public UnsureNetworkForm()
{
InitializeComponent();
NodeSavingReading reader = new NodeSavingReading();
net = new NeuralNet(7, 7, ANNfilename, KFoldFilename);
inputTrainingData = reader.GetStoredDataFromFile(Globals.inputDataStorage);
outputTrainingData = reader.GetStoredDataFromFile(Globals.outputDataStorage);
//inputTrainingData = new List<double[]>();
//outputTrainingData = new List<double[]>();
controls = new PatsControlScheme();
controls.Initialize();
controls.timeNeededForChange = 7000;
serial = new SerialReader();
serial.Read();
UnityCommunicationHub.InitializeUnityCommunication();
UnityCommunicationHub.TwoWayTransmission();
indexList = Globals.GetBasicValues();
reverseIndexList = Globals.GetBasicValuesReversed();
setPointList = Globals.GetBasicPositions();
foreach (KeyValuePair <string, int> position in indexList)
{
DefaultPositionsBox.Items.Add(position.Key);
}
}
public NeuralNetForm()
{
InitializeComponent();
NodeSavingReading reader = new NodeSavingReading();
net = new NeuralNet(8, 7, ANNfilename, KFoldFilename);
inputTrainingData = reader.GetStoredDataFromFile(Globals.inputDataStorage);
outputTrainingData = reader.GetStoredDataFromFile(Globals.outputDataStorage);
//inputTrainingData = new List<double[]>();
//outputTrainingData = new List<double[]>();
serial = new SerialReader();
serial.Read();
UnityCommunicationHub.InitializeUnityCommunication();
UnityCommunicationHub.TwoWayTransmission();
indexList = Globals.GetBasicValues();
setPointList = Globals.GetBasicPositions();
foreach (KeyValuePair <string, int> position in indexList)
{
DefaultPositionsBox.Items.Add(position.Key);
}
}
public ContinuousNeuralNetForm()
{
InitializeComponent();
net = new NeuralNet(8, 7, ANNfilename, KFoldFilename);
inputTrainingData = new List <double[]>();
outputTrainingData = new List <double[]>();
if (inputTrainingData.Count > expirationTimer)
{
inputTrainingData.RemoveAt(0);
outputTrainingData.RemoveAt(0);
}
serial = new SerialReader();
serial.Read();
UnityCommunicationHub.InitializeUnityCommunication();
UnityCommunicationHub.TwoWayTransmission();
Random rand = new Random(23);
setPointList = Globals.GetBasicPositions();
var firstPoint = setPointList[3];
Globals.A1DesiredPosition = firstPoint.A1Position;
Globals.A2DesiredPosition = firstPoint.A2Position;
Globals.A3DesiredPosition = firstPoint.A3Position;
Globals.B1DesiredPosition = firstPoint.B1Position;
Globals.B2DesiredPosition = firstPoint.B2Position;
Globals.B3DesiredPosition = firstPoint.B3Position;
Globals.C1DesiredPosition = firstPoint.C1Position;
Globals.C2DesiredPosition = firstPoint.C2Position;
Globals.C3DesiredPosition = firstPoint.C3Position;
Globals.D1DesiredPosition = firstPoint.D1Position;
Globals.D2DesiredPosition = firstPoint.D2Position;
Globals.D3DesiredPosition = firstPoint.D3Position;
Globals.T1DesiredPosition = firstPoint.T1Position;
Globals.T2DesiredPosition = firstPoint.T2Position;
//Globals.T1DesiredPosition = (float)rand.Next(0, 90);
//Globals.T2DesiredPosition = (float)rand.Next(0, 90);
//Globals.A1DesiredPosition = (float)rand.Next(0, 90);
//Globals.A2DesiredPosition = (float)rand.Next(0, 90);
//Globals.A3DesiredPosition = (float)rand.Next(0, 90);
//Globals.B1DesiredPosition = (float)rand.Next(0, 90);
