public static void Execute(AgentHost agentHost, ListBox lstMessage, Panel pnl3x3, Panel pnlDiagData, PictureBox pictureBoxMineCraft, CheckBox chkFullDebug)
{
WorldState worldState;
JavaScriptSerializer json_serializer = new JavaScriptSerializer();
agentHost.setObservationsPolicy(ObservationsPolicy.LATEST_OBSERVATION_ONLY);
agentHost.setVideoPolicy(VideoPolicy.LATEST_FRAME_ONLY);
// main loop:
do
{
// Get Worldstate
worldState = agentHost.getWorldState();
Thread.Sleep(500);
// Make an Observation
Observation objObservation = RunMission.LogMission(worldState, lstMessage, pnl3x3, pnlDiagData, chkFullDebug);
if (worldState.is_mission_running && worldState.video_frames.Count > 0)
{
// Converts the Malmo ByteVector to a Bitmap and display in pictureBoxMineCraft
pictureBoxMineCraft.Image = ImageConvert.GetImageFromByteArray(worldState.video_frames[0].pixels);
pictureBoxMineCraft.Invalidate();
pictureBoxMineCraft.Refresh();
}
}while (worldState.is_mission_running);
lstMessage.Items.Insert(0, "Mission has stopped.");
}
public static void Main(string[] args)
{
using (AgentHost agent_host = new AgentHost())
{
agent_host.setVideoPolicy(AgentHost.VideoPolicy.LATEST_FRAME_ONLY);
agent_host.setRewardsPolicy(AgentHost.RewardsPolicy.SUM_REWARDS);
agent_host.setObservationsPolicy(AgentHost.ObservationsPolicy.LATEST_OBSERVATION_ONLY);
WorldState world_state = agent_host.getWorldState();
if (world_state.is_mission_running)
Environment.Exit(1);
if (world_state.number_of_observations_since_last_state != 0)
Environment.Exit(1);
if (world_state.number_of_rewards_since_last_state != 0)
Environment.Exit(1);
if (world_state.number_of_video_frames_since_last_state != 0)
Environment.Exit(1);
if (world_state.observations.Count != 0)
Environment.Exit(1);
if (world_state.rewards.Count != 0)
Environment.Exit(1);
if (world_state.video_frames.Count != 0)
Environment.Exit(1);
Console.WriteLine(agent_host.getUsage());
}
}
// This is a sample that moves in a random direction
public static void Execute(AgentHost agentHost, ListBox lstMessage, Panel pnl3x3, Panel pnlDiagData, PictureBox pictureBoxMineCraft, CheckBox chkFullDebug)
{
WorldState worldState;
Random rand = new Random();
// main loop:
do
{
// Get Worldstate
worldState = agentHost.getWorldState();
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
// Log Mission
Observation objObservation = RunMission.LogMission(worldState, lstMessage, pnl3x3, pnlDiagData, chkFullDebug);
if (worldState.is_mission_running && worldState.video_frames.Count > 0)
{
// Converts the Malmo ByteVector to a Bitmap and display in pictureBoxMineCraft
pictureBoxMineCraft.Image = ImageConvert.GetImageFromByteArray(worldState.video_frames[0].pixels);
pictureBoxMineCraft.Invalidate();
pictureBoxMineCraft.Refresh();
}
}while (worldState.is_mission_running);
lstMessage.Items.Insert(0, "Mission has stopped.");
}
/// <summary>
/// Starts the module for the given host.
/// </summary>
/// <param name="host">The host.</param>
public void Start(AgentHost host)
{
discoveryBehavior = host.Endpoint.Behaviors.Find<EndpointDiscoveryBehavior>();
if (discoveryBehavior == null)
{
discoveryBehavior = new EndpointDiscoveryBehavior();
host.Endpoint.Behaviors.Add(discoveryBehavior);
}
discoveryBehavior.Scopes.Add(scope);
host.TestRunnerHost.Description.Behaviors.Add(new ServiceDiscoveryBehavior());
host.TestRunnerHost.AddServiceEndpoint(new UdpDiscoveryEndpoint());
host.TestRunner.CommunicationStarted += (sender, args) =>
{
lock (this)
{
counter++;
discoveryBehavior.Enabled = false;
}
};
host.TestRunner.CommunicationFinished += (sender, args) =>
{
lock (this)
{
counter--;
if (counter == 0)
discoveryBehavior.Enabled = true;
}
};
}
public ActionResult CauseTrouble()
{
ViewBag.Message = "Instantiating AgentHost creates trouble when publishing.";
//MissionSpec mission = new MissionSpec();
AgentHost agentHost = new AgentHost();
return(RedirectToAction("Success"));
}
public static void Main(string[] args)
{
using (AgentHost agent_host = new AgentHost())
{
agent_host.setVideoPolicy(AgentHost.VideoPolicy.LATEST_FRAME_ONLY);
agent_host.setRewardsPolicy(AgentHost.RewardsPolicy.SUM_REWARDS);
agent_host.setObservationsPolicy(AgentHost.ObservationsPolicy.LATEST_OBSERVATION_ONLY);
WorldState world_state = agent_host.getWorldState();
if (world_state.has_mission_begun)
{
Environment.Exit(1);
}
if (world_state.is_mission_running)
{
Environment.Exit(1);
}
if (world_state.number_of_observations_since_last_state != 0)
{
Environment.Exit(1);
}
if (world_state.number_of_rewards_since_last_state != 0)
{
Environment.Exit(1);
}
if (world_state.number_of_video_frames_since_last_state != 0)
{
Environment.Exit(1);
}
if (world_state.observations.Count != 0)
{
Environment.Exit(1);
}
if (world_state.rewards.Count != 0)
{
Environment.Exit(1);
}
if (world_state.video_frames.Count != 0)
{
Environment.Exit(1);
}
Console.WriteLine(agent_host.getUsage());
}
}
/// <summary>
/// Stops the module for the given host.
/// </summary>
/// <param name="host">The host.</param>
public void Stop(AgentHost host)
{
lock (this)
{
client.Close();
if (announcementTimer != null)
{
announcementTimer.Change(Timeout.Infinite, Timeout.Infinite);
announcementTimer = null;
}
}
}
public static void Execute(AgentHost agentHost, ListBox lstMessage, Panel pnl3x3, Panel pnlDiagData, PictureBox pictureBoxMineCraft, CheckBox chkFullDebug)
{
WorldState worldState;
JavaScriptSerializer json_serializer = new JavaScriptSerializer();
agentHost.setObservationsPolicy(ObservationsPolicy.LATEST_OBSERVATION_ONLY);
agentHost.setVideoPolicy(VideoPolicy.LATEST_FRAME_ONLY);
// main loop:
do
{
// Get Worldstate
worldState = agentHost.getWorldState();
Thread.Sleep(500);
// Log Mission
Observation objObservation = RunMission.LogMission(worldState, lstMessage, pnl3x3, pnlDiagData, chkFullDebug);
var yaw = objObservation.Yaw;
string current_yaw_delta = "";
if (worldState.is_mission_running && worldState.video_frames.Count > 0)
{
// do we have new Video?
