private async void addB_Click(object sender, RoutedEventArgs e)
{
var ofd = new Win32.OpenFileDialog();
ofd.Filter = "Mission Files (*.xml)|*.xml";
if (ofd.ShowDialog(this) == true)
{
using (StreamReader reader = new StreamReader(ofd.FileName))
{
try
{
MissionSpec mission = new MissionSpec(await reader.ReadToEndAsync(), true);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Parsing Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
this.addItem(ofd.FileName);
this.updateButtons();
}
}
private async void addB_Click(object sender, RoutedEventArgs e)
{
var ofd = new Win32.OpenFileDialog();
ofd.Filter = "Mission Files (*.xml)|*.xml";
if (ofd.ShowDialog(this) == true)
{
using (StreamReader reader = new StreamReader(ofd.FileName))
{
try
{
MissionSpec mission = new MissionSpec(await reader.ReadToEndAsync(), true);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Parsing Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
this.addItem(ofd.FileName);
this.updateButtons();
}
}
private async void openMI_Click(object sender, RoutedEventArgs e)
{
var ofd = new Win32.OpenFileDialog();
ofd.Filter = "Mission Files (*.xml)|*.xml";
if (ofd.ShowDialog(this) == true)
{
MissionSpec mission = await loadMission(ofd.FileName);
if (mission != null)
{
_score = 0;
openMI.IsEnabled = false;
startB.IsEnabled = false;
startB.Content = "Ready";
await Task.Run(() => runMission(mission));
startB.IsEnabled = true;
startB.Content = "Start";
openMI.IsEnabled = true;
}
}
}
private void InitializeMission()
{
string missionXMLpath = System.IO.File.ReadAllText(System.AppDomain.CurrentDomain.BaseDirectory + "myworld.xml");
mission = new MissionSpec(missionXMLpath, false);
AddBlocks(mission);
mission.setModeToCreative();
}
private static void InitMissionSpecs()
{
var missionXmlDefinition = File.ReadAllText("SampleMission.xml");
_mission = new MissionSpec(missionXmlDefinition, false);
_mission.requestVideo(640, 480);
var recordedFileName = $"./mission_data{DateTime.Now:hh mm ss}.tgz";
_missionRecord = new MissionRecordSpec(recordedFileName);
_missionRecord.recordCommands();
_missionRecord.recordMP4(20, 400000);
_missionRecord.recordRewards();
_missionRecord.recordObservations();
}
public static void Main(string[] args)
{
MissionSpec my_mission = new MissionSpec();
my_mission.timeLimitInSeconds(10);
my_mission.drawBlock(19, 0, 19, "redstone_block");
my_mission.createDefaultTerrain();
my_mission.setTimeOfDay(6000, false);
my_mission.drawCuboid(50, 0, 50, 100, 10, 100, "redstone_block");
my_mission.drawItem(3, 0, 2, "diamond_pickaxe");
my_mission.drawSphere(50, 10, 50, 10, "ice");
my_mission.drawLine(50, 20, 50, 100, 20, 100, "redstone_block");
my_mission.startAt(2.5f, 0.0f, 2.5f);
my_mission.endAt(19.5f, 0.0f, 19.5f, 1.0f);
my_mission.requestVideo(320, 240);
my_mission.setModeToCreative();
my_mission.rewardForReachingPosition(19.5f, 0.0f, 19.5f, 100.0f, 1.1f);
my_mission.observeRecentCommands();
my_mission.observeHotBar();
my_mission.observeFullInventory();
my_mission.observeGrid(-2, 0, -2, 2, 1, 2, "Cells");
my_mission.observeDistance(19.5f, 0.0f, 19.5f, "Goal");
my_mission.allowAllDiscreteMovementCommands();
// check that the XML we produce validates
bool pretty_print = false;
string xml = my_mission.getAsXML(pretty_print);
try
{
bool validate = true;
MissionSpec my_mission2 = new MissionSpec(xml, validate);
// check that we get the same XML if we go round again
string xml2 = my_mission2.getAsXML(pretty_print);
if (xml2 != xml)
{
Console.WriteLine("Mismatch between first generation XML and the second.");
Environment.Exit(1);
}
}
catch (Exception e)
{
Console.WriteLine("Error validating the XML we generated: {0}", e);
Environment.Exit(1);
}
}
private async Task <MissionSpec> loadMission(string path)
{
using (StreamReader reader = new StreamReader(path))
{
try
{
string xml = await reader.ReadToEndAsync();
xml = xml.Replace("__SEED__", _rand.Next().ToString());
MissionSpec mission = new MissionSpec(xml, true);
if (!mission.isVideoRequested(0))
{
mission.requestVideo(Settings.Default.VideoWidth, Settings.Default.VideoHeight);
}
mission.removeAllCommandHandlers();
mission.allowAllContinuousMovementCommands();
mission.allowAllDiscreteMovementCommands();
XDocument xdoc = XDocument.Parse(xml);
XNamespace malmo = "http://ProjectMalmo.microsoft.com";
var timeUpNode = xdoc.Descendants(malmo + "ServerQuitFromTimeUp").FirstOrDefault();
if (timeUpNode != null)
{
_missionDuration = TimeSpan.FromMilliseconds(double.Parse(timeUpNode.Attribute("timeLimitMs").Value));
}
else
{
_missionDuration = TimeSpan.Zero;
}
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.MissionPath = path;
}
return(mission);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Parsing Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return(null);
}
}
}
public static void Main(string[] args)
{
MissionSpec my_mission = new MissionSpec();
my_mission.timeLimitInSeconds( 10 );
my_mission.drawBlock( 19, 0, 19, "redstone_block" );
my_mission.createDefaultTerrain();
my_mission.setTimeOfDay(6000,false);
my_mission.drawCuboid(50,0,50,100,10,100,"redstone_block");
my_mission.drawItem(3,0,2,"diamond_pickaxe");
my_mission.drawSphere(50,10,50,10,"ice");
my_mission.drawLine(50,20,50,100,20,100,"redstone_block");
my_mission.startAt( 2.5f, 0.0f, 2.5f );
my_mission.endAt( 19.5f, 0.0f, 19.5f, 1.0f );
my_mission.requestVideo( 320, 240 );
my_mission.setModeToCreative();
my_mission.rewardForReachingPosition(19.5f,0.0f,19.5f,100.0f,1.1f);
my_mission.observeRecentCommands();
my_mission.observeHotBar();
my_mission.observeFullInventory();
my_mission.observeGrid(-2,0,-2,2,1,2,"Cells");
my_mission.observeDistance(19.5f,0.0f,19.5f,"Goal");
my_mission.allowAllDiscreteMovementCommands();
// check that the XML we produce validates
bool pretty_print = false;
string xml = my_mission.getAsXML( pretty_print );
try
{
bool validate = true;
MissionSpec my_mission2 = new MissionSpec( xml, validate );
// check that we get the same XML if we go round again
string xml2 = my_mission2.getAsXML( pretty_print );
if( xml2 != xml )
{
Console.WriteLine("Mismatch between first generation XML and the second.");
Environment.Exit(1);
}
}
catch( Exception e )
{
Console.WriteLine("Error validating the XML we generated: {0}", e);
Environment.Exit(1);
}
}
private static void LoadMinecraft(AgentHost agentHost, string XMLFile, ListBox lstMessage)
{
String strXMLFileContents = "";
using (StreamReader sr = new StreamReader(XMLFile))
{
// Read the stream to a string, and write the string to the console.
