trace.WriteLine($"Found {itemCount} labels.");
labels = new byte[itemCount];
for (var i = 0; i < itemCount; i++)
{
labels[i] = reader.ReadByte();
}
}
{
var displayedImageIndex = 0;
var layerSetup = new int[] { imageWidth *imageHeight, 600, 400, 200, 100, 10 };
var net = new NeuralNet(layerSetup);
var netInputs = new float[imageWidth * imageHeight];
var netLearningRate = 0.1f;
var netResult = -1;
void ResetNetwork()
{
net = new NeuralNet(layerSetup);
RunNetworkAndRenderImage(displayedImageIndex);
}
void RunNetwork(int imageIndex)
{
for (var i = 0; i < netInputs.Length; i++)
{
netInputs[i] = images[imageIndex][i] / (float)byte.MaxValue;
}
var output = net.Compute(netInputs);
Debug.Assert(output.Length == 10);
// Get the digit the network has seen
var max = 0f;
for (var i = 0; i < output.Length; i++)
{
if (output[i] > max)
{
max = output[i];
netResult = i;
}
}
var expectedOutput = new float[10];
expectedOutput[labels[imageIndex]] = 1f;
net.BackpropagateError(expectedOutput);
}
var windowWidth = 1280;
var windowHeight = 720;
var imageScale = 8;
var labelText = "";
var imageText = "";
var statusText = "";
SDL.SDL_Init(SDL.SDL_INIT_VIDEO);
SDL.SDL_CreateWindowAndRenderer(windowWidth, windowHeight, 0, out var window, out var renderer);
SDL.SDL_SetWindowTitle(window, "Neural");
var font = Font.LoadFromChevyRayFolder(renderer, Path.Combine(dataPath, "Fonts", "ChevyRay - Softsquare Mono"));
var fontStyle = new FontStyle(font)
{
Scale = 2, LetterSpacing = 1
};
var smallFontStyle = new FontStyle(font)
{
Scale = 1, LetterSpacing = 1
};
var imageTexture = IntPtr.Zero;
var imageSourceRect = new SDL.SDL_Rect {
x = 0, y = 0, w = imageWidth, h = imageHeight
};
var imageDestRect = new SDL.SDL_Rect {
x = windowWidth / 2 - (imageWidth / 2 * imageScale), y = windowHeight / 2 - (imageHeight / 2 * imageScale), w = imageWidth * imageScale, h = imageHeight * imageScale
};
void LoadImageForRender(int imageIndex)
{
if (imageTexture != IntPtr.Zero)
{
SDL.SDL_DestroyTexture(imageTexture);
}
var pixels = new byte[imageWidth * imageHeight * 4];
for (var i = 0; i < imageWidth * imageHeight; i++)
{
pixels[i * 4 + 0] = pixels[i * 4 + 1] = pixels[i * 4 + 2] = images[imageIndex][i];
pixels[i * 4 + 3] = 0xff;
}
unsafe
{
fixed(byte *pixelsPointer = pixels)
{
var surface = SDL.SDL_CreateRGBSurfaceWithFormatFrom((IntPtr)pixelsPointer, imageWidth, imageHeight, 24, imageWidth * 4, SDL.SDL_PIXELFORMAT_ARGB8888);
imageTexture = SDL.SDL_CreateTextureFromSurface(renderer, surface);
SDL.SDL_FreeSurface(surface);
}
}
labelText = $"Label: {labels[imageIndex]}, Network output: {netResult}";
imageText = $"({imageIndex}/{images.Length})";
}
void RunNetworkAndRenderImage(int imageIndex)
{
RunNetwork(imageIndex);
LoadImageForRender(imageIndex);
}
RunNetworkAndRenderImage(displayedImageIndex);
var running = true;
AutoMode autoMode = AutoMode.None;
var autoImageIndex = 0;
var correctlyPredicted = 0;
while (running)
{
while (running && SDL.SDL_PollEvent(out var @event) != 0)
