public string Action(string actionName, string actionParameters)
{
if (actionName == "StepDelay")
{
if (actionParameters == "Get")
{
return(StepDelay.ToString());
}
else
{
StepDelay = Convert.ToInt16(actionParameters);
return(StepDelay.ToString());
}
}
else if (actionName == "MaxStep")
{
MaxStep = Convert.ToInt16(actionParameters);
return(MaxStep.ToString());
}
else if (actionName == "MinStep")
{
if (actionParameters == "Get")
{
return(MinStep.ToString());
}
else
{
MinStep = Convert.ToInt16(actionParameters);
return(MinStep.ToString());
}
}
else if (actionName == "Position")
{
focuserPosition = Convert.ToInt16(actionParameters);
if (m_serial != null)
{
m_serial.SetCurPos(focuserPosition);
}
return(Position.ToString());
}
else
{
return("?");
}
//throw new ASCOM.ActionNotImplementedException("Action " + actionName + " is not implemented by this driver");
}
public override int GetHashCode()
{
int hash = 1;
if (MaxStep != 0L)
{
hash ^= MaxStep.GetHashCode();
}
if (maxWallTime_ != null)
{
hash ^= MaxWallTime.GetHashCode();
}
if (MaxBlobSequenceLength != 0L)
{
hash ^= MaxBlobSequenceLength.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
/// <summary>
/// Save profile values
/// </summary>
public void SaveProfileSettings()
{
if (Temperature > TempMax)
{
Temperature = TempMax;
}
if (Temperature < TempMin)
{
Temperature = TempMin;
}
if (_position > MaxStep)
{
_position = MaxStep;
}
//ascom items
Profile.WriteValue(sCsDriverId, "Absolute", Absolute.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "MaxIncrement", MaxIncrement.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "MaxStep", MaxStep.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "Position", _position.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "StepSize", stepSize.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "TempComp", tempComp.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "TempCompAvailable", TempCompAvailable.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "Temperature", Temperature.ToString(CultureInfo.InvariantCulture));
//extended focuser items
Profile.WriteValue(sCsDriverId, "CanHalt", CanHalt.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "CanStepSize", CanStepSize.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "Synchronous", Synchronous.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "TempMax", TempMax.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "TempMin", TempMin.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "TempPeriod", TempPeriod.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "TempProbe", TempProbe.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "TempSteps", TempSteps.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "SettleTime", settleTime.ToString(CultureInfo.InvariantCulture));
Profile.WriteValue(sCsDriverId, "Logging", TL.Enabled.ToString(CultureInfo.InvariantCulture));
}
/// <summary>
/// Called when an action is received from either the player input or the neural network
/// </summary>
/// vectorAction[i] represents:
/// Index 0: move vector z (+1 = right -1 = left)
/// Index 1: yaw angle z (+1 = right -1 = left)
/// Index 1: pitch angle z (+1 = right -1 = left)
/// <param name="actionBuffers"> The actions to take </param>
public override void OnActionReceived(ActionBuffers actionBuffers)
{
ActionSegment <int> act = actionBuffers.DiscreteActions;
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var rotateMonitor = 0f;
var dirToGoForwardAction = act[0];
var rotateDirAction = act[1];
var rotateMonitorAction = act[2];
if (dirToGoForwardAction == 1)
{
dirToGo = 1f * transform.forward;
}
else if (dirToGoForwardAction == 2)
{
dirToGo = -1f * transform.forward;
}
if (rotateDirAction == 1)
{
rotateDir = transform.up * -1f;
}
else if (rotateDirAction == 2)
{
rotateDir = transform.up * 1f;
}
if (rotateMonitorAction == 1)
{
rotateMonitor = -1f;
}
else if (rotateMonitorAction == 2)
{
rotateMonitor = 1f;
}
rigidbody.AddForce(dirToGo * moveForce, ForceMode.VelocityChange);
transform.Rotate(rotateDir, Time.fixedDeltaTime * yawSpeed);
monitorLocalAngle += rotateMonitor * pitchSpeed * Time.fixedDeltaTime;
monitorLocalAngle = Mathf.Clamp(monitorLocalAngle, MinPitchAngle, MaxPitchAngle);
monitor.transform.localRotation = Quaternion.Euler(monitorLocalAngle, 0, 0);
if (rigidbody.velocity.sqrMagnitude > 0.5f) // slow it down
{
rigidbody.velocity *= 0.7f;
}
Vector3 screenPos = agentCamera.WorldToScreenPoint(dockingStation.transform.position);
steps++;
stepsEpoch++;
if (stepsEpoch == MaxStep - 1)
{
successfulDocking = false;
dockingTime = 0.02f * MaxStep;
String first = distanceFromDocker.ToString();
String second = spawningAngle.ToString();
String third = MaxStep.ToString();
String fourth = successfulDocking.ToString();
String fifth = dockingTime.ToString();
Debug.Log("Docking not successful in epoch " + epoch);
var newLine = string.Format("{0};{1};{2};{3};{4}", first, second, third, fourth, fifth);
Debug.Log(newLine);
csv.AppendLine(newLine);
}
if (steps >= 1)
{
//bool patternFound = Utils.isPatternVisible(agentCamera);
bool patternFound = (screenPos.x > 0) & (screenPos.x < agentCamera.pixelWidth) & (screenPos.y > 0) & (screenPos.y < agentCamera.pixelHeight) & (screenPos.z > 0) & (screenPos.z < 10);
//Debug.Log("Pattern found? " + patternFound);
if (patternFound)
{
float reward_x = Mathf.Abs(screenPos.x - (agentCamera.pixelWidth / 2)); // [0 - agentCamera.pixelWidth/2]
reward_x = -reward_x / (agentCamera.pixelWidth / 4) + 3; // [1-3]
float reward_y = Mathf.Abs(screenPos.y - (agentCamera.pixelHeight / 2)); // [0 - agentCamera.pixelHeight/2]
reward_y = -reward_y / (agentCamera.pixelHeight / 4) + 3; // [1-3]
//float reward_scale = screenPos.z<1.25f?3:0; // [0-3]
float reward_scale = Mathf.Clamp(3 - screenPos.z, 0, 3);
float reward_pattern = ((reward_x + reward_y + reward_scale) * steps) / (MaxStep * 9f);
//AddReward(reward_pattern);
//Debug.Log("Reward for detecting the pattern of: " + reward_pattern + ", detected at coordinates: " + screenPos);
}
else
{
float reward_pattern = -((float)steps / (float)MaxStep);
//AddReward(reward_pattern);
//Debug.Log("Reward for not detecting the pattern of: " + reward_pattern);
}
steps = steps % 1;
}
}