strXMLFileContents = sr.ReadToEnd();
}
MissionSpec mission = new MissionSpec(strXMLFileContents, false);
mission.requestVideo(640, 480);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
lstMessage.Items.Insert(0, String.Format("Error starting mission: {0}", ex.Message));
Environment.Exit(1);
}
WorldState worldState;
lstMessage.Items.Insert(0, "Waiting for the mission to start");
do
{
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
lstMessage.Items.Insert(0, String.Format("Error: {0}", error.text));
}
}while (!worldState.has_mission_begun);
}
private void AddBlocks(MissionSpec mission)
{
int x1 = -1;
for (int z1 = -1; z1 < 20; z1++)
{
for (int y = 227; y <= 227 + 10; y++)
{
mission.drawBlock(x1, y, z1, "cobblestone");
}
}
int z2 = -1;
for (int x2 = -1; x2 < 20; x2++)
{
for (int y = 227; y <= 227 + 10; y++)
{
mission.drawBlock(x2, y, z2, "cobblestone");
}
}
int x3 = 20;
for (int z3 = 0; z3 < 20; z3++)
{
for (int y = 227; y < 227 + 10; y++)
{
mission.drawBlock(x3, y, z3, "cobblestone");
}
}
int z4 = 20;
for (int x4 = 0; x4 < 20; x4++)
{
for (int y = 227; y < 227 + 10; y++)
{
mission.drawBlock(x4, y, z4, "cobblestone");
}
}
}
void InitializeMission()
{
string missionXMLpath = SharpNeat.PopulationReadWrite.GetEvolutionFolderPath();
missionXMLpath += "minecraftWorldXML.txt";
// We need to avoid trouble if the file gets simultaneus access demands
string rawMissionXML = SaferRead(missionXMLpath);
// This is a valid alternative, but changes in the mission xml will require compiling...
//string rawMissionXML = Evolution.Malmo.RawXMLmissionFactory.xmlMission;
try
{
// Hopefully this minimizes parallelization errors:
// 'System.AccessViolationException' in MalmoNET.dll
// Still, if it happens, this will require a server reset...
RandomWait();
mission = new MissionSpec(rawMissionXML, true);
}
catch (Exception ex)
{
string errorLine = "Fatal error when starting a mission in ProgramMalmo: " + ex.Message;
SharpNeat.PopulationReadWrite.WriteErrorForDebug(errorLine);
System.Diagnostics.Debug.WriteLine("\nFatal error when starting a mission in ProgramMalmo: " + ex.Message);
Environment.Exit(1);
}
mission.timeLimitInSeconds(10);
//mission.forceWorldReset();
AddProceduralDecoration();
string savePath = MakeSavePath();
missionRecord = new MissionRecordSpec(savePath);
//missionRecord = new MissionRecordSpec();
missionRecord.recordCommands();
missionRecord.recordMP4(30, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
}
private async void startB_Click(object sender, RoutedEventArgs e)
{
if (!startB.IsEnabled)
{
return;
}
startB.IsEnabled = false;
_score = 0;
int index = 0;
for (int i = 0; i < _curriculumItemPaths.Length; i++)
{
startB.Content = "Ready";
MissionSpec spec = await loadMission(_curriculumItemPaths[index]);
if (spec != null)
{
await Task.Run(() => runMission(spec));
}
if (_missionSuccess)
{
index++;
}
}
if (_highScoreWindow != null && _highScoreWindow.IsVisible)
{
_highScoreWindow.AddScore((int)_score);
}
startB.IsEnabled = true;
startB.Content = "Start";
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo(320, 240);
mission.rewardForReachingPosition(19.5f, 0.0f, 19.5f, 100.0f, 1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (MissionException ex)
{
// Using catch(Exception ex) would also work, but specifying MissionException allows
// us to access the error code:
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Console.Error.WriteLine("Error code: {0}", ex.getMissionErrorCode());
// We can do more specific error handling using this code, eg:
if (ex.getMissionErrorCode() == MissionException.MissionErrorCode.MISSION_INSUFFICIENT_CLIENTS_AVAILABLE)
{
Console.Error.WriteLine("Have you started a Minecraft client?");
}
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (!worldState.has_mission_begun);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards)
{
Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
}
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo(320, 240);
mission.rewardForReachingPosition(19.5f, 0.0f, 19.5f, 100.0f, 1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (!worldState.is_mission_running);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards)
{
Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
}
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
private void runMission(MissionSpec mission)
{
string recordPath = "none";
MissionRecordSpec missionRecord;
if (string.IsNullOrEmpty(Settings.Default.OutputDir))
{
missionRecord = new MissionRecordSpec();
}
else
{
recordPath = Path.Combine(Settings.Default.OutputDir, Guid.NewGuid() + ".tar.gz");
missionRecord = new MissionRecordSpec(recordPath);
if (Settings.Default.RecordObservations)
{
missionRecord.recordObservations();
}
if (Settings.Default.RecordRewards)
{
missionRecord.recordRewards();
}
if (Settings.Default.RecordCommands)
{
missionRecord.recordCommands();
}
if (Settings.Default.RecordMP4)
{
missionRecord.recordMP4(Settings.Default.MP4FPS, (long)(Settings.Default.BitRate * 1024));
}
}
using (AgentHost agentHost = new AgentHost())