//Globals.B2DesiredPosition = (float)rand.Next(0, 90);
//Globals.B3DesiredPosition = (float)rand.Next(0, 90);
//Globals.C1DesiredPosition = (float)rand.Next(0, 90);
//Globals.C2DesiredPosition = (float)rand.Next(0, 90);
//Globals.C3DesiredPosition = (float)rand.Next(0, 90);
//Globals.D1DesiredPosition = (float)rand.Next(0, 90);
//Globals.D2DesiredPosition = (float)rand.Next(0, 90);
//Globals.D3DesiredPosition = (float)rand.Next(0, 90);
lastSetPoint = firstPoint;
UnityCommunicationHub.WriteData(true);
}
private void DecreaseAngleButton_Click(object sender, EventArgs e)
{
float desiredAngle = (float)System.Convert.ToDouble(DesiredAngleInput.Text) - 1.0f;
DesiredAngleInput.Text = desiredAngle.ToString();
setDesiredAngle();
UnityCommunicationHub.TwoWayTransmission();
}
private void DesiredAngleInput_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Enter)
{
setDesiredAngle();
UnityCommunicationHub.TwoWayTransmission();
e.Handled = e.SuppressKeyPress = true;
}
}
private void TestButton_Click(object sender, EventArgs e)
{
//Random rand = new Random(23);
//setPointList = Globals.GetBasicPositions();
//var firstPoint = setPointList[rand.Next(0, 5)];
//Globals.A1DesiredPosition = firstPoint.A1Position;
//Globals.A2DesiredPosition = firstPoint.A2Position;
//Globals.A3DesiredPosition = firstPoint.A3Position;
//Globals.B1DesiredPosition = firstPoint.B1Position;
//Globals.B2DesiredPosition = firstPoint.B2Position;
//Globals.B3DesiredPosition = firstPoint.B3Position;
//Globals.C1DesiredPosition = firstPoint.C1Position;
//Globals.C2DesiredPosition = firstPoint.C2Position;
//Globals.C3DesiredPosition = firstPoint.C3Position;
//Globals.D1DesiredPosition = firstPoint.D1Position;
//Globals.D2DesiredPosition = firstPoint.D2Position;
//Globals.D3DesiredPosition = firstPoint.D3Position;
//Globals.T1DesiredPosition = firstPoint.T1Position;
//Globals.T2DesiredPosition = firstPoint.T2Position;
//Globals.T1DesiredPosition = (float)rand.Next(0, 90);
//Globals.T2DesiredPosition = (float)rand.Next(0, 90);
//Globals.A1DesiredPosition = (float)rand.Next(0, 90);
//Globals.A2DesiredPosition = (float)rand.Next(0, 90);
//Globals.A3DesiredPosition = (float)rand.Next(0, 90);
//Globals.B1DesiredPosition = (float)rand.Next(0, 90);
//Globals.B2DesiredPosition = (float)rand.Next(0, 90);
//Globals.B3DesiredPosition = (float)rand.Next(0, 90);
//Globals.C1DesiredPosition = (float)rand.Next(0, 90);
//Globals.C2DesiredPosition = (float)rand.Next(0, 90);
//Globals.C3DesiredPosition = (float)rand.Next(0, 90);
//Globals.D1DesiredPosition = (float)rand.Next(0, 90);
//Globals.D2DesiredPosition = (float)rand.Next(0, 90);
//Globals.D3DesiredPosition = (float)rand.Next(0, 90);
UnityCommunicationHub.WriteData(true);
for (int i = 0; i < 7; i++)
{
positionsToVisit.Add(i);
}
for (int i = 0; i < 22; i++)
{
Thread testThread = new Thread(Test);
testThread.Start();
Thread trainingThread = new Thread(Train);
trainingThread.Start();
Thread.Sleep(1000);
}
}
private void Run()
{
//while (true)
{
lock (dataLock)
{
var input = serial.GetData();
double[] inputData = new double[8];
for (int j = 0; j < 8; j++)
{
inputData[j] = input[j];
}
var percievedPositionArray = net.Think(inputData);
double bestVal = 0;