if (worldState.video_frames.Count > 0)
{
current_yaw_delta = processFrame(worldState.video_frames[0].pixels);
if (current_yaw_delta != "")
{
agentHost.sendCommand(String.Format("turn {0}", current_yaw_delta));
}
}
else
{
agentHost.sendCommand(String.Format("turn {0}", yaw));
}
}
if (worldState.is_mission_running && worldState.video_frames.Count > 0)
{
// Converts the Malmo ByteVector to a Bitmap and display in pictureBoxMineCraft
pictureBoxMineCraft.Image = ImageConvert.GetImageFromByteArray(worldState.video_frames[0].pixels);
pictureBoxMineCraft.Invalidate();
pictureBoxMineCraft.Refresh();
}
}while (worldState.is_mission_running);
lstMessage.Items.Insert(0, "Mission has stopped.");
}
private static void LoadMinecraft(AgentHost agentHost, string XMLFile, ListBox lstMessage)
{
String strXMLFileContents = "";
using (StreamReader sr = new StreamReader(XMLFile))
{
// Read the stream to a string, and write the string to the console.
strXMLFileContents = sr.ReadToEnd();
}
MissionSpec mission = new MissionSpec(strXMLFileContents, false);
mission.requestVideo(640, 480);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
lstMessage.Items.Insert(0, String.Format("Error starting mission: {0}", ex.Message));
Environment.Exit(1);
}
WorldState worldState;
lstMessage.Items.Insert(0, "Waiting for the mission to start");
do
{
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
lstMessage.Items.Insert(0, String.Format("Error: {0}", error.text));
}
}while (!worldState.has_mission_begun);
}
private static void InitAgentHost()
{
_agentHost = new AgentHost();
try
{
_agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(_agentHost.getUsage());
Environment.Exit(1);
}
if (_agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(_agentHost.getUsage());
Environment.Exit(0);
}
}
// Get the tiles around the agent
public static void Execute(AgentHost agentHost, ListBox lstMessage, Panel pnl3x3, Panel pnlDiagData, PictureBox pictureBoxMineCraft, CheckBox chkFullDebug)
{
WorldState worldState;
JavaScriptSerializer json_serializer = new JavaScriptSerializer();
// main loop:
do
{
// Get Worldstate
worldState = agentHost.getWorldState();
// Log Mission
Observation objObservation = RunMission.LogMission(worldState, lstMessage, pnl3x3, pnlDiagData, chkFullDebug);
if (worldState.is_mission_running && worldState.video_frames.Count > 0)
{
// Converts the Malmo ByteVector to a Bitmap and display in pictureBoxMineCraft
pictureBoxMineCraft.Image = ImageConvert.GetImageFromByteArray(worldState.video_frames[0].pixels);
pictureBoxMineCraft.Invalidate();
pictureBoxMineCraft.Refresh();
}
if (objObservation.LineOfSight != null)
{
// See if there is room to move
if ((Convert.ToDouble(objObservation.LineOfSight.z) - (objObservation.ZPos) > 1))
{
// Move
agentHost.sendCommand("move 1");
Thread.Sleep(500);
}
else
{
agentHost.sendCommand(string.Format("turn {0}", 1));
Thread.Sleep(500);
}
}
}while (worldState.is_mission_running);
lstMessage.Items.Insert(0, "Mission has stopped.");
}
/// <summary>
/// Starts the module for the given host.
/// </summary>
/// <param name="host">The host.</param>
public void Start(AgentHost host)
{
lock (this)
{
client = CreateAnnouncementClient();
client.Open();
host.TestRunner.PingReceived += PingReceived;
host.TestRunner.CommunicationStarted += CommunicationStarted;
host.TestRunner.CommunicationFinished += CommunicationFinished;
endpointDiscoveryMetadata = EndpointDiscoveryMetadata.FromServiceEndpoint(host.Endpoint);
announcementTimer = new Timer(o => Announce(), null, Timeout.Infinite, Timeout.Infinite);
Debug.Assert(endpointDiscoveryMetadata != null);
if (!endpointDiscoveryMetadata.Scopes.Contains(scope))
endpointDiscoveryMetadata.Scopes.Add(scope);
new Action(Announce).BeginInvoke(null, null);
}
}
private void CheckGamepad(AgentHost agentHost)
{
if (!_gamepad.IsConnected)
{
return;
}
_gamepad.Update();
CheckAndSend(agentHost, "move", _gamepad.LeftStick.Position.Y);
CheckAndSend(agentHost, "strafe", _gamepad.LeftStick.Position.X);
CheckAndSend(agentHost, "pitch", -_gamepad.RightStick.Position.Y);
CheckAndSend(agentHost, "turn", _gamepad.RightStick.Position.X);
CheckAndSend(agentHost, "crouch", _gamepad.X ? 1 : 0);
CheckAndSend(agentHost, "jump", _gamepad.A ? 1 : 0);
CheckAndSend(agentHost, "attack", _gamepad.RightTrigger ? 1 : 0);
CheckAndSend(agentHost, "use", _gamepad.LeftTrigger ? 1 : 0);
CheckAndSend(agentHost, "movesouth", _gamepad.DPad.Up ? 1 : 0);
CheckAndSend(agentHost, "movenorth", _gamepad.DPad.Down ? 1 : 0);
CheckAndSend(agentHost, "movewest", _gamepad.DPad.Right ? 1 : 0);
CheckAndSend(agentHost, "moveeast", _gamepad.DPad.Left ? 1 : 0);
}
void RunMalmo()
{
// Normally we do not need this line, but we will Dispose() agentHost at the end
// of the method because of a bug in Malmo.
agentHost = new AgentHost();
CreateResetNetworkEvent();
// Deactivated for published version
//ReadCommandLineArgs();
InitializeMission();
System.Diagnostics.Debug.WriteLine("Mission initialized");
if (!TryStartMission())
{
CreateMissionEndEvent();
return;
}
ConsoleOutputWhileMissionLoads();
MainLoop();
// We need to destroy the agentHost so that the data is saved. This is a bug in Malmo.
agentHost.Dispose();
System.Diagnostics.Debug.WriteLine("Mission has stopped.");
// Extracts the results and moves the video to the candidates folder:
SharpNeat.PopulationReadWrite.CreateCandidateVideoFromResults(fileName, userName);
CreateMissionEndEvent();
}
/// <summary>
/// Aborts the module for the given host.
