private void ThreadShession()
{
functions_queued.Add(ResetCars);
thread_wait.WaitOne();
thread_wait.Reset();
BaseTechnique training;
switch (training_technique)
{
case Techniques.PSO:
training = new PSO(car_networks);
break;
case Techniques.GA:
training = new GA(car_networks);
break;
default:
log.Add("ERROR: Unkown training technique...");
return;
}
while (!signal_session_stop)
{
log.Add("Reseting Cars");
//Update car positions
functions_queued.Add(() => {
for (int i = 0; i < current_cars.Length; i++)
{
car_body[i].velocity = Vector3.zero;
car_body[i].angularVelocity = Vector3.zero;
car_body[i].transform.position = spawner_position.transform.position;
car_body[i].transform.rotation = spawner_position.transform.rotation;
car_score_manager[i].ResetScore();
Debug.Log(i);
}
thread_wait.Set();
});
thread_wait.WaitOne();
thread_wait.Reset();
log.Add("Updating Weights");
//Update car weights & biases
training.UpdateWeights();
//Start session to get car score
for (int i = 0; i < agents_amount; i++)
{
car_intelligence[i].activate_car = true;
car_score_manager[i].activate_car = true;
car_intelligence[i].GetNetwork().SetWeightsData(car_networks[i].GetWeightsData());
}
log.Add("Session Started");
thread_session_wait.Reset();
session_timer = session_length;
thread_session_wait.WaitOne();
if (!signal_session_stop)
{
//Stop session
for (int i = 0; i < agents_amount; i++)
{
car_intelligence[i].activate_car = false;
car_score_manager[i].activate_car = false;
car_networks[i].SetNetworkScore(car_intelligence[i].GetNetwork().GetNetworkScore());
}
log.Add("Comparing Results");
//Compare all cars scores
training.ComputeEpoch();
//Update log info
best_score = training.GetBestScore();
best_weights = training.GetBestWeights();
current_epoch++;
}
}
session_activated = false;
}