SetPoint bestSetPoint = new SetPoint();
for (int i = 0; i < percievedPositionArray.Length; i++)
{
if (percievedPositionArray[i] > bestVal)
{
bestVal = percievedPositionArray[i];
bestSetPoint = setPointList[i];
}
}
var percievedPosition = bestSetPoint;
Globals.T1DesiredPosition = percievedPosition.T1Position;
Globals.T2DesiredPosition = percievedPosition.T2Position;
Globals.A1DesiredPosition = percievedPosition.A1Position;
Globals.A2DesiredPosition = percievedPosition.A2Position;
Globals.A3DesiredPosition = percievedPosition.A3Position;
Globals.B1DesiredPosition = percievedPosition.B1Position;
Globals.B2DesiredPosition = percievedPosition.B2Position;
Globals.B3DesiredPosition = percievedPosition.B3Position;
Globals.C1DesiredPosition = percievedPosition.C1Position;
Globals.C2DesiredPosition = percievedPosition.C2Position;
Globals.C3DesiredPosition = percievedPosition.C3Position;
Globals.D1DesiredPosition = percievedPosition.D1Position;
Globals.D2DesiredPosition = percievedPosition.D2Position;
Globals.D3DesiredPosition = percievedPosition.D3Position;
UnityCommunicationHub.WriteData(true);
}
}
}
private void loadPositions(Node thisNode)
{
Globals.A1DesiredPosition = thisNode.A1Position;
Globals.A2DesiredPosition = thisNode.A2Position;
Globals.A3DesiredPosition = thisNode.A3Position;
Globals.B1DesiredPosition = thisNode.B1Position;
Globals.B2DesiredPosition = thisNode.B2Position;
Globals.B3DesiredPosition = thisNode.B3Position;
Globals.C1DesiredPosition = thisNode.C1Position;
Globals.C2DesiredPosition = thisNode.C2Position;
Globals.C3DesiredPosition = thisNode.C3Position;
Globals.D1DesiredPosition = thisNode.D1Position;
Globals.D2DesiredPosition = thisNode.D2Position;
Globals.D3DesiredPosition = thisNode.D3Position;
Globals.T1DesiredPosition = thisNode.T1Position;
Globals.T2DesiredPosition = thisNode.T2Position;
UnityCommunicationHub.TwoWayTransmission();
}
private void button1_Click(object sender, EventArgs e)
{
if (UnityCommunicationHub.connected)
{
try
{
Globals.T1DesiredPosition = float.Parse(toSend);
}
catch (Exception error)
{
Console.WriteLine("ERROR WHEN PARSING FLOAT: " + error.ToString());
Globals.T1DesiredPosition = 0;
}
UnityCommunicationHub.TwoWayTransmission();
}
else
{
Console.WriteLine("ERROR: CONNECT TO UNITY FIRST");
textBox1.Text = "ERROR: CONNECT TO UNITY FIRST";
}
}
private void setHandPositionButton_Click(object sender, EventArgs e)
{
UnityCommunicationHub.ReadData(true);
SetPoint newPoint = new SetPoint
{
A1Position = Globals.A1DesiredPosition,
A2Position = Globals.A2DesiredPosition,
A3Position = Globals.A3DesiredPosition,
B1Position = Globals.B1DesiredPosition,
B2Position = Globals.B2DesiredPosition,
B3Position = Globals.B3DesiredPosition,
C1Position = Globals.C1DesiredPosition,
C2Position = Globals.C2DesiredPosition,
C3Position = Globals.C3DesiredPosition,
D1Position = Globals.D1DesiredPosition,
D2Position = Globals.D2DesiredPosition,
D3Position = Globals.D3DesiredPosition,
T1Position = Globals.T1DesiredPosition,
T2Position = Globals.T2DesiredPosition
};
controls.allNodes[(int)activeNode.Tag].setHandPosition(newPoint);
}
private void Test()
{
lock (dataLock)
{
//var input = serial.GetData();
//UnityCommunicationHub.ReadData();