{
ClientPool clientPool = new ClientPool();
clientPool.add(new ClientInfo(Settings.Default.ClientIP, Settings.Default.ClientPort));
try
{
agentHost.startMission(mission, clientPool, missionRecord, 0, "hac");
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Starting Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
Dispatcher.Invoke(() =>
{
Activate();
VideoImage.Focus();
startB.Content = "Set";
Title = Settings.Default.Title + " : Waiting for mission start";
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.RecordPath = recordPath;
}
});
_isInSession = true;
try
{
WorldState worldState;
// wait for mission to start
do
{
Thread.Sleep(100);
worldState = agentHost.getWorldState();
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}while (!worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
DateTime missionStartTime = DateTime.UtcNow;
_timeRemaining = _missionDuration;
Dispatcher.Invoke(() =>
{
startB.Content = "Go!";
Title = Settings.Default.Title + " : Recording";
});
// run mission
TimeSpan loopTime = TimeSpan.FromSeconds(1.0 / 20);
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = new Queue <Tuple <string, float> >();
}
finally
{
_pendingCommandsMutex.Release();
}
_pendingMessagesMutex.Wait();
try
{
_pendingMessages = new Queue <string>();
}
finally
{
_pendingMessagesMutex.Release();
}
bool failure = false;
Stopwatch loopTimer = new Stopwatch();
do
{
loopTimer.Reset();
loopTimer.Start();
worldState = agentHost.getWorldState();
TimestampedVideoFrame frame = worldState.video_frames.FirstOrDefault();
if (frame != null)
{
if (_missionDuration != TimeSpan.Zero)
{
TimeSpan elapsed = frame.timestamp - missionStartTime;
_timeRemaining = _missionDuration - elapsed;
}
_pixelsMutex.Wait();
try
{
if (_pixels == null || _pixels.Length != frame.pixels.Count)
{
_pixels = new byte[frame.pixels.Count];
Dispatcher.Invoke(() =>
{
if (_bitmap.Width != frame.width || _bitmap.Height != frame.height)
{
_bitmap = new WriteableBitmap(frame.width, frame.height, 72, 72, PixelFormats.Rgb24, null);
VideoImage.Source = _bitmap;
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.FrameSource = _bitmap;
}
}
});
}
frame.pixels.CopyTo(_pixels);
}
finally
{
_pixelsMutex.Release();
}
}
_pendingMessagesMutex.Wait();
try
{
foreach (var reward in worldState.rewards)
{
_score += reward.getValue();
if (reward.getValue() < 0)
{
failure = true;
}
_pendingMessages.Enqueue(string.Format("{0}> score {1}", reward.timestamp.ToString("hh:mm:ss.fff"), reward.getValue()));
}
_score = Math.Max(_score, 0);
_score = Math.Min(_score, 99999);
foreach (var observation in worldState.observations)
{
int posStart = observation.text.IndexOf("\"XPos\"");
if (posStart < 0)
{
continue;
}
int posEnd = observation.text.IndexOf("\"ZPos\"");
posEnd = observation.text.IndexOf(',', posEnd);
string posSegment = observation.text.Substring(posStart, posEnd - posStart);
string[] pos = posSegment.Split(',');
float x = Convert.ToSingle(pos[0].Split(':')[1]);
float y = Convert.ToSingle(pos[1].Split(':')[1]);
float z = Convert.ToSingle(pos[2].Split(':')[1]);
_pendingMessages.Enqueue(string.Format("{0}> (x={1:0.00}, y={2:0.00}, z={3:0.00})", observation.timestamp.ToString("hh:mm:ss.fff"), x, y, z));
}
}
finally
{
_pendingMessagesMutex.Release();
}
CheckGamepad(agentHost);
_pendingCommandsMutex.Wait();
try
{
while (_pendingCommandQueue.Any())
{
var command = _pendingCommandQueue.Dequeue();
CheckAndSend(agentHost, command.Item1, command.Item2);
}
}
finally
{
_pendingCommandsMutex.Release();
}
loopTimer.Stop();
if (loopTimer.Elapsed < loopTime)
{
Thread.Sleep(loopTime - loopTimer.Elapsed);
}
} while (worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
if (!failure)
{
_score += _timeRemaining.TotalSeconds * 100;
}
_missionSuccess = !failure;
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = null;
}
finally
{
_pendingCommandsMutex.Release();
}
Dispatcher.Invoke(() =>
{
Title = Settings.Default.Title + " : Ready";
UpdateDisplayedMessages();
UpdateDisplayedReward();
});
_resetVerb = null;
var keys = _continuousCommandState.Keys.ToList();
foreach (var verb in keys)
{
_continuousCommandState[verb] = 0;
}
keys = _discreteCommandState.Keys.ToList();
foreach (var verb in keys)
{
_discreteCommandState[verb] = false;
}
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error during mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
finally
{
_isInSession = false;
}
}
}
public static void Main(string[] args)
{
MissionSpec my_mission = new MissionSpec();
my_mission.setSummary("example mission");
my_mission.timeLimitInSeconds(10);
my_mission.drawBlock(19, 0, 19, "redstone_block");
my_mission.createDefaultTerrain();
my_mission.setTimeOfDay(6000, false);
my_mission.drawCuboid(50, 0, 50, 100, 10, 100, "redstone_block");
my_mission.drawItem(3, 0, 2, "diamond_pickaxe");
my_mission.drawSphere(50, 10, 50, 10, "ice");
my_mission.drawLine(50, 20, 50, 100, 20, 100, "redstone_block");
my_mission.startAt(2.5f, 0.0f, 2.5f);
my_mission.endAt(19.5f, 0.0f, 19.5f, 1.0f);
my_mission.requestVideo(320, 240);