/// </summary>
/// <param name="host">The host.</param>
public void Abort(AgentHost host)
{
Stop(host);
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo(320, 240);
mission.rewardForReachingPosition(19.5f, 0.0f, 19.5f, 100.0f, 1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (!worldState.is_mission_running);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards)
{
Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
}
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
private void runMission(MissionSpec mission)
{
string recordPath = "none";
MissionRecordSpec missionRecord;
if (string.IsNullOrEmpty(Settings.Default.OutputDir))
{
missionRecord = new MissionRecordSpec();
}
else
{
recordPath = Path.Combine(Settings.Default.OutputDir, Guid.NewGuid() + ".tar.gz");
missionRecord = new MissionRecordSpec(recordPath);
if (Settings.Default.RecordObservations)
{
missionRecord.recordObservations();
}
if (Settings.Default.RecordRewards)
{
missionRecord.recordRewards();
}
if (Settings.Default.RecordCommands)
{
missionRecord.recordCommands();
}
if (Settings.Default.RecordMP4)
{
missionRecord.recordMP4(Settings.Default.MP4FPS, (long)(Settings.Default.BitRate * 1024));
}
}
using (AgentHost agentHost = new AgentHost())
{
ClientPool clientPool = new ClientPool();
clientPool.add(new ClientInfo(Settings.Default.ClientIP, Settings.Default.ClientPort));
try
{
agentHost.startMission(mission, clientPool, missionRecord, 0, "hac");
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Starting Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
Dispatcher.Invoke(() =>
{
Activate();
VideoImage.Focus();
startB.Content = "Set";
Title = Settings.Default.Title + " : Waiting for mission start";
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.RecordPath = recordPath;
}
});
_isInSession = true;
try
{
WorldState worldState;
// wait for mission to start
do
{
Thread.Sleep(100);
worldState = agentHost.getWorldState();
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}while (!worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
DateTime missionStartTime = DateTime.UtcNow;
_timeRemaining = _missionDuration;
Dispatcher.Invoke(() =>
{
startB.Content = "Go!";
Title = Settings.Default.Title + " : Recording";
});
// run mission
TimeSpan loopTime = TimeSpan.FromSeconds(1.0 / 20);
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = new Queue <Tuple <string, float> >();
}
finally
{
_pendingCommandsMutex.Release();
}
_pendingMessagesMutex.Wait();
try
{
_pendingMessages = new Queue <string>();
}
finally
{
_pendingMessagesMutex.Release();
}
bool failure = false;
Stopwatch loopTimer = new Stopwatch();
do
{
loopTimer.Reset();
loopTimer.Start();
worldState = agentHost.getWorldState();
TimestampedVideoFrame frame = worldState.video_frames.FirstOrDefault();
if (frame != null)
{
if (_missionDuration != TimeSpan.Zero)
{
TimeSpan elapsed = frame.timestamp - missionStartTime;
_timeRemaining = _missionDuration - elapsed;
}
_pixelsMutex.Wait();
try
{
if (_pixels == null || _pixels.Length != frame.pixels.Count)
{
_pixels = new byte[frame.pixels.Count];
Dispatcher.Invoke(() =>
{
if (_bitmap.Width != frame.width || _bitmap.Height != frame.height)
{
_bitmap = new WriteableBitmap(frame.width, frame.height, 72, 72, PixelFormats.Rgb24, null);
VideoImage.Source = _bitmap;
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.FrameSource = _bitmap;
}
}
});
}
frame.pixels.CopyTo(_pixels);
}
finally
{
_pixelsMutex.Release();
}
}
_pendingMessagesMutex.Wait();
try
{
foreach (var reward in worldState.rewards)
{
_score += reward.getValue();
if (reward.getValue() < 0)
{
failure = true;
}
_pendingMessages.Enqueue(string.Format("{0}> score {1}", reward.timestamp.ToString("hh:mm:ss.fff"), reward.getValue()));
}
_score = Math.Max(_score, 0);
_score = Math.Min(_score, 99999);
foreach (var observation in worldState.observations)
{
int posStart = observation.text.IndexOf("\"XPos\"");
if (posStart < 0)
{
continue;
}
int posEnd = observation.text.IndexOf("\"ZPos\"");
posEnd = observation.text.IndexOf(',', posEnd);
string posSegment = observation.text.Substring(posStart, posEnd - posStart);
string[] pos = posSegment.Split(',');
float x = Convert.ToSingle(pos[0].Split(':')[1]);
float y = Convert.ToSingle(pos[1].Split(':')[1]);
float z = Convert.ToSingle(pos[2].Split(':')[1]);
_pendingMessages.Enqueue(string.Format("{0}> (x={1:0.00}, y={2:0.00}, z={3:0.00})", observation.timestamp.ToString("hh:mm:ss.fff"), x, y, z));
}
}
finally
{
_pendingMessagesMutex.Release();
}
CheckGamepad(agentHost);
_pendingCommandsMutex.Wait();
try
{
while (_pendingCommandQueue.Any())
{
var command = _pendingCommandQueue.Dequeue();
CheckAndSend(agentHost, command.Item1, command.Item2);
}
}
finally
{
_pendingCommandsMutex.Release();
}
loopTimer.Stop();
if (loopTimer.Elapsed < loopTime)
{
Thread.Sleep(loopTime - loopTimer.Elapsed);
}
} while (worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
if (!failure)
{
_score += _timeRemaining.TotalSeconds * 100;
}
_missionSuccess = !failure;
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = null;
}
finally
{
_pendingCommandsMutex.Release();
}
Dispatcher.Invoke(() =>
{
Title = Settings.Default.Title + " : Ready";
UpdateDisplayedMessages();
UpdateDisplayedReward();
});
_resetVerb = null;
var keys = _continuousCommandState.Keys.ToList();
foreach (var verb in keys)
{
_continuousCommandState[verb] = 0;
}
keys = _discreteCommandState.Keys.ToList();
foreach (var verb in keys)
{
_discreteCommandState[verb] = false;
}
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error during mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
finally
{
_isInSession = false;
}
}
}
/// <summary>
/// Aborts the module for the given host.
/// </summary>
/// <param name="host">The host.</param>
public void Abort(AgentHost host)
{
}
/// <summary>
/// Check the previous value for the command verb and only send a message if it has changed.
/// </summary>
/// <param name="agentHost">The agent host</param>
/// <param name="verb">The verb to check</param>
/// <param name="newValue">The measured value from the gamepad</param>
private void CheckAndSend(AgentHost agentHost, string verb, float newValue)
{
switch (verb)
{
case "move":
if (!Settings.Default.IsMoveEnabled)
{
return;
}
break;
case "strafe":
if (!Settings.Default.IsStrafeEnabled)
{
return;
}
break;
case "pitch":
if (!Settings.Default.IsPitchEnabled)
{
return;
}
break;
case "turn":
if (!Settings.Default.IsTurnEnabled)
{
return;
}
break;
case "jump":
if (!Settings.Default.IsJumpEnabled)
{
return;
}
break;
case "crouch":
if (!Settings.Default.IsCrouchEnabled)
{
return;
}
break;
case "attack":
if (!Settings.Default.IsAttackEnabled)
{
return;
}
break;
case "use":
if (!Settings.Default.IsUseEnabled)
{
return;
}
break;
case "movenorth":
if (!Settings.Default.IsNorthEnabled)
{
return;
}
break;
case "moveeast":
if (!Settings.Default.IsEastEnabled)
{
return;
}
break;
case "movesouth":
if (!Settings.Default.IsSouthEnabled)
{
return;
}
break;
case "movewest":
if (!Settings.Default.IsWestEnabled)
{
return;
}
break;
}
try {
if (Settings.Default.StickyKeys && !string.IsNullOrEmpty(_resetVerb))
{
string command = string.Format("{0} {1}", _resetVerb, 0);
addCommandToQueue(command);
agentHost.sendCommand(command);
_continuousCommandState[verb] = 0;
}
_resetVerb = verb;
if (_continuousCommandState.ContainsKey(verb))
{
float currentValue = _continuousCommandState[verb];
if (newValue != currentValue)
{
string command = string.Format("{0} {1}", verb, newValue);
addCommandToQueue(command);
agentHost.sendCommand(command);
_continuousCommandState[verb] = newValue;
}
}
else if(_discreteCommandState.ContainsKey(verb))
{
if (newValue > 0)
{
if (!_discreteCommandState[verb])
{
_discreteCommandState[verb] = true;
string command = string.Format("{0} 1", verb, newValue);
addCommandToQueue(command);
agentHost.sendCommand(command);
}
}
else
{
_discreteCommandState[verb] = false;
}
}
}
catch
{
}
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo(320, 240);
mission.rewardForReachingPosition(19.5f, 0.0f, 19.5f, 100.0f, 1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (MissionException ex)
{
// Using catch(Exception ex) would also work, but specifying MissionException allows
// us to access the error code:
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Console.Error.WriteLine("Error code: {0}", ex.getMissionErrorCode());
// We can do more specific error handling using this code, eg:
if (ex.getMissionErrorCode() == MissionException.MissionErrorCode.MISSION_INSUFFICIENT_CLIENTS_AVAILABLE)
{
Console.Error.WriteLine("Have you started a Minecraft client?");
}
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (!worldState.has_mission_begun);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards)
{
Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
}
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
public static void Main()
{
for (int run = 0; run < 1; run++)
{
Console.WriteLine("Run #" + run);
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
bool pretty_print = false;
string xml = System.IO.File.ReadAllText(System.IO.Directory.GetCurrentDirectory() + "/mission.xml");
MissionSpec mission = null;
bool validate = true;
mission = new MissionSpec(xml, validate);
Random rand2 = new Random();
for (int i = 0; i < rand2.Next(5, 15); i++)
{
mission.drawBlock(rand2.Next(1, 10), 46, rand2.Next(1, 10), "red_flower");
}
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
bool connected = false;
int attempts = 0;
while (!connected)
{
try
{
attempts += 1;
agentHost.startMission(mission, missionRecord);
connected = true;
}
catch (MissionException ex)
{
// Using catch(Exception ex) would also work, but specifying MissionException allows
// us to access the error code:
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Console.Error.WriteLine("Error code: {0}", ex.getMissionErrorCode());
// We can do more specific error handling using this code, eg:
if (ex.getMissionErrorCode() == MissionException.MissionErrorCode.MISSION_INSUFFICIENT_CLIENTS_AVAILABLE)
{
Console.Error.WriteLine("Have you started a Minecraft client?");
}
if (attempts >= 3) // Give up after three goes.
