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);
}
public Node(string name, SetPoint handPosition, int id, List <int> children, int parent)
{
this.name = name;
this.id = id;
this.children = children;
this.parent = parent;
this.setHandPosition(handPosition);
}
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);
}
}
}
public void setHandPosition(SetPoint input)
{
//needed for error catching
if (input != null)
{
this.T1Position = input.T1Position;
this.T2Position = input.T2Position;
this.A1Position = input.A1Position;
this.A2Position = input.A2Position;
this.A3Position = input.A3Position;
this.B1Position = input.B1Position;
this.B2Position = input.B2Position;
this.B3Position = input.B3Position;
this.C1Position = input.C1Position;
this.C2Position = input.C2Position;
this.C3Position = input.C3Position;
this.D1Position = input.D1Position;
this.D2Position = input.D2Position;
this.D3Position = input.D3Position;
}
}
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);
}
}
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);
}
}
}