//var percievedPositionArray = net.Think(input);
//inputTrainingData.Add(input);
//outputTrainingData.Add(Globals.GetDoubles());
//for (int i = 0; i < percievedPositionArray.Length; i++)
//{
// percievedPositionArray[i] = percievedPositionArray[i] * 90;
//}
//Globals.T1DesiredPosition = (float)percievedPositionArray[0];
//Globals.T2DesiredPosition = (float)percievedPositionArray[1];
//Globals.A1DesiredPosition = (float)percievedPositionArray[2];
//Globals.A2DesiredPosition = (float)percievedPositionArray[3];
//Globals.A3DesiredPosition = (float)percievedPositionArray[4];
//Globals.B1DesiredPosition = (float)percievedPositionArray[5];
//Globals.B2DesiredPosition = (float)percievedPositionArray[6];
//Globals.B3DesiredPosition = (float)percievedPositionArray[7];
//Globals.C1DesiredPosition = (float)percievedPositionArray[8];
//Globals.C2DesiredPosition = (float)percievedPositionArray[9];
//Globals.C3DesiredPosition = (float)percievedPositionArray[10];
//Globals.D1DesiredPosition = (float)percievedPositionArray[11];
//Globals.D2DesiredPosition = (float)percievedPositionArray[12];
//Globals.D3DesiredPosition = (float)percievedPositionArray[13];
var percievedPosition = new SetPoint(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
var rand = new Random();
//UnityCommunicationHub.WriteData(true);
var percievedPositionArray = new double[7];
if (inputTrainingData.Count != 0)
{
percievedPositionArray = net.Think(inputTrainingData[inputTrainingData.Count - 1]);
double bestVal = 0;
SetPoint bestSetPoint = new SetPoint();
for (int i = 0; i < percievedPositionArray.Length; i++)
{
if (percievedPositionArray[i] > bestVal)
{
bestVal = percievedPositionArray[i];
bestSetPoint = setPointList[i];
}
}
if (lastSetPoint.Equals(bestSetPoint))
{
percievedPosition = setPointList[rand.Next(0, 7)];
}
else
{
percievedPosition = bestSetPoint;
}
}
else
{
percievedPosition = setPointList[rand.Next(0, 7)];
}
if (positionsToVisit.Count > 0)
{
percievedPosition = setPointList[positionsToVisit.First()];
for (int i = 0; i < 7; i++)
{
if ((7 - i) == positionsToVisit.Count)
{
percievedPositionArray[i] = 1;
}
}
positionsToVisit.RemoveAt(0);
}
Globals.T1DesiredPosition = percievedPosition.T1Position;
Globals.T2DesiredPosition = percievedPosition.T2Position;
Globals.A1DesiredPosition = percievedPosition.A1Position;
Globals.A2DesiredPosition = percievedPosition.A2Position;
Globals.A3DesiredPosition = percievedPosition.A3Position;
Globals.B1DesiredPosition = percievedPosition.B1Position;
Globals.B2DesiredPosition = percievedPosition.B2Position;
Globals.B3DesiredPosition = percievedPosition.B3Position;
Globals.C1DesiredPosition = percievedPosition.C1Position;
Globals.C2DesiredPosition = percievedPosition.C2Position;
Globals.C3DesiredPosition = percievedPosition.C3Position;
Globals.D1DesiredPosition = percievedPosition.D1Position;
Globals.D2DesiredPosition = percievedPosition.D2Position;
Globals.D3DesiredPosition = percievedPosition.D3Position;
UnityCommunicationHub.WriteData(true);
lastSetPoint = percievedPosition;
Thread.Sleep(200);
for (int i = 0; i < 250; i++)
{
var input = serial.GetData();
double[] inputData = new double[8];
for (int j = 0; j < 8; j++)
{
inputData[j] = input[j];
}