my_mission.setModeToCreative();
my_mission.rewardForReachingPosition(19.5f, 0.0f, 19.5f, 100.0f, 1.1f);
my_mission.observeRecentCommands();
my_mission.observeHotBar();
my_mission.observeFullInventory();
my_mission.observeGrid(-2, 0, -2, 2, 1, 2, "Cells");
my_mission.observeDistance(19.5f, 0.0f, 19.5f, "Goal");
my_mission.removeAllCommandHandlers();
my_mission.allowContinuousMovementCommand("move");
my_mission.allowContinuousMovementCommand("strafe");
my_mission.allowDiscreteMovementCommand("movenorth");
my_mission.allowInventoryCommand("swapInventoryItems");
if (my_mission.getSummary() != "example mission")
{
Console.WriteLine("Unexpected summary");
Environment.Exit(1);
}
string[] expected_command_handlers = { "ContinuousMovement", "DiscreteMovement", "Inventory" };
string[] actual_command_handlers = new List <string>(my_mission.getListOfCommandHandlers(0)).ToArray();
if (actual_command_handlers.Length != expected_command_handlers.Length)
{
Console.WriteLine("Number of command handlers mismatch");
Environment.Exit(1);
}
for (int i = 0; i < actual_command_handlers.Length; i++)
{
if (!actual_command_handlers[i].Equals(expected_command_handlers[i]))
{
Console.WriteLine("Unexpected command handler: {0}", actual_command_handlers[i]);
Environment.Exit(1);
}
}
string[] expected_continuous_commands = { "move", "strafe" };
string[] actual_continuous_commands = new List <string>(my_mission.getAllowedCommands(0, "ContinuousMovement")).ToArray();
if (actual_continuous_commands.Length != expected_continuous_commands.Length)
{
Console.WriteLine("Number of continuous commands mismatch");
Environment.Exit(1);
}
for (int i = 0; i < actual_continuous_commands.Length; i++)
{
if (!actual_continuous_commands[i].Equals(expected_continuous_commands[i]))
{
Console.WriteLine("Unexpected continuous command: {0}", actual_continuous_commands[i]);
Environment.Exit(1);
}
}
string[] expected_discrete_commands = { "movenorth" };
string[] actual_discrete_commands = new List <string>(my_mission.getAllowedCommands(0, "DiscreteMovement")).ToArray();
if (actual_discrete_commands.Length != expected_discrete_commands.Length)
{
Console.WriteLine("Number of discrete commands mismatch");
Environment.Exit(1);
}
for (int i = 0; i < actual_discrete_commands.Length; i++)
{
if (!actual_discrete_commands[i].Equals(expected_discrete_commands[i]))
{
Console.WriteLine("Unexpected discrete command: {0}", actual_discrete_commands[i]);
Environment.Exit(1);
}
}
string[] expected_inventory_commands = { "swapInventoryItems" };
string[] actual_inventory_commands = new List <string>(my_mission.getAllowedCommands(0, "Inventory")).ToArray();
if (actual_inventory_commands.Length != expected_inventory_commands.Length)
{
Console.WriteLine("Number of commands mismatch");
Environment.Exit(1);
}
for (int i = 0; i < actual_inventory_commands.Length; i++)
{
if (!actual_inventory_commands[i].Equals(expected_inventory_commands[i]))
{
Console.WriteLine("Unexpected command: {0}", actual_inventory_commands[i]);
Environment.Exit(1);
}
}
// check that the XML we produce validates
bool pretty_print = false;
string xml = my_mission.getAsXML(pretty_print);
try
{
bool validate = true;
MissionSpec my_mission2 = new MissionSpec(xml, validate);
// check that we get the same XML if we go round again
string xml2 = my_mission2.getAsXML(pretty_print);
if (xml2 != xml)
{
Console.WriteLine("Mismatch between first generation XML and the second.");
Environment.Exit(1);
}
}
catch (Exception e)
{
Console.WriteLine("Error validating the XML we generated: {0}", e);
Environment.Exit(1);
}
// check that known-good XML validates
const string xml3 = @"<?xml version=""1.0"" encoding=""UTF-8"" ?><Mission xmlns=""http://ProjectMalmo.microsoft.com"" xmlns:xsi=""http://www.w3.org/2001/XMLSchema-instance"">
<About><Summary>Run the maze!</Summary></About>
<ServerSection><ServerInitialConditions><AllowSpawning>true</AllowSpawning><Time><StartTime>1000</StartTime><AllowPassageOfTime>true</AllowPassageOfTime></Time><Weather>clear</Weather></ServerInitialConditions>
<ServerHandlers>
<FlatWorldGenerator generatorString=""3;7,220*1,5*3,2;3;,biome_1"" />
<ServerQuitFromTimeUp timeLimitMs=""20000"" />
<ServerQuitWhenAnyAgentFinishes />
</ServerHandlers></ServerSection>
<AgentSection><Name>Jason Bourne</Name><AgentStart><Placement x=""-204"" y=""81"" z=""217""/></AgentStart><AgentHandlers>
<VideoProducer want_depth=""true""><Width>320</Width><Height>240</Height></VideoProducer>
<RewardForReachingPosition><Marker reward=""100"" tolerance=""1.1"" x=""-104"" y=""81"" z=""217""/></RewardForReachingPosition>
<ContinuousMovementCommands><ModifierList type=""deny-list""><command>attack</command><command>crouch</command></ModifierList></ContinuousMovementCommands>
<AgentQuitFromReachingPosition><Marker x=""-104"" y=""81"" z=""217""/></AgentQuitFromReachingPosition>
</AgentHandlers></AgentSection></Mission>";
try
{
const bool validate = true;
MissionSpec my_mission3 = new MissionSpec(xml3, validate);
if (my_mission3.getSummary() != "Run the maze!")
