public void supervise()
{
if (!statusFlag.flagOrdered)
{
robotAgentOrdered = null;
for (int index = 0; index < limitedAreainReady.Length; index++)
{
for (int pos = 0; pos < RegistrationAgent.robotAgentRegisteredList.Count; pos++)
{
RobotAgent robotAgent = RegistrationAgent.robotAgentRegisteredList.ElementAt(pos).Value;
if (robotAgent.statusFlag.atReadyArea == true && robotAgent.statusFlag.flagProcess == false)
{
robotAgentOrdered = robotAgent;
robotAgent.statusFlag.flagProcess = true;
statusFlag.flagOrdered = true;
robotAgent.requestRobotGotoCheckInDocking();
break;
}
}
}
}
else
{
//reset statusFlag.flagOrdered=false;
ResetFlagOrderToReadyArea(robotAgentOrdered.robotInfo.loc);
}
}
public void RegenerateRobots()
{
// Clean properties of existing robots
foreach (RobotAgent r in robots)
{
r.cleanRobot();
}
int newNumberRobots = (int)Academy.Instance.FloatProperties.GetPropertyWithDefault("number_robots", 2.0f);
if (newNumberRobots < numRobots)
{ // Destroy exceeding robots
for (int i = newNumberRobots; i < numRobots; i++)
{
Destroy(robots[i]);
}
numRobots = newNumberRobots;
Debug.Log("Now robots are: " + numRobots);
}
else if (newNumberRobots > numRobots)
{
for (int i = numRobots; i < newNumberRobots; i++)
{
GameObject robot = Instantiate(robotPrefab);
robot.transform.SetParent(transform);
robot.transform.localPosition = new Vector3(UnityEngine.Random.Range(-2, 4), 0.15f, UnityEngine.Random.Range(-2, 4));
RobotAgent agent = robot.GetComponent <RobotAgent>();
agent.trainingArea = this;
robots.Add(agent);
}
numRobots = newNumberRobots;
Debug.Log("Now robots are: " + numRobots);
}
}
// Start is called before the first frame update
void Awake()
{
text = GetComponent <TextMeshProUGUI>();
robotAgent = FindObjectOfType <RobotAgent>();
canvasRect = transform.parent.GetComponent <RectTransform>();
}
public void Update(RobotAgent robot)
{
/*
* var msg = pw.Write($"It is robot {robot.Id}",1);
* robot.Send(msg);
*/
}
static private RobotStatus Grip(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.MoveGripper(Convert.ToUInt16(args[0]), Convert.ToUInt16(args[1]));
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus WaitGripper(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.WaitGripperBusy((int)args[0], WAIT_TIMEOUT);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
public void RegisterForReset(RobotAgent agent)
{
unregistered.Remove(agent);
if (unregistered.Count == 0)
{
unregistered = new List <RobotAgent>(agents);
Reset();
}
}
static private RobotStatus Reset(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.Reset();
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus HomeGripper(RobotAgent robot_agent, object[] args)
{
int ret = robot_agent.HomeGripper();
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
public void resetEvolution()
{
evolutionMaze = HardMaze.loadEnvironment("QDMaze.xml");
evolutionFrame = new CoordinateFrame(0.0f, evolutionMaze.AOIRectangle.Y, 1.1f, 0.0f);
optimaAgent = null;
optima_net = null;
optima_generation = -1;
evolutionSession = new Session(this.evolutionMaze, new FitnessHandler(evolutionMaze.compute_fitness), EventHandler, new InstinctActionHandler(HardMaze.createInstinctAction),
new OptimaGestureHandler(evolutionMaze.GetOptimaGestureHandler),
new TaskBeginHandler(evolutionMaze.TaskBeginHandler));
}
public void InitializeEnvironment()
{
// Initialize variables
environmentGeneration = transform.Find("Environment_Generation").GetComponent <EnvironmentGeneration>();
dropZone = transform.Find("DropZone").GetComponent <DropZone>();
robot = transform.Find("RobotAgent").GetComponent <RobotAgent>();
InitializeDebrisList();
currentDebrisInZone = new List <bool>();
previousDebrisInZone = new List <bool>();
}
private void CreateRobot(params Capability[] capabilities)
{
var robot = new Robot(capabilities.OfType <ProcessCapability>().ToArray());
var agent = new RobotAgent(capabilities, robot);
Robots.Add(robot);
RobotAgents.Add(agent);
robot.SetNames(Robots.Count - 1);
agent.Name = $"R{Robots.Count - 1}";
agent.ConfigurationUpdateFailed.Name = agent.Name + ".ConfigUpdateFailed";
}
static private RobotStatus SetPos(RobotAgent robot_agent, object[] args)
{
Pos_T target = new Pos_T();
target.pos = (double[])args[0];