{
switch (@event.type)
{
case SDL.SDL_EventType.SDL_QUIT:
running = false;
break;
case SDL.SDL_EventType.SDL_WINDOWEVENT:
switch (@event.window.windowEvent)
{
case SDL.SDL_WindowEventID.SDL_WINDOWEVENT_CLOSE:
running = false;
break;
}
break;
case SDL.SDL_EventType.SDL_KEYDOWN:
switch (@event.key.keysym.sym)
{
case SDL.SDL_Keycode.SDLK_RIGHT:
if (displayedImageIndex < images.Length - 1)
{
displayedImageIndex++; RunNetworkAndRenderImage(displayedImageIndex);
}
break;
case SDL.SDL_Keycode.SDLK_LEFT:
if (displayedImageIndex > 0)
{
displayedImageIndex--; RunNetworkAndRenderImage(displayedImageIndex);
}
break;
case SDL.SDL_Keycode.SDLK_p:
if (autoMode == AutoMode.Train)
{
autoMode = AutoMode.None;
}
else
{
autoMode = AutoMode.Train;
autoImageIndex = 0;
}
break;
/* case SDL.SDL_Keycode.SDLK_t:
* net.Train(netLearningRate, netInputs);
* RunNetworkAndRenderImage(displayedImageIndex);
* break; */
case SDL.SDL_Keycode.SDLK_c:
if (autoMode == AutoMode.Check)
{
autoMode = AutoMode.None;
}
else
{
autoMode = AutoMode.Check;
autoImageIndex = 0;
correctlyPredicted = 0;
}
break;
case SDL.SDL_Keycode.SDLK_r:
if (autoMode == AutoMode.None)
{
ResetNetwork();
statusText = "";
}
break;
}
break;
}
}
if (!running)
{
break;
}
SDL.SDL_SetRenderDrawColor(renderer, 0, 0, 0, 255);
SDL.SDL_RenderClear(renderer);
// Draw image
SDL.SDL_RenderCopy(renderer, imageTexture, ref imageSourceRect, ref imageDestRect);
// Draw network
{
var start = new Point(10, 10);
var size = 4;
var spacing = 2;
var columnOffset = -1;
var maxPerColumn = 50;
for (var i = 0; i < net.Layers.Length; i++)
{
var layer = net.Layers[i];
for (var j = 0; j < layer.Outputs.Length; j++)
{
if (j % maxPerColumn == 0)
{
columnOffset++;
}
var value = Math.Clamp(layer.Outputs[j], 0f, 1f);
SDL.SDL_SetRenderDrawColor(renderer, (byte)(0xff * (1f - value)), (byte)(0xff * value), 0x00, 0xff);
var rect = new SDL.SDL_Rect {
x = start.X + (i + columnOffset) * (size + spacing), y = start.Y + (j % maxPerColumn) * (size + spacing), w = size, h = size
};
SDL.SDL_RenderFillRect(renderer, ref rect);
}
}
}
// Draw info
fontStyle.DrawText(8, windowHeight - fontStyle.Size - 8, "Left/Right to navigate, P to train, C to check accuracy, R to reset network");
fontStyle.DrawText(windowWidth / 2 - fontStyle.MeasureText(labelText) / 2, imageDestRect.y + imageDestRect.h + 8, labelText);
fontStyle.DrawText(windowWidth - fontStyle.MeasureText(imageText) - 8, windowHeight - fontStyle.Size - 8, imageText);
fontStyle.DrawText(windowWidth - fontStyle.MeasureText(statusText) - 8, 8, statusText);
smallFontStyle.DrawText(8, windowHeight - fontStyle.Size * 4 - 12, "Written by Elisee Maurer (@elisee)");
smallFontStyle.DrawText(8, windowHeight - fontStyle.Size * 3 - 12, "MNIST database: yann.lecun.com/exdb/mnist/");
smallFontStyle.DrawText(8, windowHeight - fontStyle.Size * 2 - 12, "Font by Chevy Ray - pixel-fonts.com");
SDL.SDL_RenderPresent(renderer);
// Thread.Sleep(1);
switch (autoMode)
{
case AutoMode.Train:
for (var i = 0; i < 10; i++)
{
RunNetwork(autoImageIndex);
net.Train(netLearningRate, netInputs);
autoImageIndex++;
if (autoImageIndex == images.Length)
{
autoMode = AutoMode.None;
break;
}
}
statusText = $"Trained on {autoImageIndex} images.";
RunNetworkAndRenderImage(displayedImageIndex);
break;
case AutoMode.Check:
for (var i = 0; i < 10; i++)
{
RunNetwork(autoImageIndex);
if (labels[autoImageIndex] == netResult)
{
correctlyPredicted++;
}
autoImageIndex++;
if (autoImageIndex == images.Length)
{
autoMode = AutoMode.None;
break;
}
}
var percent = Math.Round(100f * correctlyPredicted / autoImageIndex, 2, MidpointRounding.AwayFromZero);
statusText = $"Correctly predicted {percent:0.00}% ({correctlyPredicted}/{autoImageIndex})";
break;
}
}
}
}
public void EnableLandAtTarget()
{
if (_tgts.Count == 0)
{
ScreenMessages.PostScreenMessage("No targets", 3.0f, ScreenMessageStyle.UPPER_CENTER);
autoMode = AutoMode.Off;
return;
}
checkingLanded = false; // stop trajectory being cancelled while on ground
lowestY = FindLowestPointOnVessel();
Vector3d r0 = vessel.GetWorldPos3D();
Vector3d v0 = vessel.GetSrfVelocity();
Vector3d g = FlightGlobals.getGeeForceAtPosition(r0);
Vector3d vf = new Vector3d(0, -touchDownSpeed, 0);
ComputeMinMaxThrust(out _minThrust, out _maxThrust);
if (_maxThrust == 0)
{
ScreenMessages.PostScreenMessage("No engine thrust (activate engines)", 3.0f, ScreenMessageStyle.UPPER_CENTER);
autoMode = AutoMode.Off;
return;
}
_startTime = Time.time;
double amin = _minThrust / vessel.totalMass;
double amax = _maxThrust / vessel.totalMass;
if (amin > g.magnitude)
{
ScreenMessages.PostScreenMessage("Difficult to land as thrust of engine is greater than gravity", 3.0f, ScreenMessageStyle.UPPER_CENTER);
}
if (amin > amax * 0.95)
{
ScreenMessages.PostScreenMessage("Engine doesn't appear to be throttleable. This makes precision guidance impossible", 3.0f, ScreenMessageStyle.UPPER_CENTER);
autoMode = AutoMode.Off;
return;
}
solver = new Solve();
solver.Tmin = 1;
solver.tol = 0.5;
solver.vmax = maxV;
solver.amin = amin * (1 + errMargin);
solver.amax = amax * (1 - errMargin);
solver.minDurationPerThrust = 4;
solver.maxThrustsBetweenTargets = 3;
solver.g = g.magnitude;
solver.minDescentAngle = minDescentAngle;
solver.maxThrustAngle = maxThrustAngle * (1 - 2 * errMargin);
solver.maxLandingThrustAngle = 0.1f * maxThrustAngle; // 10% of max thrust angle
// hack for large craft to allow extra slowdown time at target to prepare for next target
// where thrust is just over gravity give 5 seconds extra time
// where thrust is double gravity than use 0.5 secs extra time
solver.extraTime = (float)(2.5 - 2 * Math.Min(0.5 * (amax / g.magnitude), 1));
// Shut-off throttle
FlightCtrlState ctrl = new FlightCtrlState();
vessel.GetControlState(ctrl);
ctrl.mainThrottle = (_keepIgnited)?0.01f:0;
// Compute trajectory to landing spot
List <SolveTarget> targets = new List <SolveTarget>();
Vector3d tr0 = _transform.InverseTransformPoint(r0);