{
Console.WriteLine("Unexpected summary");
Environment.Exit(1);
}
string[] expected_command_handlers2 = { "ContinuousMovement" };
string[] actual_command_handlers2 = new List <string>(my_mission3.getListOfCommandHandlers(0)).ToArray();
if (actual_command_handlers2.Length != expected_command_handlers2.Length)
{
Console.WriteLine("Number of command handlers mismatch");
Environment.Exit(1);
}
for (int i = 0; i < actual_command_handlers2.Length; i++)
{
if (!actual_command_handlers2[i].Equals(expected_command_handlers2[i]))
{
Console.WriteLine("Unexpected command handler: {0}", actual_command_handlers2[i]);
Environment.Exit(1);
}
}
string[] expected_continuous_commands2 = { "jump", "move", "pitch", "strafe", "turn", "use" };
string[] actual_continuous_commands2 = new List <string>(my_mission3.getAllowedCommands(0, "ContinuousMovement")).ToArray();
if (actual_continuous_commands2.Length != expected_continuous_commands2.Length)
{
Console.WriteLine("Number of continuous commands mismatch");
Environment.Exit(1);
}
for (int i = 0; i < actual_continuous_commands2.Length; i++)
{
if (!actual_continuous_commands2[i].Equals(expected_continuous_commands2[i]))
{
Console.WriteLine("Unexpected continuous command: {0}", actual_continuous_commands2[i]);
Environment.Exit(1);
}
}
}
catch (Exception e)
{
Console.WriteLine("Error validating known-good XML: {0}", e);
Environment.Exit(1);
}
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec();
MissionRecordSpec my_mission_record = new MissionRecordSpec("./saved_data.tgz");
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agentHost.startMission(my_mission, my_mission_record);
break;
}
catch (MissionException ex)
{
if (retry == max_retries - 1)
{
Console.WriteLine("Error starting mission:{0}", ex.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(2000);
}
}
}
// Loop until mission starts:
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state;
do
{
Console.Write(".");
Thread.Sleep(100);
world_state = agentHost.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.Error.WriteLine("Error:{0}", error.text);
}
}while (!world_state.has_mission_begun);
Console.WriteLine();
Console.WriteLine("Mission running ");
Console.WriteLine(my_mission.getAsXML(true));
// Enter your commands here
// agentHost.sendCommand("turn -0.5");
// agentHost.sendCommand("move 1");
// agentHost.sendCommand("jump 1");
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agentHost.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended
}
public static void Main()
{
for (int run = 0; run < 1; run++)
{
Console.WriteLine("Run #" + run);
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
bool pretty_print = false;
string xml = System.IO.File.ReadAllText(System.IO.Directory.GetCurrentDirectory() + "/mission.xml");
MissionSpec mission = null;
bool validate = true;
mission = new MissionSpec(xml, validate);
Random rand2 = new Random();
for (int i = 0; i < rand2.Next(5, 15); i++)
{
mission.drawBlock(rand2.Next(1, 10), 46, rand2.Next(1, 10), "red_flower");
}
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
bool connected = false;
int attempts = 0;
while (!connected)
{
try
{
attempts += 1;
agentHost.startMission(mission, missionRecord);
connected = true;
}
catch (MissionException ex)
{
// Using catch(Exception ex) would also work, but specifying MissionException allows
// us to access the error code:
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Console.Error.WriteLine("Error code: {0}", ex.getMissionErrorCode());
// We can do more specific error handling using this code, eg:
if (ex.getMissionErrorCode() == MissionException.MissionErrorCode.MISSION_INSUFFICIENT_CLIENTS_AVAILABLE)
{
Console.Error.WriteLine("Have you started a Minecraft client?");
}
if (attempts >= 3) // Give up after three goes.
{
Environment.Exit(1);
}
Thread.Sleep(1000); // Wait a second and try again.
}
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (!worldState.has_mission_begun);
Console.WriteLine();
Random rand = new Random();
Queue <JToken> apples = new Queue <JToken>();
bool observed = false;
// main loop:
do
{
//agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
//agentHost.sendCommand("pitch 1");
if (!observed)
{
JObject obj = JObject.Parse(worldState.observations[0].text);
JToken entities;
if (obj.TryGetValue("close_entities", out entities))
{
JArray entitiesArr = (JArray)entities;
// The first element is always our agent ? - maybe
for (int i = 1; i < entitiesArr.Count; i++)
{
Console.WriteLine(entitiesArr[i]["name"]);
if ((string)entitiesArr[i]["name"] == "red_flower")
{
apples.Enqueue(entitiesArr[i]);
}
}
observed = true;
}
}
else
{
// Start trying to get to the apples
if (apples.Count == 0)
{
Console.WriteLine("Mission acomplished.");
return;
}
bool popped = false;
while (!popped)
{
var obs = agentHost.getWorldState().observations;
if (obs.Count > 0)
{
// Get our position
JObject obj = JObject.Parse(obs[0].text);
JToken entities;
if (obj.TryGetValue("close_entities", out entities))
{
JArray entitiesArr = (JArray)entities;
// The first element is always our agent ? - maybe
Console.WriteLine(entitiesArr[0]);
int x = (int)entitiesArr[0]["x"];
int z = (int)entitiesArr[0]["z"];
int diffX = (int)apples.Peek()["x"] - x;
int diffZ = (int)apples.Peek()["z"] - z;
Console.WriteLine(diffX + "-" + diffZ);
if (diffZ > 0)
{
agentHost.sendCommand("movesouth 1");
}
else if (diffZ < 0)
{
agentHost.sendCommand("movenorth 1");
}
if (diffX > 0)
{
agentHost.sendCommand("moveeast 1");
}
else if (diffX < 0)
{
agentHost.sendCommand("movewest 1");
}
/* Console.WriteLine(entitiesArr[0]);
* if (diffZ > 0)
* {