UnityCommunicationHub.ReadData();
inputTrainingData.Add(inputData);
outputTrainingData.Add(percievedPositionArray);
Thread.Sleep(1);
}
}
}
private void Run()
{
lock (dataLock)
{
//var input = serial.GetData();
//var percievedPositionArray = net.Think(input);
//if (input.Contains(double.NaN))
//{
// while (input.Contains(double.NaN))
// {
// input = serial.GetData();
// }
//}
//for (int i = 0; i < percievedPositionArray.Length; i++)
//{
// percievedPositionArray[i] = percievedPositionArray[i] * 90;
//}
//Globals.T1DesiredPosition = (float)percievedPositionArray[0];
//Globals.T2DesiredPosition = (float)percievedPositionArray[1];
//Globals.A1DesiredPosition = (float)percievedPositionArray[2];
//Globals.A2DesiredPosition = (float)percievedPositionArray[3];
//Globals.A3DesiredPosition = (float)percievedPositionArray[4];
//Globals.B1DesiredPosition = (float)percievedPositionArray[5];
//Globals.B2DesiredPosition = (float)percievedPositionArray[6];
//Globals.B3DesiredPosition = (float)percievedPositionArray[7];
//Globals.C1DesiredPosition = (float)percievedPositionArray[8];
//Globals.C2DesiredPosition = (float)percievedPositionArray[9];
//Globals.C3DesiredPosition = (float)percievedPositionArray[10];
//Globals.D1DesiredPosition = (float)percievedPositionArray[11];
//Globals.D2DesiredPosition = (float)percievedPositionArray[12];
//Globals.D3DesiredPosition = (float)percievedPositionArray[13];
//UnityCommunicationHub.WriteData(true);
var input = serial.GetData();
double[] inputData = new double[8];
for (int j = 0; j < 8; j++)
{
inputData[j] = input[j];
}
var percievedPositionArray = net.Think(inputData);
double bestVal = 0;
SetPoint bestSetPoint = new SetPoint();
for (int i = 0; i < percievedPositionArray.Length; i++)
{
if (percievedPositionArray[i] > bestVal)
{
bestVal = percievedPositionArray[i];
bestSetPoint = setPointList[i];
}
}
var percievedPosition = bestSetPoint;
Globals.T1DesiredPosition = percievedPosition.T1Position;
Globals.T2DesiredPosition = percievedPosition.T2Position;
Globals.A1DesiredPosition = percievedPosition.A1Position;
Globals.A2DesiredPosition = percievedPosition.A2Position;
Globals.A3DesiredPosition = percievedPosition.A3Position;
Globals.B1DesiredPosition = percievedPosition.B1Position;
Globals.B2DesiredPosition = percievedPosition.B2Position;
Globals.B3DesiredPosition = percievedPosition.B3Position;
Globals.C1DesiredPosition = percievedPosition.C1Position;
Globals.C2DesiredPosition = percievedPosition.C2Position;
Globals.C3DesiredPosition = percievedPosition.C3Position;
Globals.D1DesiredPosition = percievedPosition.D1Position;
Globals.D2DesiredPosition = percievedPosition.D2Position;
Globals.D3DesiredPosition = percievedPosition.D3Position;
UnityCommunicationHub.WriteData(true);
}
}
//exits the application
public static void CloseAllForms(object sender, FormClosingEventArgs e)
{
UnityCommunicationHub.PurgeFileSystem();
Application.Exit();
}
private void button3_Click(object sender, EventArgs e)
{
UnityCommunicationHub.InitializeUnityCommunication();
}
public NeuralTreeWindow()
{
this.Size = new System.Drawing.Size(1710, 1301);
this.FormClosing += Globals.CloseAllForms;
InitializeComponent();
updateFingerDisplay();