{
Environment.Exit(1);
}
Thread.Sleep(1000); // Wait a second and try again.
}
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (!worldState.has_mission_begun);
Console.WriteLine();
Random rand = new Random();
Queue <JToken> apples = new Queue <JToken>();
bool observed = false;
// main loop:
do
{
//agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
//agentHost.sendCommand("pitch 1");
if (!observed)
{
JObject obj = JObject.Parse(worldState.observations[0].text);
JToken entities;
if (obj.TryGetValue("close_entities", out entities))
{
JArray entitiesArr = (JArray)entities;
// The first element is always our agent ? - maybe
for (int i = 1; i < entitiesArr.Count; i++)
{
Console.WriteLine(entitiesArr[i]["name"]);
if ((string)entitiesArr[i]["name"] == "red_flower")
{
apples.Enqueue(entitiesArr[i]);
}
}
observed = true;
}
}
else
{
// Start trying to get to the apples
if (apples.Count == 0)
{
Console.WriteLine("Mission acomplished.");
return;
}
bool popped = false;
while (!popped)
{
var obs = agentHost.getWorldState().observations;
if (obs.Count > 0)
{
// Get our position
JObject obj = JObject.Parse(obs[0].text);
JToken entities;
if (obj.TryGetValue("close_entities", out entities))
{
JArray entitiesArr = (JArray)entities;
// The first element is always our agent ? - maybe
Console.WriteLine(entitiesArr[0]);
int x = (int)entitiesArr[0]["x"];
int z = (int)entitiesArr[0]["z"];
int diffX = (int)apples.Peek()["x"] - x;
int diffZ = (int)apples.Peek()["z"] - z;
Console.WriteLine(diffX + "-" + diffZ);
if (diffZ > 0)
{
agentHost.sendCommand("movesouth 1");
}
else if (diffZ < 0)
{
agentHost.sendCommand("movenorth 1");
}
if (diffX > 0)
{
agentHost.sendCommand("moveeast 1");
}
else if (diffX < 0)
{
agentHost.sendCommand("movewest 1");
}
/* Console.WriteLine(entitiesArr[0]);
* if (diffZ > 0)
* {
* if((float)entitiesArr[0]["yaw"] > 180)
* agentHost.sendCommand("turn 180");
* agentHost.sendCommand("move 1");
* }
* else if (diffZ < 0)
* {
* agentHost.sendCommand("turn 0");
* agentHost.sendCommand("move 1");
* }
* if (diffX > 0)
* {
* agentHost.sendCommand("turn -90");
* agentHost.sendCommand("move 1");
* }
* else if (diffX < 0)
* {
* agentHost.sendCommand("turn 90");
* agentHost.sendCommand("move 1");
* }*/
if (diffZ == 0 && diffX == 0)
{
Console.WriteLine("Dequeuing");
agentHost.sendCommand("move 0");
apples.Dequeue();
// break block
agentHost.sendCommand("pitch 1");
agentHost.sendCommand("attack 1");
agentHost.sendCommand("jump 1");
Thread.Sleep(6000);
break;
}
}
}
Thread.Sleep(500);
// agentHost.sendCommand("movenorth 1");
}
}
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards)
{
Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
}
foreach (TimestampedString error in worldState.errors)
{
Console.Error.WriteLine("Error: {0}", error.text);
}
}while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
}
/// <summary>
/// Stops the module for the given host.
/// </summary>
/// <param name="host">The host.</param>
public void Stop(AgentHost host)
{
}
static void Main()
{
string missionXML = @"<?xml version=""1.0"" encoding=""UTF-8"" standalone=""no"" ?>
<Mission xmlns=""http://ProjectMalmo.microsoft.com"" xmlns:xsi=""http://www.w3.org/2001/XMLSchema-instance"">
<About>
<Summary>Hello world!</Summary>
</About>
<ServerSection>
<ServerInitialConditions>
<Time>
<StartTime>1000</StartTime>
<AllowPassageOfTime>false</AllowPassageOfTime>
</Time>
<Weather>clear</Weather>
</ServerInitialConditions>
<ServerHandlers>
<FlatWorldGenerator generatorString=""3;7,44*49,73,35:1,159:4,95:13,35:13,159:11,95:10,159:14,159:6,35:6,95:6;12;""/>
<DrawingDecorator>
<DrawSphere x=""-27"" y=""70"" z=""0"" radius=""30"" type=""air""/>" + Menger(-40, 40, -13, 27, "stone", "smooth_granite", "air") + @"
<DrawBlock x=""-27"" y=""39"" z=""0"" type=""diamond_block""/>
</DrawingDecorator>
<ServerQuitFromTimeUp timeLimitMs=""30000""/>
<ServerQuitWhenAnyAgentFinishes/>
</ServerHandlers>
</ServerSection>
<AgentSection mode=""Survival"">
<Name>MalmoTutorialBot</Name>
<AgentStart>
<Placement x=""0.5"" y=""56.0"" z=""0.5"" yaw=""90""/>
<Inventory>
<InventoryItem slot=""8"" type=""diamond_pickaxe""/>
</Inventory>
</AgentStart>
<AgentHandlers>
<ObservationFromFullStats/>
<ContinuousMovementCommands turnSpeedDegs=""180""/>
<InventoryCommands/>
<AgentQuitFromReachingPosition>
<Marker x=""-26.5"" y=""40"" z=""0.5"" tolerance=""0.5"" description=""Goal_found""/>
</AgentQuitFromReachingPosition>
</AgentHandlers>
</AgentSection>
</Mission>";
// Create default Malmo objects:
AgentHost agent_host = new AgentHost();
try
{
agent_host.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception e)
{
Console.WriteLine("Error:{0}", e.Message);
Console.WriteLine(agent_host.getUsage());
Environment.Exit(1);
}
if (agent_host.receivedArgument("help"))
{
Console.WriteLine(agent_host.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec(missionXML, true);
MissionRecordSpec my_mission_record = new MissionRecordSpec();
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agent_host.startMission(my_mission, my_mission_record);
break;
}
catch (Exception e)
{
if (retry == max_retries)
{
Console.WriteLine("Error starting mission:{0}", e.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(2000);
}
}
}
// Loop until mission starts:
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state = agent_host.getWorldState();
while (!world_state.has_mission_begun)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission running ");
agent_host.sendCommand("hotbar.9 1");
agent_host.sendCommand("hotbar.9 0");
agent_host.sendCommand("pitch 0.2");
Thread.Sleep(1000);
agent_host.sendCommand("pitch 0");
agent_host.sendCommand("move 1");
agent_host.sendCommand("attack 1");
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended.