* if((float)entitiesArr[0]["yaw"] > 180)
* agentHost.sendCommand("turn 180");
* agentHost.sendCommand("move 1");
* }
* else if (diffZ < 0)
* {
* agentHost.sendCommand("turn 0");
* agentHost.sendCommand("move 1");
* }
* if (diffX > 0)
* {
* agentHost.sendCommand("turn -90");
* agentHost.sendCommand("move 1");
* }
* else if (diffX < 0)
* {
* agentHost.sendCommand("turn 90");
* agentHost.sendCommand("move 1");
* }*/
if (diffZ == 0 && diffX == 0)
{
Console.WriteLine("Dequeuing");
agentHost.sendCommand("move 0");
apples.Dequeue();
// break block
agentHost.sendCommand("pitch 1");
agentHost.sendCommand("attack 1");
agentHost.sendCommand("jump 1");
Thread.Sleep(6000);
break;
}
}
}
Thread.Sleep(500);
// agentHost.sendCommand("movenorth 1");
}
}
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards)
{
Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
}
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
}
static void Main()
{
string missionXML = @"<?xml version=""1.0"" encoding=""UTF-8"" standalone=""no"" ?>
<Mission xmlns=""http://ProjectMalmo.microsoft.com"" xmlns:xsi=""http://www.w3.org/2001/XMLSchema-instance"">
<About>
<Summary>Hello world!</Summary>
</About>
<ServerSection>
<ServerInitialConditions>
<Time>
<StartTime>1000</StartTime>
<AllowPassageOfTime>false</AllowPassageOfTime>
</Time>
<Weather>clear</Weather>
</ServerInitialConditions>
<ServerHandlers>
<FlatWorldGenerator generatorString=""3;7,44*49,73,35:1,159:4,95:13,35:13,159:11,95:10,159:14,159:6,35:6,95:6;12;""/>
<DrawingDecorator>
<DrawSphere x=""-27"" y=""70"" z=""0"" radius=""30"" type=""air""/>" + Menger(-40, 40, -13, 27, "stone", "smooth_granite", "air") + @"
<DrawBlock x=""-27"" y=""39"" z=""0"" type=""diamond_block""/>
</DrawingDecorator>
<ServerQuitFromTimeUp timeLimitMs=""30000""/>
<ServerQuitWhenAnyAgentFinishes/>
</ServerHandlers>
</ServerSection>
<AgentSection mode=""Survival"">
<Name>MalmoTutorialBot</Name>
<AgentStart>
<Placement x=""0.5"" y=""56.0"" z=""0.5"" yaw=""90""/>
<Inventory>
<InventoryItem slot=""8"" type=""diamond_pickaxe""/>
</Inventory>
</AgentStart>
<AgentHandlers>
<ObservationFromFullStats/>
<ContinuousMovementCommands turnSpeedDegs=""180""/>
<InventoryCommands/>
<AgentQuitFromReachingPosition>
<Marker x=""-26.5"" y=""40"" z=""0.5"" tolerance=""0.5"" description=""Goal_found""/>
</AgentQuitFromReachingPosition>
</AgentHandlers>
</AgentSection>
</Mission>";
// Create default Malmo objects:
AgentHost agent_host = new AgentHost();
try
{
agent_host.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception e)
{
Console.WriteLine("Error:{0}", e.Message);
Console.WriteLine(agent_host.getUsage());
Environment.Exit(1);
}
if (agent_host.receivedArgument("help"))
{
Console.WriteLine(agent_host.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec(missionXML, true);
MissionRecordSpec my_mission_record = new MissionRecordSpec();
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agent_host.startMission(my_mission, my_mission_record);
break;
}
catch (Exception e)
{
if (retry == max_retries)
{
Console.WriteLine("Error starting mission:{0}", e.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(2000);
}
}
}
// Loop until mission starts:
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state = agent_host.getWorldState();
while (!world_state.has_mission_begun)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission running ");
agent_host.sendCommand("hotbar.9 1");
agent_host.sendCommand("hotbar.9 0");
agent_host.sendCommand("pitch 0.2");
Thread.Sleep(1000);
agent_host.sendCommand("pitch 0");
agent_host.sendCommand("move 1");
agent_host.sendCommand("attack 1");
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended.
}
public MazeMaker(MissionSpec givenMission)
{
mission = givenMission;
}
private async Task<MissionSpec> loadMission(string path)
{
using (StreamReader reader = new StreamReader(path))
{
try
{
string xml = await reader.ReadToEndAsync();
xml = xml.Replace("__SEED__", _rand.Next().ToString());
MissionSpec mission = new MissionSpec(xml, true);
if (!mission.isVideoRequested(0))
{
mission.requestVideo(Settings.Default.VideoWidth, Settings.Default.VideoHeight);
}
mission.removeAllCommandHandlers();
mission.allowAllContinuousMovementCommands();
mission.allowAllDiscreteMovementCommands();
XDocument xdoc = XDocument.Parse(xml);
XNamespace malmo = "http://ProjectMalmo.microsoft.com";
var timeUpNode = xdoc.Descendants(malmo + "ServerQuitFromTimeUp").FirstOrDefault();
if(timeUpNode != null)
{
_missionDuration = TimeSpan.FromMilliseconds(double.Parse(timeUpNode.Attribute("timeLimitMs").Value));
}
else
{
_missionDuration = TimeSpan.Zero;
}
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.MissionPath = path;
}
return mission;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Parsing Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return null;
}
}
}
private MazeMaker()
{
mission = null;
}
private void runMission(MissionSpec mission)
{
string recordPath = "none";
MissionRecordSpec missionRecord;
if (string.IsNullOrEmpty(Settings.Default.OutputDir))
{
missionRecord = new MissionRecordSpec();
}
else
{
recordPath = Path.Combine(Settings.Default.OutputDir, Guid.NewGuid() + ".tar.gz");
missionRecord = new MissionRecordSpec(recordPath);
if (Settings.Default.RecordObservations)
{
missionRecord.recordObservations();
}
if (Settings.Default.RecordRewards)
{
missionRecord.recordRewards();
}
if (Settings.Default.RecordCommands)
{
missionRecord.recordCommands();
}
if (Settings.Default.RecordMP4)
{
missionRecord.recordMP4(Settings.Default.MP4FPS, (long)(Settings.Default.BitRate * 1024));
}
}
using (AgentHost agentHost = new AgentHost())