UnityCommunicationHub.InitializeUnityCommunication();
//initialize tree structure
controls = new PatsControlScheme();
controls.Initialize();
loadPositions(controls.root);
List <Node> newList = controls.allNodes.Values.ToList <Node>();
//order the list from lowest to highest to ensure all nodes are populated in order
newList.OrderBy(o => o.id);
//make sure the list of nodes is clear
NeuronTreeView.Nodes.Clear();
//sequentially add all the nodes to the tree
foreach (Node n in newList)
{
if (n.id != Globals.CONTROLNODE)
{
//figure out what the parent id is
int parentID = n.parent;
//if it's the root node, just add it to the tree
if (parentID == Globals.NULLPARENT)
{
TreeNode newNode = new TreeNode(n.name);
newNode.Tag = n.id;
NeuronTreeView.Nodes.Add(newNode);
activeNode = newNode;
}
//in the case that it's a child node, figure out what display node to add it to
else
{
//iterate through until you find the parent
TreeNode parentNode = findNodeInTree(parentID);
//once we find the parent, add it to the parent's children
TreeNode newNode = new TreeNode(n.name);
newNode.Tag = n.id;
parentNode.Nodes.Add(newNode);
}
}
}
foreach (Node n in newList)
{
if (n.id != Globals.CONTROLNODE && n.children.Contains(Globals.CONTROLNODE))
{
TreeNode tn = findNodeInTree(n.id);
bool done = false;
foreach (TreeNode tnn in tn.Nodes)
{
if (!done && (int)tnn.Tag == Globals.CONTROLNODE)
{
tnn.Remove();
done = true;
}
}
TreeNode newControlNode = new TreeNode("Controls");
newControlNode.Tag = Globals.CONTROLNODE;
tn.Nodes.Add(newControlNode);
}
}
}
private void Run()
{
//while (true)
{
lock (dataLock)
{
var input = serial.GetData();
double[] inputData = new double[7];
for (int j = 0; j < 8; j++)
{
if (j < 1)
{
inputData[j] = input[j];
}
else if (j > 1)
{
inputData[j - 1] = input[j];
}
}
var percievedPositionArray = net.Think(inputData);
double bestVal = 0;
SetPoint bestSetPoint = new SetPoint();
bool goodToMove = false;
while (!goodToMove)
{
var index = 0;
for (int i = 0; i < percievedPositionArray.Length; i++)
{
if (percievedPositionArray[i] > bestVal)
{
bestVal = percievedPositionArray[i];
index = i;
bestSetPoint = setPointList[i];
}
}
if (bestVal > 0.95)
{
goodToMove = true;
}
else
{
PositionTextBox.Text = reverseIndexList[index];
goodToMove = RunFocus();
if (!goodToMove)
{
percievedPositionArray[index] = 0;
bestVal = 0;
}
}
}
var percievedPosition = bestSetPoint;
Globals.T1DesiredPosition = percievedPosition.T1Position;
Globals.T2DesiredPosition = percievedPosition.T2Position;
Globals.A1DesiredPosition = percievedPosition.A1Position;
Globals.A2DesiredPosition = percievedPosition.A2Position;
Globals.A3DesiredPosition = percievedPosition.A3Position;
Globals.B1DesiredPosition = percievedPosition.B1Position;
Globals.B2DesiredPosition = percievedPosition.B2Position;
Globals.B3DesiredPosition = percievedPosition.B3Position;
Globals.C1DesiredPosition = percievedPosition.C1Position;
Globals.C2DesiredPosition = percievedPosition.C2Position;
Globals.C3DesiredPosition = percievedPosition.C3Position;
Globals.D1DesiredPosition = percievedPosition.D1Position;
Globals.D2DesiredPosition = percievedPosition.D2Position;
Globals.D3DesiredPosition = percievedPosition.D3Position;
UnityCommunicationHub.WriteData(true);
}
}
}