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse( new StringVector( Environment.GetCommandLineArgs() ) );
}
catch( Exception ex )
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if( agentHost.receivedArgument("help") )
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec mission = new MissionSpec();
mission.timeLimitInSeconds(10);
mission.requestVideo( 320, 240 );
mission.rewardForReachingPosition(19.5f,0.0f,19.5f,100.0f,1.1f);
MissionRecordSpec missionRecord = new MissionRecordSpec("./saved_data.tgz");
missionRecord.recordCommands();
missionRecord.recordMP4(20, 400000);
missionRecord.recordRewards();
missionRecord.recordObservations();
try
{
agentHost.startMission(mission, missionRecord);
}
catch (Exception ex)
{
Console.Error.WriteLine("Error starting mission: {0}", ex.Message);
Environment.Exit(1);
}
WorldState worldState;
Console.WriteLine("Waiting for the mission to start");
do
{
Console.Write(".");
Thread.Sleep(100);
worldState = agentHost.getWorldState();
foreach (TimestampedString error in worldState.errors) Console.Error.WriteLine("Error: {0}", error.text);
}
while (!worldState.is_mission_running);
Console.WriteLine();
Random rand = new Random();
// main loop:
do
{
agentHost.sendCommand("move 1");
agentHost.sendCommand(string.Format("turn {0}", rand.NextDouble()));
Thread.Sleep(500);
worldState = agentHost.getWorldState();
Console.WriteLine(
"video,observations,rewards received: {0}, {1}, {2}",
worldState.number_of_video_frames_since_last_state,
worldState.number_of_observations_since_last_state,
worldState.number_of_rewards_since_last_state);
foreach (TimestampedReward reward in worldState.rewards) Console.Error.WriteLine("Summed reward: {0}", reward.getValue());
foreach (TimestampedString error in worldState.errors) Console.Error.WriteLine("Error: {0}", error.text);
}
while (worldState.is_mission_running);
Console.WriteLine("Mission has stopped.");
}
public void RunMalmo(IBlackBox brain)
{
agentHost = new AgentHost();
neatPlayer = new NeatAgentController(brain, agentHost);
InitializeMission();
CreateWorld();
TryStartMission();
ConsoleOutputWhileMissionLoads();
//set agent stuck bool
neatPlayer.AgentNotStuck = true;
Console.WriteLine("Mission has started!");
var agentPosition = new AgentPosition();
bool gotStartPosition = false;
Thread.Sleep(500);
while (worldState.is_mission_running)
{
//Early termination of mission in case no action was performed (agent is stuck)
if (!neatPlayer.AgentNotStuck)
{
//Ensures that the video is at least 2 seconds long, showing the users that no action actually was performed
Thread.Sleep(2000);
neatPlayer.AgentHelper.endMission();
break;
}
//Give observations to agent and let agent perform actions according to these
worldState = agentHost.getWorldState();
if (worldState.observations.Count == 0)
{
continue;
}
neatPlayer.AgentHelper.ConstantObservations = worldState.observations;
neatPlayer.PerformAction();
//Get end position and fitness grid after every performed action by the agent
if (worldState.observations != null)
{
var observations = JObject.Parse(worldState.observations[0].text);
if (!gotStartPosition)
{
agentPosition.initialX = (double)observations.GetValue("XPos");
agentPosition.initialY = (double)observations.GetValue("YPos");
agentPosition.initialZ = (double)observations.GetValue("ZPos");
gotStartPosition = true;
}
agentPosition.currentX = (double)observations.GetValue("XPos");
agentPosition.currentY = (double)observations.GetValue("YPos");
agentPosition.currentZ = (double)observations.GetValue("ZPos");
}
}
neatPlayer.AgentHelper.AgentPosition = agentPosition;
Thread.Sleep(2000);
agentHost.Dispose();
Console.WriteLine("Mission has ended!");
}
public void Initialize()
{
//MissionSpec mission = new MissionSpec();
agentHost = new AgentHost();
}
public static void Execute(AgentHost agentHost, ListBox lstMessage, Panel pnl3x3, Panel pnlDiagData, PictureBox pictureBoxMineCraft, CheckBox chkFullDebug)
{
WorldState worldState;
JavaScriptSerializer json_serializer = new JavaScriptSerializer();
agentHost.setObservationsPolicy(ObservationsPolicy.LATEST_OBSERVATION_ONLY);
agentHost.setVideoPolicy(VideoPolicy.LATEST_FRAME_ONLY);
string strMoveCommand = "";
// main loop:
do
{
// Get Worldstate
worldState = agentHost.getWorldState();
Thread.Sleep(500);
// Make an Observation
Observation objObservation = RunMission.LogMission(worldState, lstMessage, pnl3x3, pnlDiagData, chkFullDebug);
// Only proceed if we are able to get back an Observation
if (objObservation.floor3x3 != null)
{
// Check for "lava" anywhere around us
if (!
