private void panelCycle(object state)
{
// Update internal state of Torus
Torus.Update();
// On two threads: Invalidate display (paint event will be run on seperate thread) and calculate new internal state (seperate thread too).
Parallel.Invoke(() => panelDisplay.Invalidate(), () => Torus.DoCycle());
}
public Skater Move()
{
double reward;
// Get an action following some policy/strategy
int action = DetermineAction(Parameters.CurrentPolicy);
Torus.actionHistogram[action]++;
// Calculate possible new position
double direction = Parameters.DirectionList[action];
double xCoordNewPosition = Shared.Mod((xCoord + Parameters.StepSize * Math.Cos(direction)), 1);
double yCoordNewPosition = Shared.Mod((yCoord + Parameters.StepSize * Math.Sin(direction)), 1);
// Check Collision
if (Torus.CollisionCheck(this, xCoordNewPosition, yCoordNewPosition))
{
RecentCollision = Parameters.CollisionFadeSpeed;
// Due to collision risk, movement is cancelled!
// The newly gennerated coordinates will not be applied.
Torus.collisionCount++;
reward = CalculateReward(action, false);
}
else
{
// No collision, so we update the coordinates of this skater!
xCoord = xCoordNewPosition;
yCoord = yCoordNewPosition;
if (RecentCollision > 0)
{
RecentCollision--;
}
reward = CalculateReward(action, true);
}
// update RL tables
UpdateQValue(action, reward);
// And log reward to histogram.
Torus.rewardHistogram[action] += reward;
// No Collision -> Update position
return(new Skater(xCoord, yCoord, RecentCollision, qValues, InitialColor));
}
private void buttonStartStop_Click(object sender, EventArgs e)
{
if (!sim_running)
{
// Change button text.
buttonStartStop.Text = "Reset";
// Flip bool.
sim_running = true;
// Lock parameter settings.
layoutPanelForParameterControls.Enabled = false;
// Update internal Parameters
Parameters.InitParameters(
numericUpDownNumSkaters.Value,
comboBoxNumAngles.Text,
numericUpDownCollisionRadius.Value,
numericUpDownSkaterSpeed.Value,
numericUpDownSuccessfullMove.Value,
numericUpDownFailedMoveReward.Value,
checkBoxModifyRewards.Checked,
checkBoxLearningRateDecreasing.Checked,
numericUpDownLearningRate.Value,
checkBoxEpsilonDecreasing.Checked,
numericUpDownEpsilon.Value,
numericUpDownSkaterDotSize.Value,
comboBoxPalette.Text,
numericUpDownFadeSpeed.Value);
// Prep torus, pass parameter: Number of skaters
Torus.InitializeTorus();
//Clear Chart
if (Parameters.AverageOnly)
{
chartCollisions.Series[0].Points.Clear();
if (chartCollisions.Series.Count > 1)
{
chartCollisions.Series.RemoveAt(1);
}
chartRecentCollisions.Series[0].Points.Clear();
if (chartRecentCollisions.Series.Count > 1)
{
chartRecentCollisions.Series.RemoveAt(1);
}
}
else
{
chartCollisions.Series[0].Points.Clear();
chartCollisions.Series[1].Points.Clear();
chartRecentCollisions.Series[0].Points.Clear();
chartRecentCollisions.Series[1].Points.Clear();
}
// New log file.
Logging.NewLogFile();
// Start timer. Refreshes the simulation.
refreshTimer = new System.Threading.Timer(panelCycle, null, 1000, (int)(1000 / Parameters.MovementSpeed));
}
else
{
// Reset initial state; re-enable controls.
buttonStartStop.Text = "Start";
sim_running = false;
layoutPanelForParameterControls.Enabled = true;
// Kill timer thread.
refreshTimer.Dispose();
// Stop logging
Logging.EndLogging();
// Clear display area.
panelDisplay.Invalidate();
Torus.Clear();
}
}