{
ClientPool clientPool = new ClientPool();
clientPool.add(new ClientInfo(Settings.Default.ClientIP, Settings.Default.ClientPort));
try
{
agentHost.startMission(mission, clientPool, missionRecord, 0, "hac");
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Starting Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
Dispatcher.Invoke(() =>
{
Activate();
VideoImage.Focus();
startB.Content = "Set";
Title = Settings.Default.Title + " : Waiting for mission start";
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.RecordPath = recordPath;
}
});
_isInSession = true;
try
{
WorldState worldState;
// wait for mission to start
do
{
Thread.Sleep(100);
worldState = agentHost.getWorldState();
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
while (!worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
DateTime missionStartTime = DateTime.UtcNow;
_timeRemaining = _missionDuration;
Dispatcher.Invoke(() =>
{
startB.Content = "Go!";
Title = Settings.Default.Title + " : Recording";
});
// run mission
TimeSpan loopTime = TimeSpan.FromSeconds(1.0 / 20);
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = new Queue<Tuple<string, float>>();
}
finally
{
_pendingCommandsMutex.Release();
}
_pendingMessagesMutex.Wait();
try
{
_pendingMessages = new Queue<string>();
}
finally
{
_pendingMessagesMutex.Release();
}
bool failure = false;
Stopwatch loopTimer = new Stopwatch();
do
{
loopTimer.Reset();
loopTimer.Start();
worldState = agentHost.getWorldState();
TimestampedVideoFrame frame = worldState.video_frames.FirstOrDefault();
if (frame != null)
{
if (_missionDuration != TimeSpan.Zero)
{
TimeSpan elapsed = frame.timestamp - missionStartTime;
_timeRemaining = _missionDuration - elapsed;
}
_pixelsMutex.Wait();
try
{
if (_pixels == null || _pixels.Length != frame.pixels.Count)
{
_pixels = new byte[frame.pixels.Count];
Dispatcher.Invoke(() =>
{
if (_bitmap.Width != frame.width || _bitmap.Height != frame.height)
{
_bitmap = new WriteableBitmap(frame.width, frame.height, 72, 72, PixelFormats.Rgb24, null);
VideoImage.Source = _bitmap;
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.FrameSource = _bitmap;
}
}
});
}
frame.pixels.CopyTo(_pixels);
}
finally
{
_pixelsMutex.Release();
}
}
_pendingMessagesMutex.Wait();
try
{
foreach (var reward in worldState.rewards)
{
_score += reward.getValue();
if (reward.getValue() < 0)
{
failure = true;
}
_pendingMessages.Enqueue(string.Format("{0}> score {1}", reward.timestamp.ToString("hh:mm:ss.fff"), reward.getValue()));
}
_score = Math.Max(_score, 0);
_score = Math.Min(_score, 99999);
foreach (var observation in worldState.observations)
{
int posStart = observation.text.IndexOf("\"XPos\"");
if (posStart < 0)
{
continue;
}
int posEnd = observation.text.IndexOf("\"ZPos\"");
posEnd = observation.text.IndexOf(',', posEnd);
string posSegment = observation.text.Substring(posStart, posEnd - posStart);
string[] pos = posSegment.Split(',');
float x = Convert.ToSingle(pos[0].Split(':')[1]);
float y = Convert.ToSingle(pos[1].Split(':')[1]);
float z = Convert.ToSingle(pos[2].Split(':')[1]);
_pendingMessages.Enqueue(string.Format("{0}> (x={1:0.00}, y={2:0.00}, z={3:0.00})", observation.timestamp.ToString("hh:mm:ss.fff"), x, y, z));
}
}
finally
{
_pendingMessagesMutex.Release();
}
CheckGamepad(agentHost);
_pendingCommandsMutex.Wait();
try
{
while (_pendingCommandQueue.Any())
{
var command = _pendingCommandQueue.Dequeue();
CheckAndSend(agentHost, command.Item1, command.Item2);
}
}
finally
{
_pendingCommandsMutex.Release();
}
loopTimer.Stop();
if (loopTimer.Elapsed < loopTime)
{
Thread.Sleep(loopTime - loopTimer.Elapsed);
}
} while (worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
if (!failure)
{
_score += _timeRemaining.TotalSeconds * 100;
}
_missionSuccess = !failure;
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = null;
}
finally
{
_pendingCommandsMutex.Release();
}
Dispatcher.Invoke(() =>
{
Title = Settings.Default.Title + " : Ready";
UpdateDisplayedMessages();
UpdateDisplayedReward();
});
_resetVerb = null;
var keys = _continuousCommandState.Keys.ToList();
foreach (var verb in keys)
{
_continuousCommandState[verb] = 0;
}
keys = _discreteCommandState.Keys.ToList();
foreach (var verb in keys)
{
_discreteCommandState[verb] = false;
}
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error during mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
finally
{
_isInSession = false;
}
}
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse( new StringVector( Environment.GetCommandLineArgs() ) );
}
catch( Exception ex )
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if( agentHost.receivedArgument("help") )
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo( 320, 240 );
mission.rewardForReachingPosition(19.5f,0.0f,19.5f,100.0f,1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors) Console.Error.WriteLine("Error: {0}", error.text);
}
while (!worldState.is_mission_running);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards) Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
foreach (TimestampedString error in worldState.errors) Console.Error.WriteLine("Error: {0}", error.text);
}
while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
static void Main()
{
string missionXML = @"<?xml version=""1.0"" encoding=""UTF-8"" standalone=""no"" ?>
<Mission xmlns=""http://ProjectMalmo.microsoft.com"" xmlns:xsi=""http://www.w3.org/2001/XMLSchema-instance"">
<About>
<Summary>Hello world!</Summary>
</About>
<ServerSection>
<ServerInitialConditions>
<Time>
<StartTime>1000</StartTime>
<AllowPassageOfTime>false</AllowPassageOfTime>
</Time>
<Weather>clear</Weather>