(
(objObservation.floor3x3[1].ToString() == "lava") ||
(objObservation.floor3x3[4].ToString() == "lava") ||
(objObservation.floor3x3[7].ToString() == "lava")
))
{
// There is no Lava -- keep moving forward
strMoveCommand = String.Format("{0} {1}", "move", 1);
agentHost.sendCommand(strMoveCommand);
lstMessage.Items.Insert(0, strMoveCommand);
}
else
{
// There is lava nearby
for (int i = 0; i < 8; i++)
{
if (objObservation.floor3x3[i].ToString() == "lava")
{
lstMessage.Items.Insert(0, String.Format("Lava found at block: {0}", i));
}
}
// Turn and move
strMoveCommand = String.Format("{0} {1}", "turn", 1);
agentHost.sendCommand(strMoveCommand);
lstMessage.Items.Insert(0, strMoveCommand);
strMoveCommand = String.Format("{0} {1}", "move", 1);
agentHost.sendCommand(strMoveCommand);
lstMessage.Items.Insert(0, strMoveCommand);
}
}
if (worldState.is_mission_running && worldState.video_frames.Count > 0)
{
// Converts the Malmo ByteVector to a Bitmap and display in pictureBoxMineCraft
pictureBoxMineCraft.Image = ImageConvert.GetImageFromByteArray(worldState.video_frames[0].pixels);
pictureBoxMineCraft.Invalidate();
pictureBoxMineCraft.Refresh();
}
}while (worldState.is_mission_running);
lstMessage.Items.Insert(0, "Mission has stopped.");
}
private void CheckGamepad(AgentHost agentHost)
{
if (!_gamepad.IsConnected)
{
return;
}
_gamepad.Update();
CheckAndSend(agentHost, "move", _gamepad.LeftStick.Position.Y);
CheckAndSend(agentHost, "strafe", _gamepad.LeftStick.Position.X);
CheckAndSend(agentHost, "pitch", -_gamepad.RightStick.Position.Y);
CheckAndSend(agentHost, "turn", _gamepad.RightStick.Position.X);
CheckAndSend(agentHost, "crouch", _gamepad.X ? 1 : 0);
CheckAndSend(agentHost, "jump", _gamepad.A ? 1 : 0);
CheckAndSend(agentHost, "attack", _gamepad.RightTrigger ? 1 : 0);
CheckAndSend(agentHost, "use", _gamepad.LeftTrigger ? 1 : 0);
CheckAndSend(agentHost, "movesouth", _gamepad.DPad.Up ? 1 : 0);
CheckAndSend(agentHost, "movenorth", _gamepad.DPad.Down ? 1 : 0);
CheckAndSend(agentHost, "movewest", _gamepad.DPad.Right ? 1 : 0);
CheckAndSend(agentHost, "moveeast", _gamepad.DPad.Left ? 1 : 0);
}
public static void Main()
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("ERROR: {0}", ex.Message);
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
Console.Error.WriteLine(agentHost.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec();
MissionRecordSpec my_mission_record = new MissionRecordSpec("./saved_data.tgz");
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agentHost.startMission(my_mission, my_mission_record);
break;
}
catch (MissionException ex)
{
if (retry == max_retries - 1)
{
Console.WriteLine("Error starting mission:{0}", ex.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(2000);
}
}
}
// Loop until mission starts:
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state;
do
{
Console.Write(".");
Thread.Sleep(100);
world_state = agentHost.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.Error.WriteLine("Error:{0}", error.text);
}
}while (!world_state.has_mission_begun);
Console.WriteLine();
Console.WriteLine("Mission running ");
Console.WriteLine(my_mission.getAsXML(true));
// Enter your commands here
// agentHost.sendCommand("turn -0.5");
// agentHost.sendCommand("move 1");
// agentHost.sendCommand("jump 1");
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agentHost.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended
}
private void runMission(MissionSpec mission)
{
string recordPath = "none";
MissionRecordSpec missionRecord;
if (string.IsNullOrEmpty(Settings.Default.OutputDir))
{
missionRecord = new MissionRecordSpec();
}
else
{
recordPath = Path.Combine(Settings.Default.OutputDir, Guid.NewGuid() + ".tar.gz");
missionRecord = new MissionRecordSpec(recordPath);
if (Settings.Default.RecordObservations)
{
missionRecord.recordObservations();
}
if (Settings.Default.RecordRewards)
{
missionRecord.recordRewards();
}
if (Settings.Default.RecordCommands)
{
missionRecord.recordCommands();
}
if (Settings.Default.RecordMP4)
{
missionRecord.recordMP4(Settings.Default.MP4FPS, (long)(Settings.Default.BitRate * 1024));
}
}
using (AgentHost agentHost = new AgentHost())
{
ClientPool clientPool = new ClientPool();
clientPool.add(new ClientInfo(Settings.Default.ClientIP, Settings.Default.ClientPort));
try
{
agentHost.startMission(mission, clientPool, missionRecord, 0, "hac");
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error Starting Mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
Dispatcher.Invoke(() =>
{
Activate();
VideoImage.Focus();
startB.Content = "Set";
Title = Settings.Default.Title + " : Waiting for mission start";
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.RecordPath = recordPath;
}
});
_isInSession = true;
try
{
WorldState worldState;
// wait for mission to start
do
{
Thread.Sleep(100);
worldState = agentHost.getWorldState();
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
while (!worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
DateTime missionStartTime = DateTime.UtcNow;
_timeRemaining = _missionDuration;
Dispatcher.Invoke(() =>
{
startB.Content = "Go!";
Title = Settings.Default.Title + " : Recording";
});
// run mission
TimeSpan loopTime = TimeSpan.FromSeconds(1.0 / 20);
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = new Queue<Tuple<string, float>>();
}
finally
{
_pendingCommandsMutex.Release();
}
_pendingMessagesMutex.Wait();
try
{
_pendingMessages = new Queue<string>();
}
finally
{
_pendingMessagesMutex.Release();
}
bool failure = false;
Stopwatch loopTimer = new Stopwatch();
do
{
loopTimer.Reset();
loopTimer.Start();
worldState = agentHost.getWorldState();
TimestampedVideoFrame frame = worldState.video_frames.FirstOrDefault();
if (frame != null)
{
if (_missionDuration != TimeSpan.Zero)
{
TimeSpan elapsed = frame.timestamp - missionStartTime;
_timeRemaining = _missionDuration - elapsed;
}
_pixelsMutex.Wait();
try
{
if (_pixels == null || _pixels.Length != frame.pixels.Count)
{
_pixels = new byte[frame.pixels.Count];
Dispatcher.Invoke(() =>
{
if (_bitmap.Width != frame.width || _bitmap.Height != frame.height)
{
_bitmap = new WriteableBitmap(frame.width, frame.height, 72, 72, PixelFormats.Rgb24, null);
VideoImage.Source = _bitmap;
if (_recordWindow != null && _recordWindow.IsVisible)
{
_recordWindow.FrameSource = _bitmap;
}
}
});
}
frame.pixels.CopyTo(_pixels);
}
finally
{
_pixelsMutex.Release();
}
}
_pendingMessagesMutex.Wait();
try
{
foreach (var reward in worldState.rewards)
{
_score += reward.getValue();
if (reward.getValue() < 0)
{
failure = true;
}
_pendingMessages.Enqueue(string.Format("{0}> score {1}", reward.timestamp.ToString("hh:mm:ss.fff"), reward.getValue()));
}
_score = Math.Max(_score, 0);
_score = Math.Min(_score, 99999);
foreach (var observation in worldState.observations)
{
int posStart = observation.text.IndexOf("\"XPos\"");
if (posStart < 0)
{
continue;
}
int posEnd = observation.text.IndexOf("\"ZPos\"");
posEnd = observation.text.IndexOf(',', posEnd);
string posSegment = observation.text.Substring(posStart, posEnd - posStart);
string[] pos = posSegment.Split(',');
float x = Convert.ToSingle(pos[0].Split(':')[1]);
float y = Convert.ToSingle(pos[1].Split(':')[1]);
float z = Convert.ToSingle(pos[2].Split(':')[1]);
_pendingMessages.Enqueue(string.Format("{0}> (x={1:0.00}, y={2:0.00}, z={3:0.00})", observation.timestamp.ToString("hh:mm:ss.fff"), x, y, z));
}
}
finally
{
_pendingMessagesMutex.Release();
}
CheckGamepad(agentHost);
_pendingCommandsMutex.Wait();
try
{
while (_pendingCommandQueue.Any())
{
var command = _pendingCommandQueue.Dequeue();
CheckAndSend(agentHost, command.Item1, command.Item2);
}
}
finally
{
_pendingCommandsMutex.Release();
}
loopTimer.Stop();
if (loopTimer.Elapsed < loopTime)
{
Thread.Sleep(loopTime - loopTimer.Elapsed);
}
} while (worldState.is_mission_running && !_stopMission);
if (_stopMission)
{
return;
}
if (!failure)
{
_score += _timeRemaining.TotalSeconds * 100;
}
_missionSuccess = !failure;
_pendingCommandsMutex.Wait();
try
{
_pendingCommandQueue = null;
}
finally
{
_pendingCommandsMutex.Release();
}
Dispatcher.Invoke(() =>
{
Title = Settings.Default.Title + " : Ready";
UpdateDisplayedMessages();
UpdateDisplayedReward();
});
_resetVerb = null;
var keys = _continuousCommandState.Keys.ToList();
foreach (var verb in keys)
{
_continuousCommandState[verb] = 0;
}
keys = _discreteCommandState.Keys.ToList();
foreach (var verb in keys)
{
_discreteCommandState[verb] = false;
}
if (worldState.errors.Any())
{
StringBuilder errors = new StringBuilder();
foreach (TimestampedString error in worldState.errors)
{
errors.AppendLine(error.text);
}
MessageBox.Show(errors.ToString(), "Error during mission initialization", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "Error during mission", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
finally
{
_isInSession = false;
}
}
}
/// <summary>
/// Check the previous value for the command verb and only send a message if it has changed.