tr0.y += 0.1f; // move up slightly to ensure above ground plane
Vector3d tv0 = _transform.InverseTransformVector(v0);
// Create list of solve targets
double d = 0;
Vector3 cr = tr0;
Vector3d wrf = Vector3d.zero;
Vector3d wvf = Vector3d.zero;
for (int i = 0; i < _tgts.Count; i++)
{
SolveTarget tgt = new SolveTarget();
Vector3d pos = vessel.mainBody.GetWorldSurfacePosition(_tgts[i].lat, _tgts[i].lon, _tgts[i].alt + _tgts[i].height);
tgt.r = _transform.InverseTransformPoint(pos); // convert to local (for orientation)
tgt.raxes = SolveTarget.X | SolveTarget.Y | SolveTarget.Z;
if (i == _tgts.Count - 1) // final target
{
tgt.r.y += -lowestY;
wrf = _transform.TransformPoint(tgt.r);
tgt.vaxes = SolveTarget.X | SolveTarget.Y | SolveTarget.Z;
tgt.v = vf;
wvf = _transform.TransformVector(tgt.v); // to correct final later
}
tgt.t = -1;
d = d + (cr - tgt.r).magnitude;
cr = tgt.r;
targets.Add(tgt);
}
solver.Tmax = -1; // Forces estimation given initial position, velocity and targets
solver.apex = targets[targets.Count - 1].r;
_traj = new Trajectory();
SolveResult result = MainProg.MultiPartSolve(ref solver, ref _traj, tr0, tv0, ref targets, (float)g.magnitude, extendTime);
Log(solver.DumpString() + " " + result.DumpString());
if (result.isSolved()) // solved for complete path?
{
string msg = String.Format("Found solution T={0:F1} Fuel={1:F1}", result.T, result.fuel);
Log(msg, true);
// Enable autopilot
_pid3d.Init(corrFactor, ki1, 0, corrFactor * kP2Scale, ki2, 0, maxV, (float)amax, yMult);
// TODO - Testing out using in solution co-ordinates
DrawTargets(_tgts, _transform, targetcol, tgtSize);
vessel.Autopilot.Enable(VesselAutopilot.AutopilotMode.StabilityAssist);
vessel.OnFlyByWire += new FlightInputCallback(Fly);
// Write solution
if (_logging)
{
List <string> comments = new List <string>();
comments.Add(result.DumpString());
// Thrusts
List <float> thrust_times = new List <float>();
for (int i = 0; i < result.thrusts.Length; i++)
{
thrust_times.Add(result.thrusts[i].t);
}
comments.Add("thrust_times=" + String.Join(",", thrust_times));
if (result.checktimes != null)
{
comments.Add("check_times=" + String.Join(",", result.checktimes));
}
_traj.Write(_solutionLogFilename, comments);
}
autoMode = AutoMode.LandAtTarget;
Events["ToggleGuidance"].guiName = "Cancel guidance";
}
else
{
DisableLand();
Events["ToggleGuidance"].guiName = "Failed! - Cancel guidance";
string msg = "Failure to find solution as ";
// Do some checks
if (v0.magnitude > maxV)
{
msg = msg + " velocity over " + maxV + " m/s";
}
else if (amax < g.magnitude)
{
msg = msg + "engine has insufficient thrust, no engines active or no fuel";
}
else if (amin > g.magnitude)
{
msg = msg + "can't throttle engine low enough to descent";
}
else
{
msg = msg + "impossible to reach target within constraints";
}
Log(msg, true);
autoMode = AutoMode.Failed;
}
if (result.isSolved()) // solved for complete path? - show partial?
{
DrawTrack(_traj, _transform);
}
}