</ServerInitialConditions>
<ServerHandlers>
<FlatWorldGenerator generatorString=""3;7,44*49,73,35:1,159:4,95:13,35:13,159:11,95:10,159:14,159:6,35:6,95:6;12;""/>
<DrawingDecorator>
<DrawSphere x=""-27"" y=""70"" z=""0"" radius=""30"" type=""air""/>" + Menger(-40, 40, -13, 27, "stone", "smooth_granite", "air") + @"
<DrawCuboid x1=""-25"" y1=""39"" z1=""-2"" x2=""-29"" y2=""39"" z2=""2"" type=""lava""/>
<DrawCuboid x1=""-26"" y1=""39"" z1=""-1"" x2=""-28"" y2=""39"" z2=""1"" type=""obsidian""/>
<DrawBlock x=""-27"" y=""39"" z=""0"" type=""diamond_block""/>
</DrawingDecorator>
<ServerQuitFromTimeUp timeLimitMs=""30000""/>
<ServerQuitWhenAnyAgentFinishes/>
</ServerHandlers>
</ServerSection>
<AgentSection mode=""Survival"">
<Name>MalmoTutorialBot</Name>
<AgentStart>
<Placement x=""0.5"" y=""56.0"" z=""0.5"" yaw=""90""/>
<Inventory>
<InventoryItem slot=""8"" type=""diamond_pickaxe""/>
</Inventory>
</AgentStart>
<AgentHandlers>
<ObservationFromFullStats/>
<ObservationFromGrid>
<Grid name=""floor3x3"">
<min x=""-1"" y=""-1"" z=""-1""/>
<max x=""1"" y=""-1"" z=""1""/>
</Grid>
</ObservationFromGrid>
<ContinuousMovementCommands turnSpeedDegs=""180""/>
<InventoryCommands/>
<AgentQuitFromTouchingBlockType>
<Block type=""diamond_block"" />
</AgentQuitFromTouchingBlockType>
</AgentHandlers>
</AgentSection>
</Mission>";
// Create default Malmo objects:
AgentHost agent_host = new AgentHost();
try
{
agent_host.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception e)
{
Console.WriteLine("Error:{0}", e.Message);
Console.WriteLine(agent_host.getUsage());
Environment.Exit(1);
}
if (agent_host.receivedArgument("help"))
{
Console.WriteLine(agent_host.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec(missionXML, true);
MissionRecordSpec my_mission_record = new MissionRecordSpec();
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agent_host.startMission(my_mission, my_mission_record);
break;
}
catch (Exception e)
{
if (retry == max_retries - 1)
{
Console.WriteLine("Error starting mission:{0}", e.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(2000);
}
}
}
// Loop until mission starts
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state = agent_host.getWorldState();
while (!world_state.has_mission_begun)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission running ");
agent_host.sendCommand("hotbar.9 1"); // Press the hotbar key
agent_host.sendCommand("hotbar.9 0"); // Release hotbar key - agent should now be holding diamond_pickaxe
agent_host.sendCommand("pitch 0.2"); // Start looking downward slowly
Thread.Sleep(1000); // Wait a second until we are looking in roughly the right direction
agent_host.sendCommand("pitch 0"); // Stop tilting the camera
agent_host.sendCommand("move 1"); // And start running...
agent_host.sendCommand("attack 1"); // Whilst flailing our pickaxe!
bool jumping = false;
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
if (world_state.number_of_observations_since_last_state > 0) // Have any observations come in?
{
string msg = world_state.observations[world_state.observations.Count - 1].text;
JObject observations = JObject.Parse(msg);
JToken grid = observations.GetValue("floor3x3");
if (jumping is true)
{
if (grid[4].ToString() is "lava")
{
agent_host.sendCommand("jump 0");
jumping = false;
}
}
if (grid[3].ToString() is "lava")
{
agent_host.sendCommand("jump 1");
jumping = true;
}
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended.
}
static void Main()
{
string missionXML = @"<?xml version='1.0' encoding='UTF - 8' standalone='no' ?>
< Mission xmlns = 'http://ProjectMalmo.microsoft.com' xmlns: xsi = 'http://www.w3.org/2001/XMLSchema-instance' >
< About >
< Summary > Hello world!</ Summary >
</ About >
< ServerSection >
< ServerInitialConditions >
< Time >
< StartTime > 12000 </ StartTime >
< AllowPassageOfTime > false </ AllowPassageOfTime >
< Weather > rain </ Weather >
</ Time >
</ ServerInitialConditions >
< ServerHandlers >
< FlatWorldGenerator generatorString = '3;7,44*49,73,35:1,159:4,95:13,35:13,159:11,95:10,159:14,159:6,35:6,95:6;12;' />
< ServerQuitFromTimeUp timeLimitMs = '30000' />
< ServerQuitWhenAnyAgentFinishes />
</ ServerHandlers >
</ ServerSection >
< AgentSection mode = 'Survival' >
< Name > MalmoTutorialBot </ Name >
< AgentStart >
< Placement x = '0' y = '56' z = '0' yaw = '90' />
</ AgentStart >
< AgentHandlers >
< ObservationFromFullStats />
< ContinuousMovementCommands turnSpeedDegs = '180' />
</ AgentHandlers >
</ AgentSection >
</ Mission >";
// Create default Malmo objects:
AgentHost agent_host = new AgentHost();
try
{
agent_host.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("Error:{0}", ex.Message);
Console.Error.WriteLine(agent_host.getUsage());
Environment.Exit(1);
}
if (agent_host.receivedArgument("help"))
{
Console.Error.WriteLine(agent_host.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec();
my_mission.timeLimitInSeconds(30);
MissionRecordSpec my_mission_record = new MissionRecordSpec("./saved_data.tgz");
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agent_host.startMission(my_mission, my_mission_record);
break;
}
catch (Exception ex)
{
if (retry == max_retries - 1)
{
Console.WriteLine("Error starting mission:{0}", ex.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(1000);
}
}
}
// Loop until mission starts:
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state = agent_host.getWorldState();
while (!world_state.has_mission_begun)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission running ");
// Commands go here //
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended.
}
