public double CalculateScore(IMLMethod network)
{
var pilot = new NeuralRobot((BasicNetwork)network, false, RobotContol.SourceLocation, RobotContol.DestLocation);
int score = pilot.ScorePilot();
//RobotContol.Scores.Add(score);
return score;
}
public void RunNetwork(Guid id)
{
BasicNetwork network = null;
var fn = id.ToString();
var net = DataService.GetCollectionQueryModel<NeuralNetwork>(Query.EQ("_id", id)).FirstOrDefault();
if (net != null)
{
SourceLocation = new Position(net.StartPosition.X, net.StartPosition.Y);
DestLocation = new Position(net.EndPosition.X, net.EndPosition.Y);
lock (RobotContol.NetworkLock)
{
var rawbytes = DataService.OpenFile(id);
File.WriteAllBytes(fn, rawbytes);
network = (BasicNetwork)EncogDirectoryPersistence.LoadObject(new FileInfo(fn));
}
var pilot = new NeuralRobot(network, true, SourceLocation, DestLocation);
SourceData.Simulation = pilot.sim;
DataContext = SourceData;
DrawMap();
SourceData.Simulation.PositionChanged += Simulation_PositionChanged;
pilot.ScorePilot();
File.Delete(fn);
}
DoEvents();
}
private void BuildNetwork(double slat, double slon, double lat, double lon)
{
BasicNetwork network = null;
var nn =
Mds.GetCollectionQueryModel<NeuralNetwork>(Query.And(Query.EQ("StartPosition.X", slat),
Query.EQ("StartPosition.Y", slon), Query.EQ("EndPosition.X", lat), Query.EQ("EndPosition.Y", lon)))
.FirstOrDefault();
var tsk =
Mds.GetCollectionQueryModel<RoverTask>(
Query.And(Query.EQ("TrainingProperties.StartPosition.StartPosition.X", slat),
Query.EQ("TrainingProperties.StartPosition.StartPosition.Y", slon),
Query.EQ("TrainingProperties.StartPosition.EndPosition.X", lat),
Query.EQ("TrainingProperties.StartPosition.EndPosition.Y", lon))).FirstOrDefault();
if (tsk != null && nn == null) return;
if (nn == null && tsk == null)
{
var t = new TaskMessage
{
LogReportingLevel = LogLevel.Verbatium,
MessageId = Guid.NewGuid(),
ScriptType = TaskScriptType.LoadWorker,
TaskScript = new RoverWorker().GetType().ToString(),
TransmisionDateTime = DateTime.Now,
TaskId = Guid.NewGuid()
};
var col = Mds.DataBase.GetCollection<RoverTask>("RoverTask");
var task = new RoverTask
{
Status = (TaskTransport.TaskStatus) TaskStatus.Pending,
TaskType = RoverTaskType.Train,
Id = t.TaskId,
TrainingProperties =
new RoverTrainProperties
{
Id = Guid.NewGuid(),
StartPosition = new Position(slat, slon),
DestinationPosition = new Position(lat, lon)
}
};
col.Save(task);
var q = new MessageQueue<TaskMessage>(false, _Connection);
var x = 0;
while (x != 10)
{
Thread.Sleep(10);
DoEvents();
x++;
}
q.Publish(t);
DoEvents();
}
else
{
var fn = nn.Id.ToString();
lock (RobotContol.NetworkLock)
{
var rawbytes = Mds.OpenFile(nn.Id);
File.WriteAllBytes(fn, rawbytes);
network = (BasicNetwork) EncogDirectoryPersistence.LoadObject(new FileInfo(fn));
}
var pilot = new NeuralRobot(network, true, SourceLocation, DestLocation);
SourceData.Simulation = pilot.sim;
DataContext = SourceData;
DrawMap();
SourceData.Simulation.PositionChanged += Simulation_PositionChanged;
pilot.ScorePilot();
File.Delete(fn);
}
}