int ret = robot_agent.SetHomePos(target);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
public ControlService(RobotAgent robot, DoorService doorService)
{
if (robot != null)
{
robot.ZoneHandler += ZoneHandler;
robot.FinishStatesHandler += FinishStatesHandler;
robot.AmclPoseHandler += AmclPoseHandler;
doorService.ReceiveRounterEvent += ReceiveRounterEvent;
}
if (doorService != null)
{
}
}
static public RobotStatus Do(RobotAgent robot_agent, string action, object[] args)
{
Func <RobotAgent, object[], RobotStatus> act_func;
if (selector.TryGetValue(action, out act_func))
{
return(act_func(robot_agent, args));
}
else
{
throw new System.ArgumentException("No Such Action!!", "action");
}
}
static private RobotStatus PcsPTP(RobotAgent robot_agent, object[] args)
{
Pos_T dest = new Pos_T();
dest.pos = (double[])args[0];
int ret = robot_agent.PcsPTP(dest);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
public void Register(ProcedureItemSelected ProcedureItem, RobotAgent robot)
{
switch (ProcedureItem)
{
case ProcedureItemSelected.PROCEDURE_FORLIFT_TO_BUFFER:
break;
case ProcedureItemSelected.PROCEDURE_BUFFER_TO_MACHINE: break;
case ProcedureItemSelected.PROCEDURE_BUFFER_TO_HOPPER: break;
}
}
private void initInteraction()
{
interactive_time = 0;
obs = null;
gesture = null;
actions = null;
reward = 0;
end = false;
inferencing = false;
if (demoNet != null)
{
demoAgent = new RobotAgent(demoNet, evolutionMaze);
}
this.refreshNetwork(demoNet, treeViewOpenedNetwork);
}
static private RobotStatus Home(RobotAgent robot_agent, object[] args)
{
if ((int)args[0] < 0 || 5 < (int)args[0])
{
throw new System.ArgumentOutOfRangeException("AxisId out of range!!", "AxisId(args[0])");
}
int ret = robot_agent.HomeRobot((int)args[0]);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
public ResponseStatus DoRoute(string target, string action, object[] args)
{
switch (target)
{
case "Robot":
RobotAgent robot_agent = ether_cat_net.GetRobotAgent(0);
return(RobotController.Do(robot_agent, action, args));
case "Camera":
// EzCameraController;
return(EzCameraController.Do(action, args));
default:
throw new System.ArgumentException("No Such Target: ", target);
}
}
public override void InitializeAcademy()
{
robot = GameObject.Find("Robot").GetComponent <RobotAgent>();
robot.agentParameters.maxStep = (int)(resetParameters["AgentMaxSteps"]);
if (resetParameters["CollectData"] == 1 || forceDataCollection)
{
if (resetParameters["EnableNoise"] == 1 || forceNoise)
{
robot.addNoise = true;
}
else
{
robot.addNoise = false;
}
}
}
private void listBox3_SelectedIndexChanged(object sender, EventArgs e)
{
int select = listBox3.SelectedIndex;
if (robotAgent.Active)
{
if (select < robotAgent.friends.Count && select >= 0)
{
showingParamerAgent = robotAgent.friends[select] as RobotAgent;
}
else
{
showingParamerAgent = null;
}
}
}
void Start()
{
Walls = new List <GameObject>();
Agent = GetComponentInChildren <RobotAgent>();
grid = GetComponent <Grid>();
grid.WorldBottomLeft = transform.position - Vector3.right * grid.gridWorldSize.x / 2 - Vector3.forward * grid.gridWorldSize.y / 2;
grid.CreateGrid();
aStarPath = GetComponent <AStarPathFinding>();
aStarPath.grid = grid;
aStarPath.seeker = Agent.transform;
aStarPath.target = Target.transform;
grid.player = Agent.transform;
SetTargetAtRandomPosition();
initializeMap();
aStarPath.enabled = false;
}
void OnTriggerEnter2D(Collider2D hitInfo)
{
//Debug.Log(hitInfo.name);
Destroy(gameObject);
RobotAgent enemy = hitInfo.GetComponent <RobotAgent>();
if (enemy != null)
{
enemy.AddReward(-1.0f);
shooter.AddReward(1.0f);
//Debug.Log(shooter.transform.position.x.ToString());
//Debug.Log(enemy.transform.position.x.ToString());
shooter.Done();
enemy.Done();
}
}
void OnValidate()
{
robot = GameObject.Find("Robot").GetComponent <RobotAgent>();
if (control == RobotControl.player)
{
robot.GiveBrain(playerBrain);
broadcastHub.broadcastingBrains.Clear();
broadcastHub.broadcastingBrains.Add(playerBrain);
}
else
{
robot.GiveBrain(learningBrain);
broadcastHub.broadcastingBrains.Clear();
broadcastHub.broadcastingBrains.Add(learningBrain);
broadcastHub.SetControlled(learningBrain, true);
}
if (resetParameters["CollectData"] == 1 || forceDataCollection)
