public bool StopConditionSatisfied => false; // real world evaluators should have logic to know when to stop
public FitnessInfo Evaluate(IBlackBox phenome)
{
const double LARGESTERROR = 10000;
TrackedItemHarness harness = null;
lock (_lock)
{
harness = new TrackedItemHarness(_harnessArgs);
}
harness.ItemRemoved += (s1, e1) =>
{
harness.SetItem(GetNewItem(harness, _evalArgs));
};
harness.SetItem(GetNewItem(harness, _evalArgs));
// Input Array (pixels)
double[] inputArr = new double[harness.InputSizeXY * harness.InputSizeXY];
double dotRadius = (harness.VisionSize / harness.InputSizeXY) * Math.Sqrt(2);
// Output Array (pixels)
double[] outputArr = new double[harness.OutputSizeXY * harness.OutputSizeXY];
Tuple <TrackedItemBase, Point, Vector> prevPos, currentPos;
double error = 0;
for (int cntr = 0; cntr < _evalArgs.TotalNumberEvaluations; cntr++)
{
harness.Tick(_evalArgs.ElapsedTime_Seconds);
GetPrevCurrentPositions(out prevPos, out currentPos, harness, _evalArgs);
// Apply Input
ClearArray(inputArr);
if (prevPos != null)
{
ApplyPoint(inputArr, harness.InputCellCenters, dotRadius, prevPos.Item2, true);
}
// Brain.Tick
phenome.InputSignalArray.CopyFrom(inputArr, 0);
phenome.Activate();
phenome.OutputSignalArray.CopyTo(outputArr, 0);
// Evaluate output
double[] expectedOutput = GetExpectedOutput(currentPos, harness, _evalArgs);
error += CompareOutputs(outputArr, expectedOutput, ERRORMULT, _evalArgs.ErrorBias);
}
// Figure out what the worst possible error could be
//double largestError = ERRORMULT * ERRORMULT * outputArr.Length * _evalArgs.TotalNumberEvaluations;
double largestError = ERRORMULT * ERRORMULT * _evalArgs.TotalNumberEvaluations; // don't include outputArr.Length. CompareOutputs() divides that out
// Scale it down to 10000
if (largestError > LARGESTERROR)
{
error *= LARGESTERROR / largestError;
largestError = LARGESTERROR;
}
// SharpNEAT wants a top score instead of error, so flip it
double score = largestError - error;
_evaluationCount++;
return(new FitnessInfo(score, score));
}
private void Timer_Tick_REAL(object sender, EventArgs e)
{
// This uses actual time elapsed, and runs continuously, grabbing a new neural net every 10 seconds
try
{
imageInput.Source = null;
canvasMain.Children.Clear();
DateTime now = DateTime.UtcNow;
if (_harness == null)
{
_prevTick = now;
return;
}
// Tell the harness to go
_harness.Tick((now - _prevTick).TotalSeconds);
var prevPosition = _harness.GetPreviousPosition(_harness.Time - _evalArgs.Delay_Seconds);
var currentPosition = _harness.Item;
if (_experiment != null && (_winningBrain == null || (now - _winningBrainTime).TotalSeconds > 10))
{
NeatGenome winner = _ea.CurrentChampGenome;
_genomeViewer.RefreshView(winner);
_winningBrain = _experiment.GetBlackBox(winner);
_winningBrainTime = now;
}
#region draw input
double[] inputArr = new double[_harness.InputSizeXY * _harness.InputSizeXY];
AntPos_Evaluator.ClearArray(inputArr);
if (prevPosition != null)
{
double dotRadius = (_harness.VisionSize / _harness.InputSizeXY) * Math.Sqrt(2);
AntPos_Evaluator.ApplyPoint(inputArr, _harness.InputCellCenters, dotRadius, prevPosition.Item2, true);
}
imageInput.Source = UtilityWPF.GetBitmap(inputArr, _harness.InputSizeXY, _harness.InputSizeXY, invert: true);
#endregion
#region draw expected output
double[] expectedOutput = null;
if (currentPosition == null)
{
expectedOutput = AntPos_Evaluator.GetExpectedOutput(null, _harness, _evalArgs);
}
else
{
var currentPos = Tuple.Create(currentPosition, currentPosition.Position, currentPosition.Velocity);
expectedOutput = AntPos_Evaluator.GetExpectedOutput(currentPos, _harness, _evalArgs);
}
imageExpectedOutput.Source = UtilityWPF.GetBitmap(expectedOutput, _harness.OutputSizeXY, _harness.OutputSizeXY, invert: true);
#endregion
#region draw nn output
double[] nnOutput = null;
if (_winningBrain != null)
{
nnOutput = new double[_harness.OutputSizeXY * _harness.OutputSizeXY];
// Brain.Tick
_winningBrain.InputSignalArray.CopyFrom(inputArr, 0);
_winningBrain.Activate();
_winningBrain.OutputSignalArray.CopyTo(nnOutput, 0);
imageNNOutput.Source = UtilityWPF.GetBitmap(nnOutput, _harness.OutputSizeXY, _harness.OutputSizeXY, invert: true);
}
else
{
imageNNOutput.Source = null;
}
#endregion
#region draw error (nn - expected)
double[] error = null;
if (nnOutput != null)
{
error = Enumerable.Range(0, nnOutput.Length).
Select(o => Math.Abs(nnOutput[o] - expectedOutput[o])).
ToArray();
imageError.Source = UtilityWPF.GetBitmap(error, _harness.OutputSizeXY, _harness.OutputSizeXY, invert: true);
}
else
{
imageError.Source = null;
}
#endregion
#region draw actual
// Vision Rectangle
Rectangle visionRect = new Rectangle()
{
Stroke = Brushes.Silver,
StrokeThickness = .3,
Width = _harness.VisionSize,
Height = _harness.VisionSize,
};
Canvas.SetLeft(visionRect, _harness.VisionSize / -2);
Canvas.SetTop(visionRect, _harness.VisionSize / -2);
canvasMain.Children.Add(visionRect);
// Dot Previous
if (prevPosition != null)
{
Ellipse dot = new Ellipse()
{
Fill = new SolidColorBrush(prevPosition.Item1.Color),
Stroke = Brushes.Black,
StrokeThickness = .3,
Width = 2,
Height = 2,
};
Canvas.SetLeft(dot, prevPosition.Item2.X - 1);
Canvas.SetTop(dot, prevPosition.Item2.Y - 1);
canvasMain.Children.Add(dot);
}
// Dot Current
if (currentPosition != null)
{
Ellipse dot = new Ellipse()
{
Fill = new SolidColorBrush(currentPosition.Color),
Stroke = Brushes.White,
StrokeThickness = .3,
Width = 2,
Height = 2,
};
Canvas.SetLeft(dot, currentPosition.Position.X - 1);
Canvas.SetTop(dot, currentPosition.Position.Y - 1);
canvasMain.Children.Add(dot);
}
// Transform
TransformGroup transform = new TransformGroup();
transform.Children.Add(new ScaleTransform(canvasMain.ActualWidth / _harness.MapSize, canvasMain.ActualHeight / _harness.MapSize));
transform.Children.Add(new TranslateTransform(canvasMain.ActualWidth / 2, canvasMain.ActualHeight / 2));
canvasMain.RenderTransform = transform;
#endregion
_prevTick = now;
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString(), this.Title, MessageBoxButton.OK, MessageBoxImage.Error);
}
}