/// </summary>
/// <param name="agentHost">The agent host</param>
/// <param name="verb">The verb to check</param>
/// <param name="newValue">The measured value from the gamepad</param>
private void CheckAndSend(AgentHost agentHost, string verb, float newValue)
{
switch (verb)
{
case "move":
if (!Settings.Default.IsMoveEnabled)
{
return;
}
break;
case "strafe":
if (!Settings.Default.IsStrafeEnabled)
{
return;
}
break;
case "pitch":
if (!Settings.Default.IsPitchEnabled)
{
return;
}
break;
case "turn":
if (!Settings.Default.IsTurnEnabled)
{
return;
}
break;
case "jump":
if (!Settings.Default.IsJumpEnabled)
{
return;
}
break;
case "crouch":
if (!Settings.Default.IsCrouchEnabled)
{
return;
}
break;
case "attack":
if (!Settings.Default.IsAttackEnabled)
{
return;
}
break;
case "use":
if (!Settings.Default.IsUseEnabled)
{
return;
}
break;
case "movenorth":
if (!Settings.Default.IsNorthEnabled)
{
return;
}
break;
case "moveeast":
if (!Settings.Default.IsEastEnabled)
{
return;
}
break;
case "movesouth":
if (!Settings.Default.IsSouthEnabled)
{
return;
}
break;
case "movewest":
if (!Settings.Default.IsWestEnabled)
{
return;
}
break;
}
try {
if (Settings.Default.StickyKeys && !string.IsNullOrEmpty(_resetVerb))
{
string command = string.Format("{0} {1}", _resetVerb, 0);
addCommandToQueue(command);
agentHost.sendCommand(command);
_continuousCommandState[verb] = 0;
}
_resetVerb = verb;
if (_continuousCommandState.ContainsKey(verb))
{
float currentValue = _continuousCommandState[verb];
if (newValue != currentValue)
{
string command = string.Format("{0} {1}", verb, newValue);
addCommandToQueue(command);
agentHost.sendCommand(command);
_continuousCommandState[verb] = newValue;
}
}
else if (_discreteCommandState.ContainsKey(verb))
{
if (newValue > 0)
{
if (!_discreteCommandState[verb])
{
_discreteCommandState[verb] = true;
string command = string.Format("{0} 1", verb, newValue);
addCommandToQueue(command);
agentHost.sendCommand(command);
}
}
else
{
_discreteCommandState[verb] = false;
}
}
}
catch
{
}
}
private void btnRun_Click(object sender, EventArgs e)
{
AgentHost agentHost = new AgentHost();
try
{
agentHost.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
lstMessage.Items.Insert(0, String.Format("ERROR: {0}", ex.Message));
lstMessage.Items.Insert(0, agentHost.getUsage());
Environment.Exit(1);
}
if (agentHost.receivedArgument("help"))
{
lstMessage.Items.Insert(0, agentHost.getUsage());
Environment.Exit(0);
}
// Clear debug box
lstMessage.Items.Clear();
// Load the .xml mission file and
// Run the Mission
switch (cbSelect.SelectedItem.ToString())
{
case "DefaultMission":
XMLFile = $"{strBaseLocation}DefaultMission.xml";
LoadMinecraft(agentHost, XMLFile, lstMessage);
DefaultMission.Execute(agentHost, lstMessage, pnl3x3, pnlDiagData, pictureBoxMineCraft, chkFullDebug);
break;
case "AvoidTheLava":
XMLFile = $"{strBaseLocation}AvoidTheLava.xml";
LoadMinecraft(agentHost, XMLFile, lstMessage);
AvoidTheLava.Execute(agentHost, lstMessage, pnl3x3, pnlDiagData, pictureBoxMineCraft, chkFullDebug);
break;
case "Tutorial4":
XMLFile = $"{strBaseLocation}Tutorial4.xml";
LoadMinecraft(agentHost, XMLFile, lstMessage);
Tutorial4.Execute(agentHost, lstMessage, pnl3x3, pnlDiagData, pictureBoxMineCraft, chkFullDebug);
break;
case "Maze_2":
XMLFile = $"{strBaseLocation}maze_2.xml";
LoadMinecraft(agentHost, XMLFile, lstMessage);
maze2.Execute(agentHost, lstMessage, pnl3x3, pnlDiagData, pictureBoxMineCraft, chkFullDebug);
break;
case "ObserveExampleOne":
XMLFile = $"{strBaseLocation}ObserveExampleOne.xml";
LoadMinecraft(agentHost, XMLFile, lstMessage);
ObserveExampleOne.Execute(agentHost, lstMessage, pnl3x3, pnlDiagData, pictureBoxMineCraft, chkFullDebug);
break;
case "TryToNavigateByVideo":
XMLFile = $"{strBaseLocation}TryToNavigateByVideo.xml";
LoadMinecraft(agentHost, XMLFile, lstMessage);
TryToNavigateByVideo.Execute(agentHost, lstMessage, pnl3x3, pnlDiagData, pictureBoxMineCraft, chkFullDebug);
break;
default:
XMLFile = $"{strBaseLocation}DefaultMission.xml";
LoadMinecraft(agentHost, XMLFile, lstMessage);
DefaultMission.Execute(agentHost, lstMessage, pnl3x3, pnlDiagData, pictureBoxMineCraft, chkFullDebug);
break;
}
}
internal void create_agent()
{
var host = new AgentHost();
this.agents_.Add(host);
}
static void Main()
{
string missionXML = @"<?xml version=""1.0"" encoding=""UTF-8"" standalone=""no"" ?>
<Mission xmlns=""http://ProjectMalmo.microsoft.com"" xmlns:xsi=""http://www.w3.org/2001/XMLSchema-instance"">
<About>
<Summary>Hello world!</Summary>
</About>
<ServerSection>
<ServerInitialConditions>
<Time>
<StartTime>1000</StartTime>
<AllowPassageOfTime>false</AllowPassageOfTime>
</Time>
<Weather>clear</Weather>
</ServerInitialConditions>
<ServerHandlers>
<FlatWorldGenerator generatorString=""3;7,44*49,73,35:1,159:4,95:13,35:13,159:11,95:10,159:14,159:6,35:6,95:6;12;""/>
<DrawingDecorator>
<DrawSphere x=""-27"" y=""70"" z=""0"" radius=""30"" type=""air""/>" + Menger(-40, 40, -13, 27, "stone", "smooth_granite", "air") + @"
<DrawCuboid x1=""-25"" y1=""39"" z1=""-2"" x2=""-29"" y2=""39"" z2=""2"" type=""lava""/>
<DrawCuboid x1=""-26"" y1=""39"" z1=""-1"" x2=""-28"" y2=""39"" z2=""1"" type=""obsidian""/>
<DrawBlock x=""-27"" y=""39"" z=""0"" type=""diamond_block""/>
</DrawingDecorator>
<ServerQuitFromTimeUp timeLimitMs=""30000""/>
<ServerQuitWhenAnyAgentFinishes/>
</ServerHandlers>
