public void DoNextTask(bool force = false)
{
if (_currentTaskIsFinished)
{
_currentTask = _tasks.Dequeue();
}
}
void Awake()
{
signalControl = new ControlSignal();
path = "Save/DroneSession/" + "Task-" + task + "/Seed-" + fromSeed + "/";
rndGenerator = new SystemRandomSource(fromSeed);
taskObject = (DroneTask)Activator.CreateInstance(Type.GetType("Lexmou.MachineLearning.Drone" + task), rndGenerator, task);
mlp = new MultiLayerMathsNet(fromSeed, null, taskObject.shapes, 1, 0);
float[] floatArr = new float[taskObject.individualSize];
//float[] floatArr = new float[] {0,-0.33f,0,0,-0.33f,0,0,0,0,0,0.5f,0,0,-1,0,0,-1,0,0,0.5f,0,1,0,0,0,0,0,0,0,0,0,-1,0,0,0,0,0,0,0,0.5f};
Genetic.LoadBest(path, fromGeneration, floatArr);
BuildCustomWeights(mlp.weights, taskObject.shapes, Vector <float> .Build.DenseOfArray(floatArr));
//Debug.Log(mlp.weights[0]);
/*if (stabilizationGeneration != 0)
* {
* Debug.Log("Gene Move");
* gene = new Genetic(stabilizationSeed, null, 100, 40, 1.0f, 0.1f, 0.1f, 0.1f, 0.1f, "Save/DroneSession/Task-stabilization/", false);
* }
* if (moveGeneration != 0)
* {
* Debug.Log("Gene Move");
* gene = new Genetic(moveSeed, null, 100, 52, 1.0f, 0.1f, 0.1f, 0.1f, 0.1f, "Save/DroneSession/Task-move/", false);
* }
* deltaDistribution = new ContinuousUniform(-2, 2);
* tmpBuildCustomWeights = new List<Matrix<float>>();*/
Restart();
}
public static DroneTaskHandlerNotFoundException Get(DroneTask task)
{
if(task == null)
throw new ArgumentNullException("task");
var ex = new DroneTaskHandlerNotFoundException("unable to find handler for task");
ex.Data["task-type"] = task == null ? string.Empty : task.GetType().FullName;
return ex;
}
public virtual Option<DroneTaskHandler> TryGetHandler(DroneTask task)
{
if (task == null)
throw new ArgumentNullException("task");
if (!this.handlerTypes.HasValue)
{
this.handlerTypes = Option.From(DroneTaskHandler.GetHandlerTypes());
if (!this.handlerTypes.HasValue)
throw DroneTaskHandlerNotFoundException.Get(task);
}
var handlerType = null as Type;
this.handlerTypes.Value.TryGetValue(task.GetType(), out handlerType);
if (handlerType == null)
throw DroneTaskHandlerNotFoundException.Get(task);
var handler = Activator.CreateInstance(handlerType) as DroneTaskHandler;
return handler;
}
private DroneTaskResult Run(DroneModule module, DroneTask task, DroneEnv env, bool logErrors)
{
var taskLog = DroneLogManager.GetTaskLog(task.Name);
var taskContext = new DroneTaskContext(module, task, env, taskLog, (t, e) =>
{
var childTaskResult = this.Run(module, t, e, false);
if(!childTaskResult.IsSuccess)
{
this.log.Debug("child task '{0}' has failed", t.Name);
throw childTaskResult.Exception.Value;
}
});
this.log.Info("running '{0}'", task.Name);
var handler = this.factory.TryGetHandler(task);
var result = FuncStopwatch.Run(() =>
{
if(handler.HasValue)
{
handler.Value.Handle(taskContext);
}
else
{
throw DroneTaskHandlerNotFoundException.Get(task);
}
});
if (result.IsSuccess)
{
this.log.Info("task '{0}' completed ({1})", task.Name, HumanTime.Format(result.TimeElapsed));
return new DroneTaskResult(Option.From(task), DroneTaskState.Completed, result.TimeElapsed, Option.None<Exception>());
}
else
{
var state = DroneTaskState.Faulted;
var stateName = "failed";
this.log.Info("task '{0}' {1} ({2})", task.Name, stateName, HumanTime.Format(result.TimeElapsed));
if(logErrors)
this.log.ExceptionAndData(result.Exception);
return new DroneTaskResult(Option.From(task), state, result.TimeElapsed, Option.From(result.Exception));
}
}
public void ExecuteTask(DroneTask task)
{
string service_name = "/dji_sdk/drone_task_control";
ros.CallService(HandleTaskResponse, service_name, string.Format("{0} {1}", client_id, service_name), string.Format("[{0}]", (int)task));
}
public void SetTask(DroneTask task)
{
_drone.SetTask(task);
}
public void AddTask(DroneTask task)
{
_drone.AddTask(task);
}
public void SetTask(DroneTask task)
{
_currentTask = task;
}
public void AddTask(DroneTask task)
{
_tasks.Enqueue(task);
Log("received task: " + task.Type);
}
public void SetTask(DroneTask droneTask, Drone drone) // check method
{
}
public IEnumerable<DroneTask> GetTasks(DroneEnv env)
{
DroneEnv.Set(env);
var module = this.CompileAndLoadModule(env, LogLevel.Debug);
foreach (var task in module.Tasks)
{
var taskCopy = new DroneTask(task.Name, task.Dependencies);
yield return taskCopy;
}
}