{
robot.sendRelativeData = true;
robot.dataCollection = true;
robot.mode = mode;
robot.gateTargetObject = gateTargetObject;
robot.pathTargetObject = pathTargetObject;
}
else
{
robot.sendRelativeData = false;
robot.dataCollection = false;
}
if (resetParameters["Positive"] == 0 || forceNegativeExamples)
{
robot.positiveExamples = false;
}
else
{
robot.positiveExamples = true;
}
robot.randomQuarter = randomQuarter;
robot.randomPosition = randomPosition;
robot.randomOrientation = randomOrientation;
}
private void btnOpenMaze_Click(object sender, EventArgs e)
{
OpenFileDialog dlg = new OpenFileDialog();
dlg.Filter = "*.xml|*.xml";
if (dlg.ShowDialog() == DialogResult.Cancel)
{
return;
}
HardMaze maze = HardMaze.loadEnvironment(dlg.FileName);
if (demoNet != null)
{
demoAgent = new RobotAgent(demoNet, maze);
}
evolutionMaze = maze;
evolutionSession = new Session(evolutionMaze, new FitnessHandler(evolutionMaze.compute_fitness), EventHandler, new InstinctActionHandler(HardMaze.createInstinctAction), new OptimaGestureHandler(evolutionMaze.GetOptimaGestureHandler), new TaskBeginHandler(evolutionMaze.TaskBeginHandler));
this.Refresh();
}
public static void DebugAgent(bool toDebug, RobotAgent agent, float[] action)
{
if (!toDebug)
{
return;
}
int i;
if (crazyJump == false && agent.transform.position.y > 5.5f)
{
string arrayStr = "";
crazyJump = true;
for (i = 0; i < 20; i++)
{
arrayStr = arrayStr + "[" + pastStates.lastActions[i, 0].ToString() + "] [" + pastStates.lastActions[i, 1].ToString() +
"] " + pastStates.lastHeights[i].ToString() + "\n";
}
LogFromNamed(toDebug, agent.transform.position.y.ToString() + "\n" + actionCounter.ToString() + "\n" + arrayStr);
}
else if (crazyJump == true && agent.transform.position.y < 5.5f)
{
crazyJump = false;
}
//LogFromNamed(toDebug, agent.transform.position.y.ToString());
for (i = 0; i < 19; i++)
{
pastStates.lastActions[i, 0] = pastStates.lastActions[i + 1, 0];
pastStates.lastActions[i, 1] = pastStates.lastActions[i + 1, 1];
pastStates.lastHeights[i] = pastStates.lastHeights[i + 1];
}
pastStates.lastActions[i, 0] = action[0];
pastStates.lastActions[i, 1] = action[1];
pastStates.lastHeights[i] = agent.transform.position.y;
actionCounter++;
}
void Awake()
{
if (useTextInsteadOfGraphics)
{
text = GetComponent <TextMeshProUGUI>();
}
else
{
up = transform.Find("up").GetComponent <Image>();
down = transform.Find("down").GetComponent <Image>();
left = transform.Find("left").GetComponent <Image>();
right = transform.Find("right").GetComponent <Image>();
zero = transform.Find("zero").GetComponent <Image>();
shovelUp = transform.Find("shovel_up").GetComponent <Image>();
shovelDown = transform.Find("shovel_down").GetComponent <Image>();
}
robotAgent = FindObjectOfType <RobotAgent>();
shovelUp.color = transparent;
shovelDown.color = transparent;
}
/// <summary>
/// 交互式环境重置
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void toolStripButton4_Click(object sender, EventArgs e)
{
if (demoNet == null)
{
demoNet = new Network(genomeFactory.createSimpleGenome(evolutionSession));
//demoNet = new Network(genomeFactory.createAccuracyHighLimitTestGenome(evolutionSession));
refreshNetwork(demoNet, treeViewOpenedNetwork);
}
interactiveMode = true;
interactive_time = 0;
(obs, gesture) = evolutionMaze.reset(demoNet);
demoAgent = evolutionMaze.Agents[0];
demoAgent.Visible = true;
this.txtObservation.Text = "time=" + interactive_time.ToString() + System.Environment.NewLine;
this.txtObservation.Text += observationToString(obs, gesture, 0, false);
prevObservationText = this.txtObservation.Text;
inferencing = false;
this.Refresh();
}
static private RobotStatus AcsJog(RobotAgent robot_agent, object[] args)
{
if ((int)args[0] < 0 || 5 < (int)args[0])
{
throw new System.ArgumentOutOfRangeException("AxisId out of range!!", "AxisId(args[0])");
}
if ((int)args[1] != 0 && (int)args[1] != 1)
{
throw new System.NotSupportedException("Not supported direction!!: Dir(args[1])");
}
if ((int)args[2] < 0 || 2000 < (int)args[2])
{
throw new System.ArgumentOutOfRangeException("Interval out of range!!", "Interval(args[2])");
}
int ret = robot_agent.AcsJog((int)args[0], (int)args[1], (int)args[2], MAX_VEL);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