</ServerSection>
<AgentSection mode=""Survival"">
<Name>MalmoTutorialBot</Name>
<AgentStart>
<Placement x=""0.5"" y=""56.0"" z=""0.5"" yaw=""90""/>
<Inventory>
<InventoryItem slot=""8"" type=""diamond_pickaxe""/>
</Inventory>
</AgentStart>
<AgentHandlers>
<ObservationFromFullStats/>
<ObservationFromGrid>
<Grid name=""floor3x3"">
<min x=""-1"" y=""-1"" z=""-1""/>
<max x=""1"" y=""-1"" z=""1""/>
</Grid>
</ObservationFromGrid>
<ContinuousMovementCommands turnSpeedDegs=""180""/>
<InventoryCommands/>
<AgentQuitFromTouchingBlockType>
<Block type=""diamond_block"" />
</AgentQuitFromTouchingBlockType>
</AgentHandlers>
</AgentSection>
</Mission>";
// Create default Malmo objects:
AgentHost agent_host = new AgentHost();
try
{
agent_host.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception e)
{
Console.WriteLine("Error:{0}", e.Message);
Console.WriteLine(agent_host.getUsage());
Environment.Exit(1);
}
if (agent_host.receivedArgument("help"))
{
Console.WriteLine(agent_host.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec(missionXML, true);
MissionRecordSpec my_mission_record = new MissionRecordSpec();
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agent_host.startMission(my_mission, my_mission_record);
break;
}
catch (Exception e)
{
if (retry == max_retries - 1)
{
Console.WriteLine("Error starting mission:{0}", e.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(2000);
}
}
}
// Loop until mission starts
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state = agent_host.getWorldState();
while (!world_state.has_mission_begun)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission running ");
agent_host.sendCommand("hotbar.9 1"); // Press the hotbar key
agent_host.sendCommand("hotbar.9 0"); // Release hotbar key - agent should now be holding diamond_pickaxe
agent_host.sendCommand("pitch 0.2"); // Start looking downward slowly
Thread.Sleep(1000); // Wait a second until we are looking in roughly the right direction
agent_host.sendCommand("pitch 0"); // Stop tilting the camera
agent_host.sendCommand("move 1"); // And start running...
agent_host.sendCommand("attack 1"); // Whilst flailing our pickaxe!
bool jumping = false;
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
if (world_state.number_of_observations_since_last_state > 0) // Have any observations come in?
{
string msg = world_state.observations[world_state.observations.Count - 1].text;
JObject observations = JObject.Parse(msg);
JToken grid = observations.GetValue("floor3x3");
if (jumping is true)
{
if (grid[4].ToString() is "lava")
{
agent_host.sendCommand("jump 0");
jumping = false;
}
}
if (grid[3].ToString() is "lava")
{
agent_host.sendCommand("jump 1");
jumping = true;
}
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended.
}
static void Main()
{
string missionXML = @"<?xml version='1.0' encoding='UTF - 8' standalone='no' ?>
< Mission xmlns = 'http://ProjectMalmo.microsoft.com' xmlns: xsi = 'http://www.w3.org/2001/XMLSchema-instance' >
< About >
< Summary > Hello world!</ Summary >
</ About >
< ServerSection >
< ServerInitialConditions >
< Time >
< StartTime > 12000 </ StartTime >
< AllowPassageOfTime > false </ AllowPassageOfTime >
< Weather > rain </ Weather >
</ Time >
</ ServerInitialConditions >
< ServerHandlers >
< FlatWorldGenerator generatorString = '3;7,44*49,73,35:1,159:4,95:13,35:13,159:11,95:10,159:14,159:6,35:6,95:6;12;' />
< ServerQuitFromTimeUp timeLimitMs = '30000' />
< ServerQuitWhenAnyAgentFinishes />
</ ServerHandlers >
</ ServerSection >
< AgentSection mode = 'Survival' >
< Name > MalmoTutorialBot </ Name >
< AgentStart >
< Placement x = '0' y = '56' z = '0' yaw = '90' />
</ AgentStart >
< AgentHandlers >
< ObservationFromFullStats />
< ContinuousMovementCommands turnSpeedDegs = '180' />
</ AgentHandlers >
</ AgentSection >
</ Mission >";
// Create default Malmo objects:
AgentHost agent_host = new AgentHost();
try
{
agent_host.parse(new StringVector(Environment.GetCommandLineArgs()));
}
catch (Exception ex)
{
Console.Error.WriteLine("Error:{0}", ex.Message);
Console.Error.WriteLine(agent_host.getUsage());
Environment.Exit(1);
}
if (agent_host.receivedArgument("help"))
{
Console.Error.WriteLine(agent_host.getUsage());
Environment.Exit(0);
}
MissionSpec my_mission = new MissionSpec();
my_mission.timeLimitInSeconds(30);
MissionRecordSpec my_mission_record = new MissionRecordSpec("./saved_data.tgz");
// Attempt to start a mission:
int max_retries = 3;
for (int retry = 0; retry < max_retries; retry++)
{
try
{
agent_host.startMission(my_mission, my_mission_record);
break;
}
catch (Exception ex)
{
if (retry == max_retries - 1)
{
Console.WriteLine("Error starting mission:{0}", ex.Message);
Environment.Exit(1);
}
else
{
Thread.Sleep(1000);
}
}
}
// Loop until mission starts:
Console.WriteLine("Waiting for the mission to start ");
WorldState world_state = agent_host.getWorldState();
while (!world_state.has_mission_begun)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission running ");
// Commands go here //
// Loop until mission ends:
while (world_state.is_mission_running)
{
Console.Write(".");
Thread.Sleep(100);
world_state = agent_host.getWorldState();
foreach (TimestampedString error in world_state.errors)
{
Console.WriteLine("Error:{0}", error.text);
}
}
Console.WriteLine();
Console.WriteLine("Mission ended");
// Mission has ended.
}